2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if configUSE_TICKLESS_IDLE != 0
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103 #if INCLUDE_vTaskSuspend != 1
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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109 * Defines the size, in words, of the stack allocated to the idle task.
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111 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define taskYIELD_IF_USING_PREEMPTION()
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118 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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121 /* Value that can be assigned to the eNotifyState member of the TCB. */
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124 eNotWaitingNotification = 0,
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125 eWaitingNotification,
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130 * Task control block. A task control block (TCB) is allocated for each task,
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131 * and stores task state information, including a pointer to the task's context
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132 * (the task's run time environment, including register values)
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134 typedef struct tskTaskControlBlock
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136 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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138 #if ( portUSING_MPU_WRAPPERS == 1 )
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139 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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140 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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143 ListItem_t 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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144 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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145 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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146 StackType_t *pxStack; /*< Points to the start of the stack. */
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147 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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149 #if ( portSTACK_GROWTH > 0 )
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150 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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153 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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154 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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157 #if ( configUSE_TRACE_FACILITY == 1 )
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158 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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159 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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162 #if ( configUSE_MUTEXES == 1 )
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163 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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164 UBaseType_t uxMutexesHeld;
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167 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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168 TaskHookFunction_t pxTaskTag;
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171 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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172 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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175 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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179 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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180 /* Allocate a Newlib reent structure that is specific to this task.
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181 Note Newlib support has been included by popular demand, but is not
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182 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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183 responsible for resulting newlib operation. User must be familiar with
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184 newlib and must provide system-wide implementations of the necessary
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185 stubs. Be warned that (at the time of writing) the current newlib design
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186 implements a system-wide malloc() that must be provided with locks. */
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187 struct _reent xNewLib_reent;
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190 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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191 volatile uint32_t ulNotifiedValue;
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192 volatile eNotifyValue eNotifyState;
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197 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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198 below to enable the use of older kernel aware debuggers. */
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199 typedef tskTCB TCB_t;
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202 * Some kernel aware debuggers require the data the debugger needs access to to
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203 * be global, rather than file scope.
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205 #ifdef portREMOVE_STATIC_QUALIFIER
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209 /*lint -e956 A manual analysis and inspection has been used to determine which
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210 static variables must be declared volatile. */
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212 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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214 /* Lists for ready and blocked tasks. --------------------*/
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215 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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216 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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217 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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218 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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219 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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220 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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222 #if ( INCLUDE_vTaskDelete == 1 )
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224 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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225 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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229 #if ( INCLUDE_vTaskSuspend == 1 )
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231 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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235 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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237 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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252 /* Context switches are held pending while the scheduler is suspended. Also,
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253 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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254 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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255 If an interrupt needs to unblock a task while the scheduler is suspended then it
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256 moves the task's event list item into the xPendingReadyList, ready for the
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257 kernel to move the task from the pending ready list into the real ready list
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258 when the scheduler is unsuspended. The pending ready list itself can only be
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259 accessed from a critical section. */
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260 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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262 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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264 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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265 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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271 /* Debugging and trace facilities private variables and macros. ------------*/
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274 * The value used to fill the stack of a task when the task is created. This
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275 * is used purely for checking the high water mark for tasks.
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277 #define tskSTACK_FILL_BYTE ( 0xa5U )
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280 * Macros used by vListTask to indicate which state a task is in.
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282 #define tskBLOCKED_CHAR ( 'B' )
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283 #define tskREADY_CHAR ( 'R' )
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284 #define tskDELETED_CHAR ( 'D' )
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285 #define tskSUSPENDED_CHAR ( 'S' )
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287 /*-----------------------------------------------------------*/
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289 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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291 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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292 performed in a generic way that is not optimised to any particular
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293 microcontroller architecture. */
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295 /* uxTopReadyPriority holds the priority of the highest priority ready
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297 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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299 if( ( uxPriority ) > uxTopReadyPriority ) \
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301 uxTopReadyPriority = ( uxPriority ); \
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303 } /* taskRECORD_READY_PRIORITY */
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305 /*-----------------------------------------------------------*/
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307 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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309 /* Find the highest priority queue that contains ready tasks. */ \
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310 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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312 configASSERT( uxTopReadyPriority ); \
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313 --uxTopReadyPriority; \
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316 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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317 the same priority get an equal share of the processor time. */ \
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318 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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319 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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321 /*-----------------------------------------------------------*/
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323 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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324 they are only required when a port optimised method of task selection is
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326 #define taskRESET_READY_PRIORITY( uxPriority )
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327 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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329 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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331 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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332 performed in a way that is tailored to the particular microcontroller
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333 architecture being used. */
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335 /* A port optimised version is provided. Call the port defined macros. */
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336 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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338 /*-----------------------------------------------------------*/
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340 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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342 UBaseType_t uxTopPriority; \
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344 /* Find the highest priority queue that contains ready tasks. */ \
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345 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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346 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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347 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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348 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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350 /*-----------------------------------------------------------*/
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352 /* A port optimised version is provided, call it only if the TCB being reset
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353 is being referenced from a ready list. If it is referenced from a delayed
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354 or suspended list then it won't be in a ready list. */
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355 #define taskRESET_READY_PRIORITY( uxPriority ) \
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357 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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359 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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363 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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365 /*-----------------------------------------------------------*/
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367 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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368 count overflows. */
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369 #define taskSWITCH_DELAYED_LISTS() \
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373 /* The delayed tasks list should be empty when the lists are switched. */ \
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374 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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376 pxTemp = pxDelayedTaskList; \
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377 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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378 pxOverflowDelayedTaskList = pxTemp; \
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379 xNumOfOverflows++; \
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380 prvResetNextTaskUnblockTime(); \
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383 /*-----------------------------------------------------------*/
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386 * Place the task represented by pxTCB into the appropriate ready list for
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387 * the task. It is inserted at the end of the list.
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389 #define prvAddTaskToReadyList( pxTCB ) \
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390 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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391 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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392 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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393 /*-----------------------------------------------------------*/
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396 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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397 * where NULL is used to indicate that the handle of the currently executing
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398 * task should be used in place of the parameter. This macro simply checks to
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399 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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401 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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403 /* The item value of the event list item is normally used to hold the priority
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404 of the task to which it belongs (coded to allow it to be held in reverse
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405 priority order). However, it is occasionally borrowed for other purposes. It
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406 is important its value is not updated due to a task priority change while it is
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407 being used for another purpose. The following bit definition is used to inform
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408 the scheduler that the value should not be changed - in which case it is the
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409 responsibility of whichever module is using the value to ensure it gets set back
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410 to its original value when it is released. */
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411 #if configUSE_16_BIT_TICKS == 1
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412 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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414 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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417 /* Callback function prototypes. --------------------------*/
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418 #if configCHECK_FOR_STACK_OVERFLOW > 0
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419 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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422 #if configUSE_TICK_HOOK > 0
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423 extern void vApplicationTickHook( void );
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426 /* File private functions. --------------------------------*/
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429 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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430 * into the TCB structure.
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432 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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435 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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436 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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437 * is in any other state.
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439 #if ( INCLUDE_vTaskSuspend == 1 )
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440 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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441 #endif /* INCLUDE_vTaskSuspend */
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444 * Utility to ready all the lists used by the scheduler. This is called
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445 * automatically upon the creation of the first task.
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447 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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450 * The idle task, which as all tasks is implemented as a never ending loop.
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451 * The idle task is automatically created and added to the ready lists upon
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452 * creation of the first user task.
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454 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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455 * language extensions. The equivalent prototype for this function is:
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457 * void prvIdleTask( void *pvParameters );
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460 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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463 * Utility to free all memory allocated by the scheduler to hold a TCB,
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464 * including the stack pointed to by the TCB.
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466 * This does not free memory allocated by the task itself (i.e. memory
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467 * allocated by calls to pvPortMalloc from within the tasks application code).
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469 #if ( INCLUDE_vTaskDelete == 1 )
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471 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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476 * Used only by the idle task. This checks to see if anything has been placed
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477 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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478 * and its TCB deleted.
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480 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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483 * The currently executing task is entering the Blocked state. Add the task to
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484 * either the current or the overflow delayed task list.
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486 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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489 * Allocates memory from the heap for a TCB and associated stack. Checks the
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490 * allocation was successful.
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492 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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495 * Fills an TaskStatus_t structure with information on each task that is
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496 * referenced from the pxList list (which may be a ready list, a delayed list,
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497 * a suspended list, etc.).
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499 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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500 * NORMAL APPLICATION CODE.
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502 #if ( configUSE_TRACE_FACILITY == 1 )
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504 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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509 * When a task is created, the stack of the task is filled with a known value.
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510 * This function determines the 'high water mark' of the task stack by
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511 * determining how much of the stack remains at the original preset value.
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513 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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515 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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520 * Return the amount of time, in ticks, that will pass before the kernel will
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521 * next move a task from the Blocked state to the Running state.
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523 * This conditional compilation should use inequality to 0, not equality to 1.
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524 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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525 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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526 * set to a value other than 1.
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528 #if ( configUSE_TICKLESS_IDLE != 0 )
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530 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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535 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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536 * will exit the Blocked state.
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538 static void prvResetNextTaskUnblockTime( void );
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540 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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543 * Helper function used to pad task names with spaces when printing out
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544 * human readable tables of task information.
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546 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
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549 /*-----------------------------------------------------------*/
\r
551 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
553 BaseType_t xReturn;
\r
555 StackType_t *pxTopOfStack;
\r
557 configASSERT( pxTaskCode );
\r
558 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
560 /* Allocate the memory required by the TCB and stack for the new task,
\r
561 checking that the allocation was successful. */
\r
562 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
564 if( pxNewTCB != NULL )
\r
566 #if( portUSING_MPU_WRAPPERS == 1 )
\r
567 /* Should the task be created in privileged mode? */
\r
568 BaseType_t xRunPrivileged;
\r
569 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
571 xRunPrivileged = pdTRUE;
\r
575 xRunPrivileged = pdFALSE;
\r
577 uxPriority &= ~portPRIVILEGE_BIT;
\r
579 if( puxStackBuffer != NULL )
\r
581 /* The application provided its own stack. Note this so no
\r
582 attempt is made to delete the stack should that task be
\r
584 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
588 /* The stack was allocated dynamically. Note this so it can be
\r
589 deleted again if the task is deleted. */
\r
590 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
592 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
594 /* Calculate the top of stack address. This depends on whether the
\r
595 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
596 portSTACK_GROWTH is used to make the result positive or negative as
\r
597 required by the port. */
\r
598 #if( portSTACK_GROWTH < 0 )
\r
600 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
601 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
603 /* Check the alignment of the calculated top of stack is correct. */
\r
604 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
606 #else /* portSTACK_GROWTH */
\r
608 pxTopOfStack = pxNewTCB->pxStack;
\r
610 /* Check the alignment of the stack buffer is correct. */
\r
611 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
613 /* If we want to use stack checking on architectures that use
\r
614 a positive stack growth direction then we also need to store the
\r
615 other extreme of the stack space. */
\r
616 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
618 #endif /* portSTACK_GROWTH */
\r
620 /* Setup the newly allocated TCB with the initial state of the task. */
\r
621 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
623 /* Initialize the TCB stack to look as if the task was already running,
\r
624 but had been interrupted by the scheduler. The return address is set
\r
625 to the start of the task function. Once the stack has been initialised
\r
626 the top of stack variable is updated. */
\r
627 #if( portUSING_MPU_WRAPPERS == 1 )
\r
629 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
631 #else /* portUSING_MPU_WRAPPERS */
\r
633 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
635 #endif /* portUSING_MPU_WRAPPERS */
\r
637 if( ( void * ) pxCreatedTask != NULL )
\r
639 /* Pass the TCB out - in an anonymous way. The calling function/
\r
640 task can use this as a handle to delete the task later if
\r
642 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
646 mtCOVERAGE_TEST_MARKER();
\r
649 /* Ensure interrupts don't access the task lists while they are being
\r
651 taskENTER_CRITICAL();
\r
653 uxCurrentNumberOfTasks++;
\r
654 if( pxCurrentTCB == NULL )
\r
656 /* There are no other tasks, or all the other tasks are in
\r
657 the suspended state - make this the current task. */
\r
658 pxCurrentTCB = pxNewTCB;
\r
660 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
662 /* This is the first task to be created so do the preliminary
\r
663 initialisation required. We will not recover if this call
\r
664 fails, but we will report the failure. */
\r
665 prvInitialiseTaskLists();
\r
669 mtCOVERAGE_TEST_MARKER();
\r
674 /* If the scheduler is not already running, make this task the
\r
675 current task if it is the highest priority task to be created
\r
677 if( xSchedulerRunning == pdFALSE )
\r
679 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
681 pxCurrentTCB = pxNewTCB;
\r
685 mtCOVERAGE_TEST_MARKER();
\r
690 mtCOVERAGE_TEST_MARKER();
\r
696 #if ( configUSE_TRACE_FACILITY == 1 )
\r
698 /* Add a counter into the TCB for tracing only. */
\r
699 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
701 #endif /* configUSE_TRACE_FACILITY */
\r
702 traceTASK_CREATE( pxNewTCB );
\r
704 prvAddTaskToReadyList( pxNewTCB );
\r
707 portSETUP_TCB( pxNewTCB );
\r
709 taskEXIT_CRITICAL();
\r
713 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
714 traceTASK_CREATE_FAILED();
\r
717 if( xReturn == pdPASS )
\r
719 if( xSchedulerRunning != pdFALSE )
\r
721 /* If the created task is of a higher priority than the current task
\r
722 then it should run now. */
\r
723 if( pxCurrentTCB->uxPriority < uxPriority )
\r
725 taskYIELD_IF_USING_PREEMPTION();
\r
729 mtCOVERAGE_TEST_MARKER();
\r
734 mtCOVERAGE_TEST_MARKER();
\r
740 /*-----------------------------------------------------------*/
\r
742 #if ( INCLUDE_vTaskDelete == 1 )
\r
744 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
748 taskENTER_CRITICAL();
\r
750 /* If null is passed in here then it is the calling task that is
\r
752 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
754 /* Remove task from the ready list and place in the termination list.
\r
755 This will stop the task from be scheduled. The idle task will check
\r
756 the termination list and free up any memory allocated by the
\r
757 scheduler for the TCB and stack. */
\r
758 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
760 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
764 mtCOVERAGE_TEST_MARKER();
\r
767 /* Is the task waiting on an event also? */
\r
768 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
770 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
774 mtCOVERAGE_TEST_MARKER();
\r
777 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
779 /* Increment the ucTasksDeleted variable so the idle task knows
\r
780 there is a task that has been deleted and that it should therefore
\r
781 check the xTasksWaitingTermination list. */
\r
784 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
785 can detect that the task lists need re-generating. */
\r
788 traceTASK_DELETE( pxTCB );
\r
790 taskEXIT_CRITICAL();
\r
792 /* Force a reschedule if it is the currently running task that has just
\r
794 if( xSchedulerRunning != pdFALSE )
\r
796 if( pxTCB == pxCurrentTCB )
\r
798 configASSERT( uxSchedulerSuspended == 0 );
\r
800 /* The pre-delete hook is primarily for the Windows simulator,
\r
801 in which Windows specific clean up operations are performed,
\r
802 after which it is not possible to yield away from this task -
\r
803 hence xYieldPending is used to latch that a context switch is
\r
805 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
806 portYIELD_WITHIN_API();
\r
810 /* Reset the next expected unblock time in case it referred to
\r
811 the task that has just been deleted. */
\r
812 taskENTER_CRITICAL();
\r
814 prvResetNextTaskUnblockTime();
\r
816 taskEXIT_CRITICAL();
\r
821 #endif /* INCLUDE_vTaskDelete */
\r
822 /*-----------------------------------------------------------*/
\r
824 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
826 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
828 TickType_t xTimeToWake;
\r
829 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
831 configASSERT( pxPreviousWakeTime );
\r
832 configASSERT( ( xTimeIncrement > 0U ) );
\r
833 configASSERT( uxSchedulerSuspended == 0 );
\r
837 /* Minor optimisation. The tick count cannot change in this
\r
839 const TickType_t xConstTickCount = xTickCount;
\r
841 /* Generate the tick time at which the task wants to wake. */
\r
842 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
844 if( xConstTickCount < *pxPreviousWakeTime )
\r
846 /* The tick count has overflowed since this function was
\r
847 lasted called. In this case the only time we should ever
\r
848 actually delay is if the wake time has also overflowed,
\r
849 and the wake time is greater than the tick time. When this
\r
850 is the case it is as if neither time had overflowed. */
\r
851 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
853 xShouldDelay = pdTRUE;
\r
857 mtCOVERAGE_TEST_MARKER();
\r
862 /* The tick time has not overflowed. In this case we will
\r
863 delay if either the wake time has overflowed, and/or the
\r
864 tick time is less than the wake time. */
\r
865 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
867 xShouldDelay = pdTRUE;
\r
871 mtCOVERAGE_TEST_MARKER();
\r
875 /* Update the wake time ready for the next call. */
\r
876 *pxPreviousWakeTime = xTimeToWake;
\r
878 if( xShouldDelay != pdFALSE )
\r
880 traceTASK_DELAY_UNTIL();
\r
882 /* Remove the task from the ready list before adding it to the
\r
883 blocked list as the same list item is used for both lists. */
\r
884 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
886 /* The current task must be in a ready list, so there is
\r
887 no need to check, and the port reset macro can be called
\r
889 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
893 mtCOVERAGE_TEST_MARKER();
\r
896 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
900 mtCOVERAGE_TEST_MARKER();
\r
903 xAlreadyYielded = xTaskResumeAll();
\r
905 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
906 have put ourselves to sleep. */
\r
907 if( xAlreadyYielded == pdFALSE )
\r
909 portYIELD_WITHIN_API();
\r
913 mtCOVERAGE_TEST_MARKER();
\r
917 #endif /* INCLUDE_vTaskDelayUntil */
\r
918 /*-----------------------------------------------------------*/
\r
920 #if ( INCLUDE_vTaskDelay == 1 )
\r
922 void vTaskDelay( const TickType_t xTicksToDelay )
\r
924 TickType_t xTimeToWake;
\r
925 BaseType_t xAlreadyYielded = pdFALSE;
\r
928 /* A delay time of zero just forces a reschedule. */
\r
929 if( xTicksToDelay > ( TickType_t ) 0U )
\r
931 configASSERT( uxSchedulerSuspended == 0 );
\r
936 /* A task that is removed from the event list while the
\r
937 scheduler is suspended will not get placed in the ready
\r
938 list or removed from the blocked list until the scheduler
\r
941 This task cannot be in an event list as it is the currently
\r
944 /* Calculate the time to wake - this may overflow but this is
\r
946 xTimeToWake = xTickCount + xTicksToDelay;
\r
948 /* We must remove ourselves from the ready list before adding
\r
949 ourselves to the blocked list as the same list item is used for
\r
951 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
953 /* The current task must be in a ready list, so there is
\r
954 no need to check, and the port reset macro can be called
\r
956 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
960 mtCOVERAGE_TEST_MARKER();
\r
962 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
964 xAlreadyYielded = xTaskResumeAll();
\r
968 mtCOVERAGE_TEST_MARKER();
\r
971 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
972 have put ourselves to sleep. */
\r
973 if( xAlreadyYielded == pdFALSE )
\r
975 portYIELD_WITHIN_API();
\r
979 mtCOVERAGE_TEST_MARKER();
\r
983 #endif /* INCLUDE_vTaskDelay */
\r
984 /*-----------------------------------------------------------*/
\r
986 #if ( INCLUDE_eTaskGetState == 1 )
\r
988 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
990 eTaskState eReturn;
\r
991 List_t *pxStateList;
\r
992 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
994 configASSERT( pxTCB );
\r
996 if( pxTCB == pxCurrentTCB )
\r
998 /* The task calling this function is querying its own state. */
\r
999 eReturn = eRunning;
\r
1003 taskENTER_CRITICAL();
\r
1005 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1007 taskEXIT_CRITICAL();
\r
1009 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1011 /* The task being queried is referenced from one of the Blocked
\r
1013 eReturn = eBlocked;
\r
1016 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1017 else if( pxStateList == &xSuspendedTaskList )
\r
1019 /* The task being queried is referenced from the suspended
\r
1020 list. Is it genuinely suspended or is it block
\r
1022 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1024 eReturn = eSuspended;
\r
1028 eReturn = eBlocked;
\r
1033 #if ( INCLUDE_vTaskDelete == 1 )
\r
1034 else if( pxStateList == &xTasksWaitingTermination )
\r
1036 /* The task being queried is referenced from the deleted
\r
1038 eReturn = eDeleted;
\r
1042 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1044 /* If the task is not in any other state, it must be in the
\r
1045 Ready (including pending ready) state. */
\r
1051 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1053 #endif /* INCLUDE_eTaskGetState */
\r
1054 /*-----------------------------------------------------------*/
\r
1056 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1058 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1061 UBaseType_t uxReturn;
\r
1063 taskENTER_CRITICAL();
\r
1065 /* If null is passed in here then we are changing the
\r
1066 priority of the calling function. */
\r
1067 pxTCB = prvGetTCBFromHandle( xTask );
\r
1068 uxReturn = pxTCB->uxPriority;
\r
1070 taskEXIT_CRITICAL();
\r
1075 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1076 /*-----------------------------------------------------------*/
\r
1078 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1080 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1083 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1085 /* RTOS ports that support interrupt nesting have the concept of a
\r
1086 maximum system call (or maximum API call) interrupt priority.
\r
1087 Interrupts that are above the maximum system call priority are keep
\r
1088 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1089 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1090 is defined in FreeRTOSConfig.h then
\r
1091 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1092 failure if a FreeRTOS API function is called from an interrupt that has
\r
1093 been assigned a priority above the configured maximum system call
\r
1094 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1095 from interrupts that have been assigned a priority at or (logically)
\r
1096 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1097 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1098 simple as possible. More information (albeit Cortex-M specific) is
\r
1099 provided on the following link:
\r
1100 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1101 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1103 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1105 /* If null is passed in here then it is the priority of the calling
\r
1106 task that is being queried. */
\r
1107 pxTCB = prvGetTCBFromHandle( xTask );
\r
1108 uxReturn = pxTCB->uxPriority;
\r
1110 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1115 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1116 /*-----------------------------------------------------------*/
\r
1118 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1120 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1123 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1124 BaseType_t xYieldRequired = pdFALSE;
\r
1126 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1128 /* Ensure the new priority is valid. */
\r
1129 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1131 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1135 mtCOVERAGE_TEST_MARKER();
\r
1138 taskENTER_CRITICAL();
\r
1140 /* If null is passed in here then it is the priority of the calling
\r
1141 task that is being changed. */
\r
1142 pxTCB = prvGetTCBFromHandle( xTask );
\r
1144 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1146 #if ( configUSE_MUTEXES == 1 )
\r
1148 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1152 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1156 if( uxCurrentBasePriority != uxNewPriority )
\r
1158 /* The priority change may have readied a task of higher
\r
1159 priority than the calling task. */
\r
1160 if( uxNewPriority > uxCurrentBasePriority )
\r
1162 if( pxTCB != pxCurrentTCB )
\r
1164 /* The priority of a task other than the currently
\r
1165 running task is being raised. Is the priority being
\r
1166 raised above that of the running task? */
\r
1167 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1169 xYieldRequired = pdTRUE;
\r
1173 mtCOVERAGE_TEST_MARKER();
\r
1178 /* The priority of the running task is being raised,
\r
1179 but the running task must already be the highest
\r
1180 priority task able to run so no yield is required. */
\r
1183 else if( pxTCB == pxCurrentTCB )
\r
1185 /* Setting the priority of the running task down means
\r
1186 there may now be another task of higher priority that
\r
1187 is ready to execute. */
\r
1188 xYieldRequired = pdTRUE;
\r
1192 /* Setting the priority of any other task down does not
\r
1193 require a yield as the running task must be above the
\r
1194 new priority of the task being modified. */
\r
1197 /* Remember the ready list the task might be referenced from
\r
1198 before its uxPriority member is changed so the
\r
1199 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1200 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1202 #if ( configUSE_MUTEXES == 1 )
\r
1204 /* Only change the priority being used if the task is not
\r
1205 currently using an inherited priority. */
\r
1206 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1208 pxTCB->uxPriority = uxNewPriority;
\r
1212 mtCOVERAGE_TEST_MARKER();
\r
1215 /* The base priority gets set whatever. */
\r
1216 pxTCB->uxBasePriority = uxNewPriority;
\r
1220 pxTCB->uxPriority = uxNewPriority;
\r
1224 /* Only reset the event list item value if the value is not
\r
1225 being used for anything else. */
\r
1226 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1228 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1232 mtCOVERAGE_TEST_MARKER();
\r
1235 /* If the task is in the blocked or suspended list we need do
\r
1236 nothing more than change it's priority variable. However, if
\r
1237 the task is in a ready list it needs to be removed and placed
\r
1238 in the list appropriate to its new priority. */
\r
1239 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1241 /* The task is currently in its ready list - remove before adding
\r
1242 it to it's new ready list. As we are in a critical section we
\r
1243 can do this even if the scheduler is suspended. */
\r
1244 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1246 /* It is known that the task is in its ready list so
\r
1247 there is no need to check again and the port level
\r
1248 reset macro can be called directly. */
\r
1249 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1253 mtCOVERAGE_TEST_MARKER();
\r
1255 prvAddTaskToReadyList( pxTCB );
\r
1259 mtCOVERAGE_TEST_MARKER();
\r
1262 if( xYieldRequired == pdTRUE )
\r
1264 taskYIELD_IF_USING_PREEMPTION();
\r
1268 mtCOVERAGE_TEST_MARKER();
\r
1271 /* Remove compiler warning about unused variables when the port
\r
1272 optimised task selection is not being used. */
\r
1273 ( void ) uxPriorityUsedOnEntry;
\r
1276 taskEXIT_CRITICAL();
\r
1279 #endif /* INCLUDE_vTaskPrioritySet */
\r
1280 /*-----------------------------------------------------------*/
\r
1282 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1284 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1288 taskENTER_CRITICAL();
\r
1290 /* If null is passed in here then it is the running task that is
\r
1291 being suspended. */
\r
1292 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1294 traceTASK_SUSPEND( pxTCB );
\r
1296 /* Remove task from the ready/delayed list and place in the
\r
1297 suspended list. */
\r
1298 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1300 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1304 mtCOVERAGE_TEST_MARKER();
\r
1307 /* Is the task waiting on an event also? */
\r
1308 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1310 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1314 mtCOVERAGE_TEST_MARKER();
\r
1317 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1319 taskEXIT_CRITICAL();
\r
1321 if( pxTCB == pxCurrentTCB )
\r
1323 if( xSchedulerRunning != pdFALSE )
\r
1325 /* The current task has just been suspended. */
\r
1326 configASSERT( uxSchedulerSuspended == 0 );
\r
1327 portYIELD_WITHIN_API();
\r
1331 /* The scheduler is not running, but the task that was pointed
\r
1332 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1333 must be adjusted to point to a different task. */
\r
1334 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1336 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1337 NULL so when the next task is created pxCurrentTCB will
\r
1338 be set to point to it no matter what its relative priority
\r
1340 pxCurrentTCB = NULL;
\r
1344 vTaskSwitchContext();
\r
1350 if( xSchedulerRunning != pdFALSE )
\r
1352 /* A task other than the currently running task was suspended,
\r
1353 reset the next expected unblock time in case it referred to the
\r
1354 task that is now in the Suspended state. */
\r
1355 taskENTER_CRITICAL();
\r
1357 prvResetNextTaskUnblockTime();
\r
1359 taskEXIT_CRITICAL();
\r
1363 mtCOVERAGE_TEST_MARKER();
\r
1368 #endif /* INCLUDE_vTaskSuspend */
\r
1369 /*-----------------------------------------------------------*/
\r
1371 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1373 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1375 BaseType_t xReturn = pdFALSE;
\r
1376 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1378 /* Accesses xPendingReadyList so must be called from a critical
\r
1381 /* It does not make sense to check if the calling task is suspended. */
\r
1382 configASSERT( xTask );
\r
1384 /* Is the task being resumed actually in the suspended list? */
\r
1385 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1387 /* Has the task already been resumed from within an ISR? */
\r
1388 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1390 /* Is it in the suspended list because it is in the Suspended
\r
1391 state, or because is is blocked with no timeout? */
\r
1392 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1398 mtCOVERAGE_TEST_MARKER();
\r
1403 mtCOVERAGE_TEST_MARKER();
\r
1408 mtCOVERAGE_TEST_MARKER();
\r
1412 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1414 #endif /* INCLUDE_vTaskSuspend */
\r
1415 /*-----------------------------------------------------------*/
\r
1417 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1419 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1421 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1423 /* It does not make sense to resume the calling task. */
\r
1424 configASSERT( xTaskToResume );
\r
1426 /* The parameter cannot be NULL as it is impossible to resume the
\r
1427 currently executing task. */
\r
1428 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1430 taskENTER_CRITICAL();
\r
1432 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1434 traceTASK_RESUME( pxTCB );
\r
1436 /* As we are in a critical section we can access the ready
\r
1437 lists even if the scheduler is suspended. */
\r
1438 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1439 prvAddTaskToReadyList( pxTCB );
\r
1441 /* We may have just resumed a higher priority task. */
\r
1442 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1444 /* This yield may not cause the task just resumed to run,
\r
1445 but will leave the lists in the correct state for the
\r
1447 taskYIELD_IF_USING_PREEMPTION();
\r
1451 mtCOVERAGE_TEST_MARKER();
\r
1456 mtCOVERAGE_TEST_MARKER();
\r
1459 taskEXIT_CRITICAL();
\r
1463 mtCOVERAGE_TEST_MARKER();
\r
1467 #endif /* INCLUDE_vTaskSuspend */
\r
1469 /*-----------------------------------------------------------*/
\r
1471 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1473 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1475 BaseType_t xYieldRequired = pdFALSE;
\r
1476 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1477 UBaseType_t uxSavedInterruptStatus;
\r
1479 configASSERT( xTaskToResume );
\r
1481 /* RTOS ports that support interrupt nesting have the concept of a
\r
1482 maximum system call (or maximum API call) interrupt priority.
\r
1483 Interrupts that are above the maximum system call priority are keep
\r
1484 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1485 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1486 is defined in FreeRTOSConfig.h then
\r
1487 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1488 failure if a FreeRTOS API function is called from an interrupt that has
\r
1489 been assigned a priority above the configured maximum system call
\r
1490 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1491 from interrupts that have been assigned a priority at or (logically)
\r
1492 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1493 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1494 simple as possible. More information (albeit Cortex-M specific) is
\r
1495 provided on the following link:
\r
1496 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1497 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1499 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1501 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1503 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1505 /* Check the ready lists can be accessed. */
\r
1506 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1508 /* Ready lists can be accessed so move the task from the
\r
1509 suspended list to the ready list directly. */
\r
1510 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1512 xYieldRequired = pdTRUE;
\r
1516 mtCOVERAGE_TEST_MARKER();
\r
1519 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1520 prvAddTaskToReadyList( pxTCB );
\r
1524 /* The delayed or ready lists cannot be accessed so the task
\r
1525 is held in the pending ready list until the scheduler is
\r
1527 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1532 mtCOVERAGE_TEST_MARKER();
\r
1535 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1537 return xYieldRequired;
\r
1540 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1541 /*-----------------------------------------------------------*/
\r
1543 void vTaskStartScheduler( void )
\r
1545 BaseType_t xReturn;
\r
1547 /* Add the idle task at the lowest priority. */
\r
1548 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1550 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1551 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1552 xReturn = xTaskCreate( prvIdleTask, "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
1556 /* Create the idle task without storing its handle. */
\r
1557 xReturn = xTaskCreate( prvIdleTask, "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
1559 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1561 #if ( configUSE_TIMERS == 1 )
\r
1563 if( xReturn == pdPASS )
\r
1565 xReturn = xTimerCreateTimerTask();
\r
1569 mtCOVERAGE_TEST_MARKER();
\r
1572 #endif /* configUSE_TIMERS */
\r
1574 if( xReturn == pdPASS )
\r
1576 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1577 before or during the call to xPortStartScheduler(). The stacks of
\r
1578 the created tasks contain a status word with interrupts switched on
\r
1579 so interrupts will automatically get re-enabled when the first task
\r
1581 portDISABLE_INTERRUPTS();
\r
1583 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1585 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1586 structure specific to the task that will run first. */
\r
1587 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1589 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1591 xSchedulerRunning = pdTRUE;
\r
1592 xTickCount = ( TickType_t ) 0U;
\r
1594 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1595 macro must be defined to configure the timer/counter used to generate
\r
1596 the run time counter time base. */
\r
1597 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1599 /* Setting up the timer tick is hardware specific and thus in the
\r
1600 portable interface. */
\r
1601 if( xPortStartScheduler() != pdFALSE )
\r
1603 /* Should not reach here as if the scheduler is running the
\r
1604 function will not return. */
\r
1608 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1613 /* This line will only be reached if the kernel could not be started,
\r
1614 because there was not enough FreeRTOS heap to create the idle task
\r
1615 or the timer task. */
\r
1616 configASSERT( xReturn );
\r
1619 /*-----------------------------------------------------------*/
\r
1621 void vTaskEndScheduler( void )
\r
1623 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1624 routine so the original ISRs can be restored if necessary. The port
\r
1625 layer must ensure interrupts enable bit is left in the correct state. */
\r
1626 portDISABLE_INTERRUPTS();
\r
1627 xSchedulerRunning = pdFALSE;
\r
1628 vPortEndScheduler();
\r
1630 /*----------------------------------------------------------*/
\r
1632 void vTaskSuspendAll( void )
\r
1634 /* A critical section is not required as the variable is of type
\r
1635 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1636 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1637 http://goo.gl/wu4acr */
\r
1638 ++uxSchedulerSuspended;
\r
1640 /*----------------------------------------------------------*/
\r
1642 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1644 static TickType_t prvGetExpectedIdleTime( void )
\r
1646 TickType_t xReturn;
\r
1648 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1652 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1654 /* There are other idle priority tasks in the ready state. If
\r
1655 time slicing is used then the very next tick interrupt must be
\r
1661 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1667 #endif /* configUSE_TICKLESS_IDLE */
\r
1668 /*----------------------------------------------------------*/
\r
1670 BaseType_t xTaskResumeAll( void )
\r
1673 BaseType_t xAlreadyYielded = pdFALSE;
\r
1675 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1676 previous call to vTaskSuspendAll(). */
\r
1677 configASSERT( uxSchedulerSuspended );
\r
1679 /* It is possible that an ISR caused a task to be removed from an event
\r
1680 list while the scheduler was suspended. If this was the case then the
\r
1681 removed task will have been added to the xPendingReadyList. Once the
\r
1682 scheduler has been resumed it is safe to move all the pending ready
\r
1683 tasks from this list into their appropriate ready list. */
\r
1684 taskENTER_CRITICAL();
\r
1686 --uxSchedulerSuspended;
\r
1688 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1690 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1692 /* Move any readied tasks from the pending list into the
\r
1693 appropriate ready list. */
\r
1694 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1696 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1697 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1698 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1699 prvAddTaskToReadyList( pxTCB );
\r
1701 /* If the moved task has a priority higher than the current
\r
1702 task then a yield must be performed. */
\r
1703 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1705 xYieldPending = pdTRUE;
\r
1709 mtCOVERAGE_TEST_MARKER();
\r
1713 /* If any ticks occurred while the scheduler was suspended then
\r
1714 they should be processed now. This ensures the tick count does
\r
1715 not slip, and that any delayed tasks are resumed at the correct
\r
1717 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1719 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1721 if( xTaskIncrementTick() != pdFALSE )
\r
1723 xYieldPending = pdTRUE;
\r
1727 mtCOVERAGE_TEST_MARKER();
\r
1734 mtCOVERAGE_TEST_MARKER();
\r
1737 if( xYieldPending == pdTRUE )
\r
1739 #if( configUSE_PREEMPTION != 0 )
\r
1741 xAlreadyYielded = pdTRUE;
\r
1744 taskYIELD_IF_USING_PREEMPTION();
\r
1748 mtCOVERAGE_TEST_MARKER();
\r
1754 mtCOVERAGE_TEST_MARKER();
\r
1757 taskEXIT_CRITICAL();
\r
1759 return xAlreadyYielded;
\r
1761 /*-----------------------------------------------------------*/
\r
1763 TickType_t xTaskGetTickCount( void )
\r
1765 TickType_t xTicks;
\r
1767 /* Critical section required if running on a 16 bit processor. */
\r
1768 portTICK_TYPE_ENTER_CRITICAL();
\r
1770 xTicks = xTickCount;
\r
1772 portTICK_TYPE_EXIT_CRITICAL();
\r
1776 /*-----------------------------------------------------------*/
\r
1778 TickType_t xTaskGetTickCountFromISR( void )
\r
1780 TickType_t xReturn;
\r
1781 UBaseType_t uxSavedInterruptStatus;
\r
1783 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1784 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1785 above the maximum system call priority are kept permanently enabled, even
\r
1786 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1787 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1788 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1789 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1790 assigned a priority above the configured maximum system call priority.
\r
1791 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1792 that have been assigned a priority at or (logically) below the maximum
\r
1793 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1794 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1795 More information (albeit Cortex-M specific) is provided on the following
\r
1796 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1797 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1799 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1801 xReturn = xTickCount;
\r
1803 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1807 /*-----------------------------------------------------------*/
\r
1809 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1811 /* A critical section is not required because the variables are of type
\r
1813 return uxCurrentNumberOfTasks;
\r
1815 /*-----------------------------------------------------------*/
\r
1817 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1819 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1823 /* If null is passed in here then the name of the calling task is being queried. */
\r
1824 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1825 configASSERT( pxTCB );
\r
1826 return &( pxTCB->pcTaskName[ 0 ] );
\r
1829 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1830 /*-----------------------------------------------------------*/
\r
1832 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1834 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1836 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1838 vTaskSuspendAll();
\r
1840 /* Is there a space in the array for each task in the system? */
\r
1841 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1843 /* Fill in an TaskStatus_t structure with information on each
\r
1844 task in the Ready state. */
\r
1848 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1850 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1852 /* Fill in an TaskStatus_t structure with information on each
\r
1853 task in the Blocked state. */
\r
1854 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1855 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1857 #if( INCLUDE_vTaskDelete == 1 )
\r
1859 /* Fill in an TaskStatus_t structure with information on
\r
1860 each task that has been deleted but not yet cleaned up. */
\r
1861 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1865 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1867 /* Fill in an TaskStatus_t structure with information on
\r
1868 each task in the Suspended state. */
\r
1869 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1873 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1875 if( pulTotalRunTime != NULL )
\r
1877 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1878 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1880 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1886 if( pulTotalRunTime != NULL )
\r
1888 *pulTotalRunTime = 0;
\r
1895 mtCOVERAGE_TEST_MARKER();
\r
1898 ( void ) xTaskResumeAll();
\r
1903 #endif /* configUSE_TRACE_FACILITY */
\r
1904 /*----------------------------------------------------------*/
\r
1906 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1908 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1910 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1911 started, then xIdleTaskHandle will be NULL. */
\r
1912 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1913 return xIdleTaskHandle;
\r
1916 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1917 /*----------------------------------------------------------*/
\r
1919 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1920 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1921 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1923 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1925 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1927 /* Correct the tick count value after a period during which the tick
\r
1928 was suppressed. Note this does *not* call the tick hook function for
\r
1929 each stepped tick. */
\r
1930 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1931 xTickCount += xTicksToJump;
\r
1932 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1935 #endif /* configUSE_TICKLESS_IDLE */
\r
1936 /*----------------------------------------------------------*/
\r
1938 BaseType_t xTaskIncrementTick( void )
\r
1941 TickType_t xItemValue;
\r
1942 BaseType_t xSwitchRequired = pdFALSE;
\r
1944 /* Called by the portable layer each time a tick interrupt occurs.
\r
1945 Increments the tick then checks to see if the new tick value will cause any
\r
1946 tasks to be unblocked. */
\r
1947 traceTASK_INCREMENT_TICK( xTickCount );
\r
1948 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1950 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1951 delayed lists if it wraps to 0. */
\r
1955 /* Minor optimisation. The tick count cannot change in this
\r
1957 const TickType_t xConstTickCount = xTickCount;
\r
1959 if( xConstTickCount == ( TickType_t ) 0U )
\r
1961 taskSWITCH_DELAYED_LISTS();
\r
1965 mtCOVERAGE_TEST_MARKER();
\r
1968 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1969 the queue in the order of their wake time - meaning once one task
\r
1970 has been found whose block time has not expired there is no need to
\r
1971 look any further down the list. */
\r
1972 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1976 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1978 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1979 to the maximum possible value so it is extremely
\r
1981 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1982 next time through. */
\r
1983 xNextTaskUnblockTime = portMAX_DELAY;
\r
1988 /* The delayed list is not empty, get the value of the
\r
1989 item at the head of the delayed list. This is the time
\r
1990 at which the task at the head of the delayed list must
\r
1991 be removed from the Blocked state. */
\r
1992 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1993 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1995 if( xConstTickCount < xItemValue )
\r
1997 /* It is not time to unblock this item yet, but the
\r
1998 item value is the time at which the task at the head
\r
1999 of the blocked list must be removed from the Blocked
\r
2000 state - so record the item value in
\r
2001 xNextTaskUnblockTime. */
\r
2002 xNextTaskUnblockTime = xItemValue;
\r
2007 mtCOVERAGE_TEST_MARKER();
\r
2010 /* It is time to remove the item from the Blocked state. */
\r
2011 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2013 /* Is the task waiting on an event also? If so remove
\r
2014 it from the event list. */
\r
2015 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2017 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2021 mtCOVERAGE_TEST_MARKER();
\r
2024 /* Place the unblocked task into the appropriate ready
\r
2026 prvAddTaskToReadyList( pxTCB );
\r
2028 /* A task being unblocked cannot cause an immediate
\r
2029 context switch if preemption is turned off. */
\r
2030 #if ( configUSE_PREEMPTION == 1 )
\r
2032 /* Preemption is on, but a context switch should
\r
2033 only be performed if the unblocked task has a
\r
2034 priority that is equal to or higher than the
\r
2035 currently executing task. */
\r
2036 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2038 xSwitchRequired = pdTRUE;
\r
2042 mtCOVERAGE_TEST_MARKER();
\r
2045 #endif /* configUSE_PREEMPTION */
\r
2051 /* Tasks of equal priority to the currently running task will share
\r
2052 processing time (time slice) if preemption is on, and the application
\r
2053 writer has not explicitly turned time slicing off. */
\r
2054 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2056 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2058 xSwitchRequired = pdTRUE;
\r
2062 mtCOVERAGE_TEST_MARKER();
\r
2065 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2067 #if ( configUSE_TICK_HOOK == 1 )
\r
2069 /* Guard against the tick hook being called when the pended tick
\r
2070 count is being unwound (when the scheduler is being unlocked). */
\r
2071 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2073 vApplicationTickHook();
\r
2077 mtCOVERAGE_TEST_MARKER();
\r
2080 #endif /* configUSE_TICK_HOOK */
\r
2086 /* The tick hook gets called at regular intervals, even if the
\r
2087 scheduler is locked. */
\r
2088 #if ( configUSE_TICK_HOOK == 1 )
\r
2090 vApplicationTickHook();
\r
2095 #if ( configUSE_PREEMPTION == 1 )
\r
2097 if( xYieldPending != pdFALSE )
\r
2099 xSwitchRequired = pdTRUE;
\r
2103 mtCOVERAGE_TEST_MARKER();
\r
2106 #endif /* configUSE_PREEMPTION */
\r
2108 return xSwitchRequired;
\r
2110 /*-----------------------------------------------------------*/
\r
2112 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2114 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2118 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2120 if( xTask == NULL )
\r
2122 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2126 xTCB = ( TCB_t * ) xTask;
\r
2129 /* Save the hook function in the TCB. A critical section is required as
\r
2130 the value can be accessed from an interrupt. */
\r
2131 taskENTER_CRITICAL();
\r
2132 xTCB->pxTaskTag = pxHookFunction;
\r
2133 taskEXIT_CRITICAL();
\r
2136 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2137 /*-----------------------------------------------------------*/
\r
2139 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2141 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2144 TaskHookFunction_t xReturn;
\r
2146 /* If xTask is NULL then we are setting our own task hook. */
\r
2147 if( xTask == NULL )
\r
2149 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2153 xTCB = ( TCB_t * ) xTask;
\r
2156 /* Save the hook function in the TCB. A critical section is required as
\r
2157 the value can be accessed from an interrupt. */
\r
2158 taskENTER_CRITICAL();
\r
2160 xReturn = xTCB->pxTaskTag;
\r
2162 taskEXIT_CRITICAL();
\r
2167 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2168 /*-----------------------------------------------------------*/
\r
2170 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2172 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2175 BaseType_t xReturn;
\r
2177 /* If xTask is NULL then we are calling our own task hook. */
\r
2178 if( xTask == NULL )
\r
2180 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2184 xTCB = ( TCB_t * ) xTask;
\r
2187 if( xTCB->pxTaskTag != NULL )
\r
2189 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2199 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2200 /*-----------------------------------------------------------*/
\r
2202 void vTaskSwitchContext( void )
\r
2204 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2206 /* The scheduler is currently suspended - do not allow a context
\r
2208 xYieldPending = pdTRUE;
\r
2212 xYieldPending = pdFALSE;
\r
2213 traceTASK_SWITCHED_OUT();
\r
2215 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2217 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2218 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2220 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2223 /* Add the amount of time the task has been running to the
\r
2224 accumulated time so far. The time the task started running was
\r
2225 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2226 protection here so count values are only valid until the timer
\r
2227 overflows. The guard against negative values is to protect
\r
2228 against suspect run time stat counter implementations - which
\r
2229 are provided by the application, not the kernel. */
\r
2230 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2232 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2236 mtCOVERAGE_TEST_MARKER();
\r
2238 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2240 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2242 /* Check for stack overflow, if configured. */
\r
2243 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2244 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2246 /* Select a new task to run using either the generic C or port
\r
2247 optimised asm code. */
\r
2248 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2249 traceTASK_SWITCHED_IN();
\r
2251 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2253 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2254 structure specific to this task. */
\r
2255 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2257 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2260 /*-----------------------------------------------------------*/
\r
2262 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2264 TickType_t xTimeToWake;
\r
2266 configASSERT( pxEventList );
\r
2268 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2269 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2271 /* Place the event list item of the TCB in the appropriate event list.
\r
2272 This is placed in the list in priority order so the highest priority task
\r
2273 is the first to be woken by the event. The queue that contains the event
\r
2274 list is locked, preventing simultaneous access from interrupts. */
\r
2275 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2277 /* The task must be removed from from the ready list before it is added to
\r
2278 the blocked list as the same list item is used for both lists. Exclusive
\r
2279 access to the ready lists guaranteed because the scheduler is locked. */
\r
2280 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2282 /* The current task must be in a ready list, so there is no need to
\r
2283 check, and the port reset macro can be called directly. */
\r
2284 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2288 mtCOVERAGE_TEST_MARKER();
\r
2291 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2293 if( xTicksToWait == portMAX_DELAY )
\r
2295 /* Add the task to the suspended task list instead of a delayed task
\r
2296 list to ensure the task is not woken by a timing event. It will
\r
2297 block indefinitely. */
\r
2298 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2302 /* Calculate the time at which the task should be woken if the event
\r
2303 does not occur. This may overflow but this doesn't matter, the
\r
2304 scheduler will handle it. */
\r
2305 xTimeToWake = xTickCount + xTicksToWait;
\r
2306 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2309 #else /* INCLUDE_vTaskSuspend */
\r
2311 /* Calculate the time at which the task should be woken if the event does
\r
2312 not occur. This may overflow but this doesn't matter, the scheduler
\r
2313 will handle it. */
\r
2314 xTimeToWake = xTickCount + xTicksToWait;
\r
2315 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2317 #endif /* INCLUDE_vTaskSuspend */
\r
2319 /*-----------------------------------------------------------*/
\r
2321 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2323 TickType_t xTimeToWake;
\r
2325 configASSERT( pxEventList );
\r
2327 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2328 the event groups implementation. */
\r
2329 configASSERT( uxSchedulerSuspended != 0 );
\r
2331 /* Store the item value in the event list item. It is safe to access the
\r
2332 event list item here as interrupts won't access the event list item of a
\r
2333 task that is not in the Blocked state. */
\r
2334 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2336 /* Place the event list item of the TCB at the end of the appropriate event
\r
2337 list. It is safe to access the event list here because it is part of an
\r
2338 event group implementation - and interrupts don't access event groups
\r
2339 directly (instead they access them indirectly by pending function calls to
\r
2340 the task level). */
\r
2341 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2343 /* The task must be removed from the ready list before it is added to the
\r
2344 blocked list. Exclusive access can be assured to the ready list as the
\r
2345 scheduler is locked. */
\r
2346 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2348 /* The current task must be in a ready list, so there is no need to
\r
2349 check, and the port reset macro can be called directly. */
\r
2350 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2354 mtCOVERAGE_TEST_MARKER();
\r
2357 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2359 if( xTicksToWait == portMAX_DELAY )
\r
2361 /* Add the task to the suspended task list instead of a delayed task
\r
2362 list to ensure it is not woken by a timing event. It will block
\r
2364 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2368 /* Calculate the time at which the task should be woken if the event
\r
2369 does not occur. This may overflow but this doesn't matter, the
\r
2370 kernel will manage it correctly. */
\r
2371 xTimeToWake = xTickCount + xTicksToWait;
\r
2372 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2375 #else /* INCLUDE_vTaskSuspend */
\r
2377 /* Calculate the time at which the task should be woken if the event does
\r
2378 not occur. This may overflow but this doesn't matter, the kernel
\r
2379 will manage it correctly. */
\r
2380 xTimeToWake = xTickCount + xTicksToWait;
\r
2381 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2383 #endif /* INCLUDE_vTaskSuspend */
\r
2385 /*-----------------------------------------------------------*/
\r
2387 #if configUSE_TIMERS == 1
\r
2389 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2391 TickType_t xTimeToWake;
\r
2393 configASSERT( pxEventList );
\r
2395 /* This function should not be called by application code hence the
\r
2396 'Restricted' in its name. It is not part of the public API. It is
\r
2397 designed for use by kernel code, and has special calling requirements -
\r
2398 it should be called from a critical section. */
\r
2401 /* Place the event list item of the TCB in the appropriate event list.
\r
2402 In this case it is assume that this is the only task that is going to
\r
2403 be waiting on this event list, so the faster vListInsertEnd() function
\r
2404 can be used in place of vListInsert. */
\r
2405 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2407 /* We must remove this task from the ready list before adding it to the
\r
2408 blocked list as the same list item is used for both lists. This
\r
2409 function is called form a critical section. */
\r
2410 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2412 /* The current task must be in a ready list, so there is no need to
\r
2413 check, and the port reset macro can be called directly. */
\r
2414 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2418 mtCOVERAGE_TEST_MARKER();
\r
2421 /* Calculate the time at which the task should be woken if the event does
\r
2422 not occur. This may overflow but this doesn't matter. */
\r
2423 xTimeToWake = xTickCount + xTicksToWait;
\r
2425 traceTASK_DELAY_UNTIL();
\r
2426 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2429 #endif /* configUSE_TIMERS */
\r
2430 /*-----------------------------------------------------------*/
\r
2432 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2434 TCB_t *pxUnblockedTCB;
\r
2435 BaseType_t xReturn;
\r
2437 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2438 called from a critical section within an ISR. */
\r
2440 /* The event list is sorted in priority order, so the first in the list can
\r
2441 be removed as it is known to be the highest priority. Remove the TCB from
\r
2442 the delayed list, and add it to the ready list.
\r
2444 If an event is for a queue that is locked then this function will never
\r
2445 get called - the lock count on the queue will get modified instead. This
\r
2446 means exclusive access to the event list is guaranteed here.
\r
2448 This function assumes that a check has already been made to ensure that
\r
2449 pxEventList is not empty. */
\r
2450 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2451 configASSERT( pxUnblockedTCB );
\r
2452 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2454 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2456 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2457 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2461 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2462 pending until the scheduler is resumed. */
\r
2463 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2466 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2468 /* Return true if the task removed from the event list has a higher
\r
2469 priority than the calling task. This allows the calling task to know if
\r
2470 it should force a context switch now. */
\r
2473 /* Mark that a yield is pending in case the user is not using the
\r
2474 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2475 xYieldPending = pdTRUE;
\r
2479 xReturn = pdFALSE;
\r
2482 #if( configUSE_TICKLESS_IDLE == 1 )
\r
2484 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2485 might be set to the blocked task's time out time. If the task is
\r
2486 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2487 normally left unchanged, because it is automatically get reset to a new
\r
2488 value when the tick count equals xNextTaskUnblockTime. However if
\r
2489 tickless idling is used it might be more important to enter sleep mode
\r
2490 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2491 ensure it is updated at the earliest possible time. */
\r
2492 prvResetNextTaskUnblockTime();
\r
2498 /*-----------------------------------------------------------*/
\r
2500 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2502 TCB_t *pxUnblockedTCB;
\r
2503 BaseType_t xReturn;
\r
2505 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2506 the event flags implementation. */
\r
2507 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2509 /* Store the new item value in the event list. */
\r
2510 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2512 /* Remove the event list form the event flag. Interrupts do not access
\r
2514 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2515 configASSERT( pxUnblockedTCB );
\r
2516 ( void ) uxListRemove( pxEventListItem );
\r
2518 /* Remove the task from the delayed list and add it to the ready list. The
\r
2519 scheduler is suspended so interrupts will not be accessing the ready
\r
2521 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2522 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2524 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2526 /* Return true if the task removed from the event list has
\r
2527 a higher priority than the calling task. This allows
\r
2528 the calling task to know if it should force a context
\r
2532 /* Mark that a yield is pending in case the user is not using the
\r
2533 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2534 xYieldPending = pdTRUE;
\r
2538 xReturn = pdFALSE;
\r
2543 /*-----------------------------------------------------------*/
\r
2545 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2547 configASSERT( pxTimeOut );
\r
2548 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2549 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2551 /*-----------------------------------------------------------*/
\r
2553 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2555 BaseType_t xReturn;
\r
2557 configASSERT( pxTimeOut );
\r
2558 configASSERT( pxTicksToWait );
\r
2560 taskENTER_CRITICAL();
\r
2562 /* Minor optimisation. The tick count cannot change in this block. */
\r
2563 const TickType_t xConstTickCount = xTickCount;
\r
2565 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2566 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2567 the maximum block time then the task should block indefinitely, and
\r
2568 therefore never time out. */
\r
2569 if( *pxTicksToWait == portMAX_DELAY )
\r
2571 xReturn = pdFALSE;
\r
2573 else /* We are not blocking indefinitely, perform the checks below. */
\r
2576 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2578 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2579 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2580 It must have wrapped all the way around and gone past us again. This
\r
2581 passed since vTaskSetTimeout() was called. */
\r
2584 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2586 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2587 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2588 vTaskSetTimeOutState( pxTimeOut );
\r
2589 xReturn = pdFALSE;
\r
2596 taskEXIT_CRITICAL();
\r
2600 /*-----------------------------------------------------------*/
\r
2602 void vTaskMissedYield( void )
\r
2604 xYieldPending = pdTRUE;
\r
2606 /*-----------------------------------------------------------*/
\r
2608 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2610 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2612 UBaseType_t uxReturn;
\r
2615 if( xTask != NULL )
\r
2617 pxTCB = ( TCB_t * ) xTask;
\r
2618 uxReturn = pxTCB->uxTaskNumber;
\r
2628 #endif /* configUSE_TRACE_FACILITY */
\r
2629 /*-----------------------------------------------------------*/
\r
2631 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2633 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2637 if( xTask != NULL )
\r
2639 pxTCB = ( TCB_t * ) xTask;
\r
2640 pxTCB->uxTaskNumber = uxHandle;
\r
2644 #endif /* configUSE_TRACE_FACILITY */
\r
2647 * -----------------------------------------------------------
\r
2649 * ----------------------------------------------------------
\r
2651 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2652 * language extensions. The equivalent prototype for this function is:
\r
2654 * void prvIdleTask( void *pvParameters );
\r
2657 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2659 /* Stop warnings. */
\r
2660 ( void ) pvParameters;
\r
2664 /* See if any tasks have been deleted. */
\r
2665 prvCheckTasksWaitingTermination();
\r
2667 #if ( configUSE_PREEMPTION == 0 )
\r
2669 /* If we are not using preemption we keep forcing a task switch to
\r
2670 see if any other task has become available. If we are using
\r
2671 preemption we don't need to do this as any task becoming available
\r
2672 will automatically get the processor anyway. */
\r
2675 #endif /* configUSE_PREEMPTION */
\r
2677 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2679 /* When using preemption tasks of equal priority will be
\r
2680 timesliced. If a task that is sharing the idle priority is ready
\r
2681 to run then the idle task should yield before the end of the
\r
2684 A critical region is not required here as we are just reading from
\r
2685 the list, and an occasional incorrect value will not matter. If
\r
2686 the ready list at the idle priority contains more than one task
\r
2687 then a task other than the idle task is ready to execute. */
\r
2688 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2694 mtCOVERAGE_TEST_MARKER();
\r
2697 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2699 #if ( configUSE_IDLE_HOOK == 1 )
\r
2701 extern void vApplicationIdleHook( void );
\r
2703 /* Call the user defined function from within the idle task. This
\r
2704 allows the application designer to add background functionality
\r
2705 without the overhead of a separate task.
\r
2706 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2707 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2708 vApplicationIdleHook();
\r
2710 #endif /* configUSE_IDLE_HOOK */
\r
2712 /* This conditional compilation should use inequality to 0, not equality
\r
2713 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2714 user defined low power mode implementations require
\r
2715 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2716 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2718 TickType_t xExpectedIdleTime;
\r
2720 /* It is not desirable to suspend then resume the scheduler on
\r
2721 each iteration of the idle task. Therefore, a preliminary
\r
2722 test of the expected idle time is performed without the
\r
2723 scheduler suspended. The result here is not necessarily
\r
2725 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2727 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2729 vTaskSuspendAll();
\r
2731 /* Now the scheduler is suspended, the expected idle
\r
2732 time can be sampled again, and this time its value can
\r
2734 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2735 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2737 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2739 traceLOW_POWER_IDLE_BEGIN();
\r
2740 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2741 traceLOW_POWER_IDLE_END();
\r
2745 mtCOVERAGE_TEST_MARKER();
\r
2748 ( void ) xTaskResumeAll();
\r
2752 mtCOVERAGE_TEST_MARKER();
\r
2755 #endif /* configUSE_TICKLESS_IDLE */
\r
2758 /*-----------------------------------------------------------*/
\r
2760 #if configUSE_TICKLESS_IDLE != 0
\r
2762 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2764 eSleepModeStatus eReturn = eStandardSleep;
\r
2766 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2768 /* A task was made ready while the scheduler was suspended. */
\r
2769 eReturn = eAbortSleep;
\r
2771 else if( xYieldPending != pdFALSE )
\r
2773 /* A yield was pended while the scheduler was suspended. */
\r
2774 eReturn = eAbortSleep;
\r
2778 #if configUSE_TIMERS == 0
\r
2780 /* The idle task exists in addition to the application tasks. */
\r
2781 const UBaseType_t uxNonApplicationTasks = 1;
\r
2783 /* If timers are not being used and all the tasks are in the
\r
2784 suspended list (which might mean they have an infinite block
\r
2785 time rather than actually being suspended) then it is safe to
\r
2786 turn all clocks off and just wait for external interrupts. */
\r
2787 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2789 eReturn = eNoTasksWaitingTimeout;
\r
2793 mtCOVERAGE_TEST_MARKER();
\r
2796 #endif /* configUSE_TIMERS */
\r
2801 #endif /* configUSE_TICKLESS_IDLE */
\r
2802 /*-----------------------------------------------------------*/
\r
2804 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2808 /* Store the task name in the TCB. */
\r
2809 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2811 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2813 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2814 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2815 string is not accessible (extremely unlikely). */
\r
2816 if( pcName[ x ] == 0x00 )
\r
2822 mtCOVERAGE_TEST_MARKER();
\r
2826 /* Ensure the name string is terminated in the case that the string length
\r
2827 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2828 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2830 /* This is used as an array index so must ensure it's not too large. First
\r
2831 remove the privilege bit if one is present. */
\r
2832 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2834 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2838 mtCOVERAGE_TEST_MARKER();
\r
2841 pxTCB->uxPriority = uxPriority;
\r
2842 #if ( configUSE_MUTEXES == 1 )
\r
2844 pxTCB->uxBasePriority = uxPriority;
\r
2845 pxTCB->uxMutexesHeld = 0;
\r
2847 #endif /* configUSE_MUTEXES */
\r
2849 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2850 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2852 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2853 back to the containing TCB from a generic item in a list. */
\r
2854 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2856 /* Event lists are always in priority order. */
\r
2857 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2858 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2860 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2862 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2864 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2866 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2868 pxTCB->pxTaskTag = NULL;
\r
2870 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2872 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2874 pxTCB->ulRunTimeCounter = 0UL;
\r
2876 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2878 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2880 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2882 #else /* portUSING_MPU_WRAPPERS */
\r
2884 ( void ) xRegions;
\r
2885 ( void ) usStackDepth;
\r
2887 #endif /* portUSING_MPU_WRAPPERS */
\r
2889 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2891 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2893 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2898 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2900 pxTCB->ulNotifiedValue = 0;
\r
2901 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2905 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2907 /* Initialise this task's Newlib reent structure. */
\r
2908 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2910 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2912 /*-----------------------------------------------------------*/
\r
2914 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2916 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2920 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2922 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2923 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
2927 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2928 /*-----------------------------------------------------------*/
\r
2930 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2932 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
2934 void *pvReturn = NULL;
\r
2937 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2939 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2940 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
2950 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2951 /*-----------------------------------------------------------*/
\r
2953 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2955 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2959 /* If null is passed in here then we are deleting ourselves. */
\r
2960 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2962 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2965 #endif /* portUSING_MPU_WRAPPERS */
\r
2966 /*-----------------------------------------------------------*/
\r
2968 static void prvInitialiseTaskLists( void )
\r
2970 UBaseType_t uxPriority;
\r
2972 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2974 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2977 vListInitialise( &xDelayedTaskList1 );
\r
2978 vListInitialise( &xDelayedTaskList2 );
\r
2979 vListInitialise( &xPendingReadyList );
\r
2981 #if ( INCLUDE_vTaskDelete == 1 )
\r
2983 vListInitialise( &xTasksWaitingTermination );
\r
2985 #endif /* INCLUDE_vTaskDelete */
\r
2987 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2989 vListInitialise( &xSuspendedTaskList );
\r
2991 #endif /* INCLUDE_vTaskSuspend */
\r
2993 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2995 pxDelayedTaskList = &xDelayedTaskList1;
\r
2996 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2998 /*-----------------------------------------------------------*/
\r
3000 static void prvCheckTasksWaitingTermination( void )
\r
3002 #if ( INCLUDE_vTaskDelete == 1 )
\r
3004 BaseType_t xListIsEmpty;
\r
3006 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3007 too often in the idle task. */
\r
3008 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
3010 vTaskSuspendAll();
\r
3012 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3014 ( void ) xTaskResumeAll();
\r
3016 if( xListIsEmpty == pdFALSE )
\r
3020 taskENTER_CRITICAL();
\r
3022 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3023 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3024 --uxCurrentNumberOfTasks;
\r
3027 taskEXIT_CRITICAL();
\r
3029 prvDeleteTCB( pxTCB );
\r
3033 mtCOVERAGE_TEST_MARKER();
\r
3037 #endif /* vTaskDelete */
\r
3039 /*-----------------------------------------------------------*/
\r
3041 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3043 /* The list item will be inserted in wake time order. */
\r
3044 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3046 if( xTimeToWake < xTickCount )
\r
3048 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3049 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3053 /* The wake time has not overflowed, so the current block list is used. */
\r
3054 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3056 /* If the task entering the blocked state was placed at the head of the
\r
3057 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3059 if( xTimeToWake < xNextTaskUnblockTime )
\r
3061 xNextTaskUnblockTime = xTimeToWake;
\r
3065 mtCOVERAGE_TEST_MARKER();
\r
3069 /*-----------------------------------------------------------*/
\r
3071 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3075 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3076 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3077 the TCB then the stack. */
\r
3078 #if( portSTACK_GROWTH > 0 )
\r
3080 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3081 the implementation of the port malloc function. */
\r
3082 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3084 if( pxNewTCB != NULL )
\r
3086 /* Allocate space for the stack used by the task being created.
\r
3087 The base of the stack memory stored in the TCB so the task can
\r
3088 be deleted later if required. */
\r
3089 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3091 if( pxNewTCB->pxStack == NULL )
\r
3093 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3094 vPortFree( pxNewTCB );
\r
3099 #else /* portSTACK_GROWTH */
\r
3101 StackType_t *pxStack;
\r
3103 /* Allocate space for the stack used by the task being created. */
\r
3104 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3106 if( pxStack != NULL )
\r
3108 /* Allocate space for the TCB. Where the memory comes from depends
\r
3109 on the implementation of the port malloc function. */
\r
3110 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3112 if( pxNewTCB != NULL )
\r
3114 /* Store the stack location in the TCB. */
\r
3115 pxNewTCB->pxStack = pxStack;
\r
3119 /* The stack cannot be used as the TCB was not created. Free it
\r
3121 vPortFree( pxStack );
\r
3129 #endif /* portSTACK_GROWTH */
\r
3131 if( pxNewTCB != NULL )
\r
3133 /* Avoid dependency on memset() if it is not required. */
\r
3134 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3136 /* Just to help debugging. */
\r
3137 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3139 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3144 /*-----------------------------------------------------------*/
\r
3146 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3148 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3150 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3151 UBaseType_t uxTask = 0;
\r
3153 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3155 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3157 /* Populate an TaskStatus_t structure within the
\r
3158 pxTaskStatusArray array for each task that is referenced from
\r
3159 pxList. See the definition of TaskStatus_t in task.h for the
\r
3160 meaning of each TaskStatus_t structure member. */
\r
3163 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3165 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3166 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3167 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3168 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3169 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3171 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3173 /* If the task is in the suspended list then there is a chance
\r
3174 it is actually just blocked indefinitely - so really it should
\r
3175 be reported as being in the Blocked state. */
\r
3176 if( eState == eSuspended )
\r
3178 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3180 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3184 #endif /* INCLUDE_vTaskSuspend */
\r
3186 #if ( configUSE_MUTEXES == 1 )
\r
3188 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3192 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3196 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3198 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3202 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3206 #if ( portSTACK_GROWTH > 0 )
\r
3208 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3212 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3218 } while( pxNextTCB != pxFirstTCB );
\r
3222 mtCOVERAGE_TEST_MARKER();
\r
3228 #endif /* configUSE_TRACE_FACILITY */
\r
3229 /*-----------------------------------------------------------*/
\r
3231 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3233 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3235 uint32_t ulCount = 0U;
\r
3237 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3239 pucStackByte -= portSTACK_GROWTH;
\r
3243 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3245 return ( uint16_t ) ulCount;
\r
3248 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3249 /*-----------------------------------------------------------*/
\r
3251 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3253 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3256 uint8_t *pucEndOfStack;
\r
3257 UBaseType_t uxReturn;
\r
3259 pxTCB = prvGetTCBFromHandle( xTask );
\r
3261 #if portSTACK_GROWTH < 0
\r
3263 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3267 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3271 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3276 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3277 /*-----------------------------------------------------------*/
\r
3279 #if ( INCLUDE_vTaskDelete == 1 )
\r
3281 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3283 /* This call is required specifically for the TriCore port. It must be
\r
3284 above the vPortFree() calls. The call is also used by ports/demos that
\r
3285 want to allocate and clean RAM statically. */
\r
3286 portCLEAN_UP_TCB( pxTCB );
\r
3288 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3289 to the task to free any memory allocated at the application level. */
\r
3290 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3292 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3294 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3296 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3298 /* Only free the stack if it was allocated dynamically in the first
\r
3300 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3302 vPortFreeAligned( pxTCB->pxStack );
\r
3307 vPortFreeAligned( pxTCB->pxStack );
\r
3311 vPortFree( pxTCB );
\r
3314 #endif /* INCLUDE_vTaskDelete */
\r
3315 /*-----------------------------------------------------------*/
\r
3317 static void prvResetNextTaskUnblockTime( void )
\r
3321 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3323 /* The new current delayed list is empty. Set
\r
3324 xNextTaskUnblockTime to the maximum possible value so it is
\r
3325 extremely unlikely that the
\r
3326 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3327 there is an item in the delayed list. */
\r
3328 xNextTaskUnblockTime = portMAX_DELAY;
\r
3332 /* The new current delayed list is not empty, get the value of
\r
3333 the item at the head of the delayed list. This is the time at
\r
3334 which the task at the head of the delayed list should be removed
\r
3335 from the Blocked state. */
\r
3336 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3337 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3340 /*-----------------------------------------------------------*/
\r
3342 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3344 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3346 TaskHandle_t xReturn;
\r
3348 /* A critical section is not required as this is not called from
\r
3349 an interrupt and the current TCB will always be the same for any
\r
3350 individual execution thread. */
\r
3351 xReturn = pxCurrentTCB;
\r
3356 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3357 /*-----------------------------------------------------------*/
\r
3359 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3361 BaseType_t xTaskGetSchedulerState( void )
\r
3363 BaseType_t xReturn;
\r
3365 if( xSchedulerRunning == pdFALSE )
\r
3367 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3371 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3373 xReturn = taskSCHEDULER_RUNNING;
\r
3377 xReturn = taskSCHEDULER_SUSPENDED;
\r
3384 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3385 /*-----------------------------------------------------------*/
\r
3387 #if ( configUSE_MUTEXES == 1 )
\r
3389 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3391 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3393 /* If the mutex was given back by an interrupt while the queue was
\r
3394 locked then the mutex holder might now be NULL. */
\r
3395 if( pxMutexHolder != NULL )
\r
3397 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3399 /* Adjust the mutex holder state to account for its new
\r
3400 priority. Only reset the event list item value if the value is
\r
3401 not being used for anything else. */
\r
3402 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3404 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3408 mtCOVERAGE_TEST_MARKER();
\r
3411 /* If the task being modified is in the ready state it will need to
\r
3412 be moved into a new list. */
\r
3413 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3415 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3417 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3421 mtCOVERAGE_TEST_MARKER();
\r
3424 /* Inherit the priority before being moved into the new list. */
\r
3425 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3426 prvAddTaskToReadyList( pxTCB );
\r
3430 /* Just inherit the priority. */
\r
3431 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3434 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3438 mtCOVERAGE_TEST_MARKER();
\r
3443 mtCOVERAGE_TEST_MARKER();
\r
3447 #endif /* configUSE_MUTEXES */
\r
3448 /*-----------------------------------------------------------*/
\r
3450 #if ( configUSE_MUTEXES == 1 )
\r
3452 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3454 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3455 BaseType_t xReturn = pdFALSE;
\r
3457 if( pxMutexHolder != NULL )
\r
3459 configASSERT( pxTCB->uxMutexesHeld );
\r
3460 ( pxTCB->uxMutexesHeld )--;
\r
3462 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3464 /* Only disinherit if no other mutexes are held. */
\r
3465 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3467 /* A task can only have an inhertied priority if it holds
\r
3468 the mutex. If the mutex is held by a task then it cannot be
\r
3469 given from an interrupt, and if a mutex is given by the
\r
3470 holding task then it must be the running state task. Remove
\r
3471 the holding task from the ready list. */
\r
3472 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3474 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3478 mtCOVERAGE_TEST_MARKER();
\r
3481 /* Disinherit the priority before adding the task into the
\r
3482 new ready list. */
\r
3483 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3484 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3486 /* Reset the event list item value. It cannot be in use for
\r
3487 any other purpose if this task is running, and it must be
\r
3488 running to give back the mutex. */
\r
3489 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3490 prvAddTaskToReadyList( pxTCB );
\r
3492 /* Return true to indicate that a context switch is required.
\r
3493 This is only actually required in the corner case whereby
\r
3494 multiple mutexes were held and the mutexes were given back
\r
3495 in an order different to that in which they were taken.
\r
3496 If a context switch did not occur when the first mutex was
\r
3497 returned, even if a task was waiting on it, then a context
\r
3498 switch should occur when the last mutex is returned whether
\r
3499 a task is waiting on it or not. */
\r
3504 mtCOVERAGE_TEST_MARKER();
\r
3509 mtCOVERAGE_TEST_MARKER();
\r
3514 mtCOVERAGE_TEST_MARKER();
\r
3520 #endif /* configUSE_MUTEXES */
\r
3521 /*-----------------------------------------------------------*/
\r
3523 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3525 void vTaskEnterCritical( void )
\r
3527 portDISABLE_INTERRUPTS();
\r
3529 if( xSchedulerRunning != pdFALSE )
\r
3531 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3533 /* This is not the interrupt safe version of the enter critical
\r
3534 function so assert() if it is being called from an interrupt
\r
3535 context. Only API functions that end in "FromISR" can be used in an
\r
3536 interrupt. Only assert if the critical nesting count is 1 to
\r
3537 protect against recursive calls if the assert function also uses a
\r
3538 critical section. */
\r
3539 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3541 portASSERT_IF_IN_ISR();
\r
3547 mtCOVERAGE_TEST_MARKER();
\r
3551 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3552 /*-----------------------------------------------------------*/
\r
3554 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3556 void vTaskExitCritical( void )
\r
3558 if( xSchedulerRunning != pdFALSE )
\r
3560 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3562 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3564 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3566 portENABLE_INTERRUPTS();
\r
3570 mtCOVERAGE_TEST_MARKER();
\r
3575 mtCOVERAGE_TEST_MARKER();
\r
3580 mtCOVERAGE_TEST_MARKER();
\r
3584 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3585 /*-----------------------------------------------------------*/
\r
3587 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3589 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3593 /* Start by copying the entire string. */
\r
3594 strcpy( pcBuffer, pcTaskName );
\r
3596 /* Pad the end of the string with spaces to ensure columns line up when
\r
3598 for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3600 pcBuffer[ x ] = ' ';
\r
3604 pcBuffer[ x ] = 0x00;
\r
3606 /* Return the new end of string. */
\r
3607 return &( pcBuffer[ x ] );
\r
3610 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3611 /*-----------------------------------------------------------*/
\r
3613 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3615 void vTaskList( char * pcWriteBuffer )
\r
3617 TaskStatus_t *pxTaskStatusArray;
\r
3618 volatile UBaseType_t uxArraySize, x;
\r
3624 * This function is provided for convenience only, and is used by many
\r
3625 * of the demo applications. Do not consider it to be part of the
\r
3628 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3629 * uxTaskGetSystemState() output into a human readable table that
\r
3630 * displays task names, states and stack usage.
\r
3632 * vTaskList() has a dependency on the sprintf() C library function that
\r
3633 * might bloat the code size, use a lot of stack, and provide different
\r
3634 * results on different platforms. An alternative, tiny, third party,
\r
3635 * and limited functionality implementation of sprintf() is provided in
\r
3636 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3637 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3638 * snprintf() implementation!).
\r
3640 * It is recommended that production systems call uxTaskGetSystemState()
\r
3641 * directly to get access to raw stats data, rather than indirectly
\r
3642 * through a call to vTaskList().
\r
3646 /* Make sure the write buffer does not contain a string. */
\r
3647 *pcWriteBuffer = 0x00;
\r
3649 /* Take a snapshot of the number of tasks in case it changes while this
\r
3650 function is executing. */
\r
3651 uxArraySize = uxCurrentNumberOfTasks;
\r
3653 /* Allocate an array index for each task. */
\r
3654 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3656 if( pxTaskStatusArray != NULL )
\r
3658 /* Generate the (binary) data. */
\r
3659 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3661 /* Create a human readable table from the binary data. */
\r
3662 for( x = 0; x < uxArraySize; x++ )
\r
3664 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3666 case eReady: cStatus = tskREADY_CHAR;
\r
3669 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3672 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3675 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3678 default: /* Should not get here, but it is included
\r
3679 to prevent static checking errors. */
\r
3684 /* Write the task name to the string, padding with spaces so it
\r
3685 can be printed in tabular form more easily. */
\r
3686 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3688 /* Write the rest of the string. */
\r
3689 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3690 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3693 /* Free the array again. */
\r
3694 vPortFree( pxTaskStatusArray );
\r
3698 mtCOVERAGE_TEST_MARKER();
\r
3702 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3703 /*----------------------------------------------------------*/
\r
3705 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3707 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3709 TaskStatus_t *pxTaskStatusArray;
\r
3710 volatile UBaseType_t uxArraySize, x;
\r
3711 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3713 #if( configUSE_TRACE_FACILITY != 1 )
\r
3715 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3722 * This function is provided for convenience only, and is used by many
\r
3723 * of the demo applications. Do not consider it to be part of the
\r
3726 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3727 * of the uxTaskGetSystemState() output into a human readable table that
\r
3728 * displays the amount of time each task has spent in the Running state
\r
3729 * in both absolute and percentage terms.
\r
3731 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3732 * function that might bloat the code size, use a lot of stack, and
\r
3733 * provide different results on different platforms. An alternative,
\r
3734 * tiny, third party, and limited functionality implementation of
\r
3735 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3736 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3737 * a full snprintf() implementation!).
\r
3739 * It is recommended that production systems call uxTaskGetSystemState()
\r
3740 * directly to get access to raw stats data, rather than indirectly
\r
3741 * through a call to vTaskGetRunTimeStats().
\r
3744 /* Make sure the write buffer does not contain a string. */
\r
3745 *pcWriteBuffer = 0x00;
\r
3747 /* Take a snapshot of the number of tasks in case it changes while this
\r
3748 function is executing. */
\r
3749 uxArraySize = uxCurrentNumberOfTasks;
\r
3751 /* Allocate an array index for each task. */
\r
3752 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3754 if( pxTaskStatusArray != NULL )
\r
3756 /* Generate the (binary) data. */
\r
3757 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3759 /* For percentage calculations. */
\r
3760 ulTotalTime /= 100UL;
\r
3762 /* Avoid divide by zero errors. */
\r
3763 if( ulTotalTime > 0 )
\r
3765 /* Create a human readable table from the binary data. */
\r
3766 for( x = 0; x < uxArraySize; x++ )
\r
3768 /* What percentage of the total run time has the task used?
\r
3769 This will always be rounded down to the nearest integer.
\r
3770 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3771 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3773 /* Write the task name to the string, padding with
\r
3774 spaces so it can be printed in tabular form more
\r
3776 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3778 if( ulStatsAsPercentage > 0UL )
\r
3780 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3782 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3786 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3787 printf() library can be used. */
\r
3788 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3794 /* If the percentage is zero here then the task has
\r
3795 consumed less than 1% of the total run time. */
\r
3796 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3798 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3802 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3803 printf() library can be used. */
\r
3804 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3809 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3814 mtCOVERAGE_TEST_MARKER();
\r
3817 /* Free the array again. */
\r
3818 vPortFree( pxTaskStatusArray );
\r
3822 mtCOVERAGE_TEST_MARKER();
\r
3826 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3827 /*-----------------------------------------------------------*/
\r
3829 TickType_t uxTaskResetEventItemValue( void )
\r
3831 TickType_t uxReturn;
\r
3833 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3835 /* Reset the event list item to its normal value - so it can be used with
\r
3836 queues and semaphores. */
\r
3837 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3841 /*-----------------------------------------------------------*/
\r
3843 #if ( configUSE_MUTEXES == 1 )
\r
3845 void *pvTaskIncrementMutexHeldCount( void )
\r
3847 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3848 then pxCurrentTCB will be NULL. */
\r
3849 if( pxCurrentTCB != NULL )
\r
3851 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3854 return pxCurrentTCB;
\r
3857 #endif /* configUSE_MUTEXES */
\r
3858 /*-----------------------------------------------------------*/
\r
3860 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3862 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3864 TickType_t xTimeToWake;
\r
3865 uint32_t ulReturn;
\r
3867 taskENTER_CRITICAL();
\r
3869 /* Only block if the notification count is not already non-zero. */
\r
3870 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3872 /* Mark this task as waiting for a notification. */
\r
3873 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3875 if( xTicksToWait > ( TickType_t ) 0 )
\r
3877 /* The task is going to block. First it must be removed
\r
3878 from the ready list. */
\r
3879 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3881 /* The current task must be in a ready list, so there is
\r
3882 no need to check, and the port reset macro can be called
\r
3884 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3888 mtCOVERAGE_TEST_MARKER();
\r
3891 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3893 if( xTicksToWait == portMAX_DELAY )
\r
3895 /* Add the task to the suspended task list instead
\r
3896 of a delayed task list to ensure the task is not
\r
3897 woken by a timing event. It will block
\r
3899 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3903 /* Calculate the time at which the task should be
\r
3904 woken if no notification events occur. This may
\r
3905 overflow but this doesn't matter, the scheduler will
\r
3907 xTimeToWake = xTickCount + xTicksToWait;
\r
3908 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3911 #else /* INCLUDE_vTaskSuspend */
\r
3913 /* Calculate the time at which the task should be
\r
3914 woken if the event does not occur. This may
\r
3915 overflow but this doesn't matter, the scheduler will
\r
3917 xTimeToWake = xTickCount + xTicksToWait;
\r
3918 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3920 #endif /* INCLUDE_vTaskSuspend */
\r
3922 /* All ports are written to allow a yield in a critical
\r
3923 section (some will yield immediately, others wait until the
\r
3924 critical section exits) - but it is not something that
\r
3925 application code should ever do. */
\r
3926 portYIELD_WITHIN_API();
\r
3930 mtCOVERAGE_TEST_MARKER();
\r
3935 mtCOVERAGE_TEST_MARKER();
\r
3938 taskEXIT_CRITICAL();
\r
3940 taskENTER_CRITICAL();
\r
3942 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3944 if( ulReturn != 0UL )
\r
3946 if( xClearCountOnExit != pdFALSE )
\r
3948 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3952 ( pxCurrentTCB->ulNotifiedValue )--;
\r
3957 mtCOVERAGE_TEST_MARKER();
\r
3960 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
3962 taskEXIT_CRITICAL();
\r
3967 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
3968 /*-----------------------------------------------------------*/
\r
3970 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3972 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
3974 TickType_t xTimeToWake;
\r
3975 BaseType_t xReturn;
\r
3977 taskENTER_CRITICAL();
\r
3979 /* Only block if a notification is not already pending. */
\r
3980 if( pxCurrentTCB->eNotifyState != eNotified )
\r
3982 /* Clear bits in the task's notification value as bits may get
\r
3983 set by the notifying task or interrupt. This can be used to
\r
3984 clear the value to zero. */
\r
3985 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
3987 /* Mark this task as waiting for a notification. */
\r
3988 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3990 if( xTicksToWait > ( TickType_t ) 0 )
\r
3992 /* The task is going to block. First it must be removed
\r
3993 from the ready list. */
\r
3994 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3996 /* The current task must be in a ready list, so there is
\r
3997 no need to check, and the port reset macro can be called
\r
3999 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4003 mtCOVERAGE_TEST_MARKER();
\r
4006 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4008 if( xTicksToWait == portMAX_DELAY )
\r
4010 /* Add the task to the suspended task list instead
\r
4011 of a delayed task list to ensure the task is not
\r
4012 woken by a timing event. It will block
\r
4014 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4018 /* Calculate the time at which the task should be
\r
4019 woken if no notification events occur. This may
\r
4020 overflow but this doesn't matter, the scheduler will
\r
4022 xTimeToWake = xTickCount + xTicksToWait;
\r
4023 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4026 #else /* INCLUDE_vTaskSuspend */
\r
4028 /* Calculate the time at which the task should be
\r
4029 woken if the event does not occur. This may
\r
4030 overflow but this doesn't matter, the scheduler will
\r
4032 xTimeToWake = xTickCount + xTicksToWait;
\r
4033 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4035 #endif /* INCLUDE_vTaskSuspend */
\r
4037 /* All ports are written to allow a yield in a critical
\r
4038 section (some will yield immediately, others wait until the
\r
4039 critical section exits) - but it is not something that
\r
4040 application code should ever do. */
\r
4041 portYIELD_WITHIN_API();
\r
4045 mtCOVERAGE_TEST_MARKER();
\r
4050 mtCOVERAGE_TEST_MARKER();
\r
4053 taskEXIT_CRITICAL();
\r
4055 taskENTER_CRITICAL();
\r
4057 if( pulNotificationValue != NULL )
\r
4059 /* Output the current notification value, which may or may not
\r
4061 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4064 /* If eNotifyValue is set then either the task never entered the
\r
4065 blocked state (because a notification was already pending) or the
\r
4066 task unblocked because of a notification. Otherwise the task
\r
4067 unblocked because of a timeout. */
\r
4068 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4070 /* A notification was not received. */
\r
4071 xReturn = pdFALSE;
\r
4075 /* A notification was already pending or a notification was
\r
4076 received while the task was waiting. */
\r
4077 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4081 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4083 taskEXIT_CRITICAL();
\r
4088 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4089 /*-----------------------------------------------------------*/
\r
4091 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4093 BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
\r
4096 eNotifyValue eOriginalNotifyState;
\r
4097 BaseType_t xReturn = pdPASS;
\r
4099 configASSERT( xTaskToNotify );
\r
4100 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4102 taskENTER_CRITICAL();
\r
4104 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4106 pxTCB->eNotifyState = eNotified;
\r
4111 pxTCB->ulNotifiedValue |= ulValue;
\r
4115 ( pxTCB->ulNotifiedValue )++;
\r
4118 case eSetValueWithOverwrite :
\r
4119 pxTCB->ulNotifiedValue = ulValue;
\r
4122 case eSetValueWithoutOverwrite :
\r
4123 if( eOriginalNotifyState != eNotified )
\r
4125 pxTCB->ulNotifiedValue = ulValue;
\r
4129 /* The value could not be written to the task. */
\r
4135 /* The task is being notified without its notify value being
\r
4141 /* If the task is in the blocked state specifically to wait for a
\r
4142 notification then unblock it now. */
\r
4143 if( eOriginalNotifyState == eWaitingNotification )
\r
4145 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4146 prvAddTaskToReadyList( pxTCB );
\r
4148 /* The task should not have been on an event list. */
\r
4149 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4151 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4153 /* The notified task has a priority above the currently
\r
4154 executing task so a yield is required. */
\r
4155 taskYIELD_IF_USING_PREEMPTION();
\r
4159 mtCOVERAGE_TEST_MARKER();
\r
4164 mtCOVERAGE_TEST_MARKER();
\r
4167 taskEXIT_CRITICAL();
\r
4172 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4173 /*-----------------------------------------------------------*/
\r
4175 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4177 BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
\r
4180 eNotifyValue eOriginalNotifyState;
\r
4181 BaseType_t xReturn = pdPASS;
\r
4182 UBaseType_t uxSavedInterruptStatus;
\r
4184 configASSERT( xTaskToNotify );
\r
4186 /* RTOS ports that support interrupt nesting have the concept of a
\r
4187 maximum system call (or maximum API call) interrupt priority.
\r
4188 Interrupts that are above the maximum system call priority are keep
\r
4189 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4190 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4191 is defined in FreeRTOSConfig.h then
\r
4192 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4193 failure if a FreeRTOS API function is called from an interrupt that has
\r
4194 been assigned a priority above the configured maximum system call
\r
4195 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4196 from interrupts that have been assigned a priority at or (logically)
\r
4197 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4198 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4199 simple as possible. More information (albeit Cortex-M specific) is
\r
4200 provided on the following link:
\r
4201 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4202 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4204 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4206 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4208 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4210 pxTCB->eNotifyState = eNotified;
\r
4215 pxTCB->ulNotifiedValue |= ulValue;
\r
4219 ( pxTCB->ulNotifiedValue )++;
\r
4222 case eSetValueWithOverwrite :
\r
4223 pxTCB->ulNotifiedValue = ulValue;
\r
4226 case eSetValueWithoutOverwrite :
\r
4227 if( eOriginalNotifyState != eNotified )
\r
4229 pxTCB->ulNotifiedValue = ulValue;
\r
4233 /* The value could not be written to the task. */
\r
4239 /* The task is being notified without its notify value being
\r
4245 /* If the task is in the blocked state specifically to wait for a
\r
4246 notification then unblock it now. */
\r
4247 if( eOriginalNotifyState == eWaitingNotification )
\r
4249 /* The task should not have been on an event list. */
\r
4250 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4252 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4254 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4255 prvAddTaskToReadyList( pxTCB );
\r
4259 /* The delayed and ready lists cannot be accessed, so hold
\r
4260 this task pending until the scheduler is resumed. */
\r
4261 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4264 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4266 /* The notified task has a priority above the currently
\r
4267 executing task so a yield is required. */
\r
4268 if( pxHigherPriorityTaskWoken != NULL )
\r
4270 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4275 mtCOVERAGE_TEST_MARKER();
\r
4279 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4284 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4285 /*-----------------------------------------------------------*/
\r
4287 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4289 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4292 eNotifyValue eOriginalNotifyState;
\r
4293 UBaseType_t uxSavedInterruptStatus;
\r
4295 configASSERT( xTaskToNotify );
\r
4297 /* RTOS ports that support interrupt nesting have the concept of a
\r
4298 maximum system call (or maximum API call) interrupt priority.
\r
4299 Interrupts that are above the maximum system call priority are keep
\r
4300 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4301 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4302 is defined in FreeRTOSConfig.h then
\r
4303 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4304 failure if a FreeRTOS API function is called from an interrupt that has
\r
4305 been assigned a priority above the configured maximum system call
\r
4306 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4307 from interrupts that have been assigned a priority at or (logically)
\r
4308 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4309 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4310 simple as possible. More information (albeit Cortex-M specific) is
\r
4311 provided on the following link:
\r
4312 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4313 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4315 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4317 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4319 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4320 pxTCB->eNotifyState = eNotified;
\r
4322 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4324 ( pxTCB->ulNotifiedValue )++;
\r
4326 /* If the task is in the blocked state specifically to wait for a
\r
4327 notification then unblock it now. */
\r
4328 if( eOriginalNotifyState == eWaitingNotification )
\r
4330 /* The task should not have been on an event list. */
\r
4331 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4333 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4335 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4336 prvAddTaskToReadyList( pxTCB );
\r
4340 /* The delayed and ready lists cannot be accessed, so hold
\r
4341 this task pending until the scheduler is resumed. */
\r
4342 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4345 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4347 /* The notified task has a priority above the currently
\r
4348 executing task so a yield is required. */
\r
4349 if( pxHigherPriorityTaskWoken != NULL )
\r
4351 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4356 mtCOVERAGE_TEST_MARKER();
\r
4360 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4363 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4365 /*-----------------------------------------------------------*/
\r
4368 #ifdef FREERTOS_MODULE_TEST
\r
4369 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob