2 FreeRTOS V8.2.2 - 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 = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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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.
\r
546 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
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 & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) 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 it is the priority of the that
\r
1066 called uxTaskPriorityGet() that is being queried. */
\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 xNextTaskUnblockTime = portMAX_DELAY;
\r
1592 xSchedulerRunning = pdTRUE;
\r
1593 xTickCount = ( TickType_t ) 0U;
\r
1595 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1596 macro must be defined to configure the timer/counter used to generate
\r
1597 the run time counter time base. */
\r
1598 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1600 /* Setting up the timer tick is hardware specific and thus in the
\r
1601 portable interface. */
\r
1602 if( xPortStartScheduler() != pdFALSE )
\r
1604 /* Should not reach here as if the scheduler is running the
\r
1605 function will not return. */
\r
1609 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1614 /* This line will only be reached if the kernel could not be started,
\r
1615 because there was not enough FreeRTOS heap to create the idle task
\r
1616 or the timer task. */
\r
1617 configASSERT( xReturn );
\r
1620 /*-----------------------------------------------------------*/
\r
1622 void vTaskEndScheduler( void )
\r
1624 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1625 routine so the original ISRs can be restored if necessary. The port
\r
1626 layer must ensure interrupts enable bit is left in the correct state. */
\r
1627 portDISABLE_INTERRUPTS();
\r
1628 xSchedulerRunning = pdFALSE;
\r
1629 vPortEndScheduler();
\r
1631 /*----------------------------------------------------------*/
\r
1633 void vTaskSuspendAll( void )
\r
1635 /* A critical section is not required as the variable is of type
\r
1636 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1637 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1638 http://goo.gl/wu4acr */
\r
1639 ++uxSchedulerSuspended;
\r
1641 /*----------------------------------------------------------*/
\r
1643 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1645 static TickType_t prvGetExpectedIdleTime( void )
\r
1647 TickType_t xReturn;
\r
1649 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1653 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1655 /* There are other idle priority tasks in the ready state. If
\r
1656 time slicing is used then the very next tick interrupt must be
\r
1662 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1668 #endif /* configUSE_TICKLESS_IDLE */
\r
1669 /*----------------------------------------------------------*/
\r
1671 BaseType_t xTaskResumeAll( void )
\r
1674 BaseType_t xAlreadyYielded = pdFALSE;
\r
1676 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1677 previous call to vTaskSuspendAll(). */
\r
1678 configASSERT( uxSchedulerSuspended );
\r
1680 /* It is possible that an ISR caused a task to be removed from an event
\r
1681 list while the scheduler was suspended. If this was the case then the
\r
1682 removed task will have been added to the xPendingReadyList. Once the
\r
1683 scheduler has been resumed it is safe to move all the pending ready
\r
1684 tasks from this list into their appropriate ready list. */
\r
1685 taskENTER_CRITICAL();
\r
1687 --uxSchedulerSuspended;
\r
1689 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1691 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1693 /* Move any readied tasks from the pending list into the
\r
1694 appropriate ready list. */
\r
1695 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1697 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1698 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1699 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1700 prvAddTaskToReadyList( pxTCB );
\r
1702 /* If the moved task has a priority higher than the current
\r
1703 task then a yield must be performed. */
\r
1704 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1706 xYieldPending = pdTRUE;
\r
1710 mtCOVERAGE_TEST_MARKER();
\r
1714 /* If any ticks occurred while the scheduler was suspended then
\r
1715 they should be processed now. This ensures the tick count does
\r
1716 not slip, and that any delayed tasks are resumed at the correct
\r
1718 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1720 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1722 if( xTaskIncrementTick() != pdFALSE )
\r
1724 xYieldPending = pdTRUE;
\r
1728 mtCOVERAGE_TEST_MARKER();
\r
1735 mtCOVERAGE_TEST_MARKER();
\r
1738 if( xYieldPending == pdTRUE )
\r
1740 #if( configUSE_PREEMPTION != 0 )
\r
1742 xAlreadyYielded = pdTRUE;
\r
1745 taskYIELD_IF_USING_PREEMPTION();
\r
1749 mtCOVERAGE_TEST_MARKER();
\r
1755 mtCOVERAGE_TEST_MARKER();
\r
1758 taskEXIT_CRITICAL();
\r
1760 return xAlreadyYielded;
\r
1762 /*-----------------------------------------------------------*/
\r
1764 TickType_t xTaskGetTickCount( void )
\r
1766 TickType_t xTicks;
\r
1768 /* Critical section required if running on a 16 bit processor. */
\r
1769 portTICK_TYPE_ENTER_CRITICAL();
\r
1771 xTicks = xTickCount;
\r
1773 portTICK_TYPE_EXIT_CRITICAL();
\r
1777 /*-----------------------------------------------------------*/
\r
1779 TickType_t xTaskGetTickCountFromISR( void )
\r
1781 TickType_t xReturn;
\r
1782 UBaseType_t uxSavedInterruptStatus;
\r
1784 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1785 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1786 above the maximum system call priority are kept permanently enabled, even
\r
1787 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1788 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1789 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1790 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1791 assigned a priority above the configured maximum system call priority.
\r
1792 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1793 that have been assigned a priority at or (logically) below the maximum
\r
1794 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1795 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1796 More information (albeit Cortex-M specific) is provided on the following
\r
1797 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1798 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1800 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1802 xReturn = xTickCount;
\r
1804 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1808 /*-----------------------------------------------------------*/
\r
1810 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1812 /* A critical section is not required because the variables are of type
\r
1814 return uxCurrentNumberOfTasks;
\r
1816 /*-----------------------------------------------------------*/
\r
1818 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1820 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1824 /* If null is passed in here then the name of the calling task is being queried. */
\r
1825 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1826 configASSERT( pxTCB );
\r
1827 return &( pxTCB->pcTaskName[ 0 ] );
\r
1830 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1831 /*-----------------------------------------------------------*/
\r
1833 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1835 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1837 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1839 vTaskSuspendAll();
\r
1841 /* Is there a space in the array for each task in the system? */
\r
1842 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1844 /* Fill in an TaskStatus_t structure with information on each
\r
1845 task in the Ready state. */
\r
1849 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1851 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1853 /* Fill in an TaskStatus_t structure with information on each
\r
1854 task in the Blocked state. */
\r
1855 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1856 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1858 #if( INCLUDE_vTaskDelete == 1 )
\r
1860 /* Fill in an TaskStatus_t structure with information on
\r
1861 each task that has been deleted but not yet cleaned up. */
\r
1862 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1866 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1868 /* Fill in an TaskStatus_t structure with information on
\r
1869 each task in the Suspended state. */
\r
1870 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1874 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1876 if( pulTotalRunTime != NULL )
\r
1878 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1879 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1881 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1887 if( pulTotalRunTime != NULL )
\r
1889 *pulTotalRunTime = 0;
\r
1896 mtCOVERAGE_TEST_MARKER();
\r
1899 ( void ) xTaskResumeAll();
\r
1904 #endif /* configUSE_TRACE_FACILITY */
\r
1905 /*----------------------------------------------------------*/
\r
1907 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1909 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1911 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1912 started, then xIdleTaskHandle will be NULL. */
\r
1913 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1914 return xIdleTaskHandle;
\r
1917 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1918 /*----------------------------------------------------------*/
\r
1920 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1921 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1922 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1924 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1926 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1928 /* Correct the tick count value after a period during which the tick
\r
1929 was suppressed. Note this does *not* call the tick hook function for
\r
1930 each stepped tick. */
\r
1931 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1932 xTickCount += xTicksToJump;
\r
1933 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1936 #endif /* configUSE_TICKLESS_IDLE */
\r
1937 /*----------------------------------------------------------*/
\r
1939 BaseType_t xTaskIncrementTick( void )
\r
1942 TickType_t xItemValue;
\r
1943 BaseType_t xSwitchRequired = pdFALSE;
\r
1945 /* Called by the portable layer each time a tick interrupt occurs.
\r
1946 Increments the tick then checks to see if the new tick value will cause any
\r
1947 tasks to be unblocked. */
\r
1948 traceTASK_INCREMENT_TICK( xTickCount );
\r
1949 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1951 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1952 delayed lists if it wraps to 0. */
\r
1956 /* Minor optimisation. The tick count cannot change in this
\r
1958 const TickType_t xConstTickCount = xTickCount;
\r
1960 if( xConstTickCount == ( TickType_t ) 0U )
\r
1962 taskSWITCH_DELAYED_LISTS();
\r
1966 mtCOVERAGE_TEST_MARKER();
\r
1969 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1970 the queue in the order of their wake time - meaning once one task
\r
1971 has been found whose block time has not expired there is no need to
\r
1972 look any further down the list. */
\r
1973 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1977 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1979 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1980 to the maximum possible value so it is extremely
\r
1982 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1983 next time through. */
\r
1984 xNextTaskUnblockTime = portMAX_DELAY;
\r
1989 /* The delayed list is not empty, get the value of the
\r
1990 item at the head of the delayed list. This is the time
\r
1991 at which the task at the head of the delayed list must
\r
1992 be removed from the Blocked state. */
\r
1993 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1994 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1996 if( xConstTickCount < xItemValue )
\r
1998 /* It is not time to unblock this item yet, but the
\r
1999 item value is the time at which the task at the head
\r
2000 of the blocked list must be removed from the Blocked
\r
2001 state - so record the item value in
\r
2002 xNextTaskUnblockTime. */
\r
2003 xNextTaskUnblockTime = xItemValue;
\r
2008 mtCOVERAGE_TEST_MARKER();
\r
2011 /* It is time to remove the item from the Blocked state. */
\r
2012 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2014 /* Is the task waiting on an event also? If so remove
\r
2015 it from the event list. */
\r
2016 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2018 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2022 mtCOVERAGE_TEST_MARKER();
\r
2025 /* Place the unblocked task into the appropriate ready
\r
2027 prvAddTaskToReadyList( pxTCB );
\r
2029 /* A task being unblocked cannot cause an immediate
\r
2030 context switch if preemption is turned off. */
\r
2031 #if ( configUSE_PREEMPTION == 1 )
\r
2033 /* Preemption is on, but a context switch should
\r
2034 only be performed if the unblocked task has a
\r
2035 priority that is equal to or higher than the
\r
2036 currently executing task. */
\r
2037 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2039 xSwitchRequired = pdTRUE;
\r
2043 mtCOVERAGE_TEST_MARKER();
\r
2046 #endif /* configUSE_PREEMPTION */
\r
2052 /* Tasks of equal priority to the currently running task will share
\r
2053 processing time (time slice) if preemption is on, and the application
\r
2054 writer has not explicitly turned time slicing off. */
\r
2055 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2057 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2059 xSwitchRequired = pdTRUE;
\r
2063 mtCOVERAGE_TEST_MARKER();
\r
2066 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2068 #if ( configUSE_TICK_HOOK == 1 )
\r
2070 /* Guard against the tick hook being called when the pended tick
\r
2071 count is being unwound (when the scheduler is being unlocked). */
\r
2072 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2074 vApplicationTickHook();
\r
2078 mtCOVERAGE_TEST_MARKER();
\r
2081 #endif /* configUSE_TICK_HOOK */
\r
2087 /* The tick hook gets called at regular intervals, even if the
\r
2088 scheduler is locked. */
\r
2089 #if ( configUSE_TICK_HOOK == 1 )
\r
2091 vApplicationTickHook();
\r
2096 #if ( configUSE_PREEMPTION == 1 )
\r
2098 if( xYieldPending != pdFALSE )
\r
2100 xSwitchRequired = pdTRUE;
\r
2104 mtCOVERAGE_TEST_MARKER();
\r
2107 #endif /* configUSE_PREEMPTION */
\r
2109 return xSwitchRequired;
\r
2111 /*-----------------------------------------------------------*/
\r
2113 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2115 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2119 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2121 if( xTask == NULL )
\r
2123 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2127 xTCB = ( TCB_t * ) xTask;
\r
2130 /* Save the hook function in the TCB. A critical section is required as
\r
2131 the value can be accessed from an interrupt. */
\r
2132 taskENTER_CRITICAL();
\r
2133 xTCB->pxTaskTag = pxHookFunction;
\r
2134 taskEXIT_CRITICAL();
\r
2137 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2138 /*-----------------------------------------------------------*/
\r
2140 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2142 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2145 TaskHookFunction_t xReturn;
\r
2147 /* If xTask is NULL then we are setting our own task hook. */
\r
2148 if( xTask == NULL )
\r
2150 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2154 xTCB = ( TCB_t * ) xTask;
\r
2157 /* Save the hook function in the TCB. A critical section is required as
\r
2158 the value can be accessed from an interrupt. */
\r
2159 taskENTER_CRITICAL();
\r
2161 xReturn = xTCB->pxTaskTag;
\r
2163 taskEXIT_CRITICAL();
\r
2168 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2169 /*-----------------------------------------------------------*/
\r
2171 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2173 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2176 BaseType_t xReturn;
\r
2178 /* If xTask is NULL then we are calling our own task hook. */
\r
2179 if( xTask == NULL )
\r
2181 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2185 xTCB = ( TCB_t * ) xTask;
\r
2188 if( xTCB->pxTaskTag != NULL )
\r
2190 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2200 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2201 /*-----------------------------------------------------------*/
\r
2203 void vTaskSwitchContext( void )
\r
2205 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2207 /* The scheduler is currently suspended - do not allow a context
\r
2209 xYieldPending = pdTRUE;
\r
2213 xYieldPending = pdFALSE;
\r
2214 traceTASK_SWITCHED_OUT();
\r
2216 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2218 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2219 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2221 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2224 /* Add the amount of time the task has been running to the
\r
2225 accumulated time so far. The time the task started running was
\r
2226 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2227 protection here so count values are only valid until the timer
\r
2228 overflows. The guard against negative values is to protect
\r
2229 against suspect run time stat counter implementations - which
\r
2230 are provided by the application, not the kernel. */
\r
2231 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2233 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2237 mtCOVERAGE_TEST_MARKER();
\r
2239 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2241 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2243 /* Check for stack overflow, if configured. */
\r
2244 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2245 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2247 /* Select a new task to run using either the generic C or port
\r
2248 optimised asm code. */
\r
2249 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2250 traceTASK_SWITCHED_IN();
\r
2252 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2254 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2255 structure specific to this task. */
\r
2256 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2258 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2261 /*-----------------------------------------------------------*/
\r
2263 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2265 TickType_t xTimeToWake;
\r
2267 configASSERT( pxEventList );
\r
2269 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2270 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2272 /* Place the event list item of the TCB in the appropriate event list.
\r
2273 This is placed in the list in priority order so the highest priority task
\r
2274 is the first to be woken by the event. The queue that contains the event
\r
2275 list is locked, preventing simultaneous access from interrupts. */
\r
2276 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2278 /* The task must be removed from from the ready list before it is added to
\r
2279 the blocked list as the same list item is used for both lists. Exclusive
\r
2280 access to the ready lists guaranteed because the scheduler is locked. */
\r
2281 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2283 /* The current task must be in a ready list, so there is no need to
\r
2284 check, and the port reset macro can be called directly. */
\r
2285 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2289 mtCOVERAGE_TEST_MARKER();
\r
2292 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2294 if( xTicksToWait == portMAX_DELAY )
\r
2296 /* Add the task to the suspended task list instead of a delayed task
\r
2297 list to ensure the task is not woken by a timing event. It will
\r
2298 block indefinitely. */
\r
2299 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2303 /* Calculate the time at which the task should be woken if the event
\r
2304 does not occur. This may overflow but this doesn't matter, the
\r
2305 scheduler will handle it. */
\r
2306 xTimeToWake = xTickCount + xTicksToWait;
\r
2307 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2310 #else /* INCLUDE_vTaskSuspend */
\r
2312 /* Calculate the time at which the task should be woken if the event does
\r
2313 not occur. This may overflow but this doesn't matter, the scheduler
\r
2314 will handle it. */
\r
2315 xTimeToWake = xTickCount + xTicksToWait;
\r
2316 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2318 #endif /* INCLUDE_vTaskSuspend */
\r
2320 /*-----------------------------------------------------------*/
\r
2322 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2324 TickType_t xTimeToWake;
\r
2326 configASSERT( pxEventList );
\r
2328 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2329 the event groups implementation. */
\r
2330 configASSERT( uxSchedulerSuspended != 0 );
\r
2332 /* Store the item value in the event list item. It is safe to access the
\r
2333 event list item here as interrupts won't access the event list item of a
\r
2334 task that is not in the Blocked state. */
\r
2335 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2337 /* Place the event list item of the TCB at the end of the appropriate event
\r
2338 list. It is safe to access the event list here because it is part of an
\r
2339 event group implementation - and interrupts don't access event groups
\r
2340 directly (instead they access them indirectly by pending function calls to
\r
2341 the task level). */
\r
2342 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2344 /* The task must be removed from the ready list before it is added to the
\r
2345 blocked list. Exclusive access can be assured to the ready list as the
\r
2346 scheduler is locked. */
\r
2347 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2349 /* The current task must be in a ready list, so there is no need to
\r
2350 check, and the port reset macro can be called directly. */
\r
2351 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2355 mtCOVERAGE_TEST_MARKER();
\r
2358 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2360 if( xTicksToWait == portMAX_DELAY )
\r
2362 /* Add the task to the suspended task list instead of a delayed task
\r
2363 list to ensure it is not woken by a timing event. It will block
\r
2365 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2369 /* Calculate the time at which the task should be woken if the event
\r
2370 does not occur. This may overflow but this doesn't matter, the
\r
2371 kernel will manage it correctly. */
\r
2372 xTimeToWake = xTickCount + xTicksToWait;
\r
2373 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2376 #else /* INCLUDE_vTaskSuspend */
\r
2378 /* Calculate the time at which the task should be woken if the event does
\r
2379 not occur. This may overflow but this doesn't matter, the kernel
\r
2380 will manage it correctly. */
\r
2381 xTimeToWake = xTickCount + xTicksToWait;
\r
2382 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2384 #endif /* INCLUDE_vTaskSuspend */
\r
2386 /*-----------------------------------------------------------*/
\r
2388 #if configUSE_TIMERS == 1
\r
2390 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2392 TickType_t xTimeToWake;
\r
2394 configASSERT( pxEventList );
\r
2396 /* This function should not be called by application code hence the
\r
2397 'Restricted' in its name. It is not part of the public API. It is
\r
2398 designed for use by kernel code, and has special calling requirements -
\r
2399 it should be called with the scheduler suspended. */
\r
2402 /* Place the event list item of the TCB in the appropriate event list.
\r
2403 In this case it is assume that this is the only task that is going to
\r
2404 be waiting on this event list, so the faster vListInsertEnd() function
\r
2405 can be used in place of vListInsert. */
\r
2406 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2408 /* We must remove this task from the ready list before adding it to the
\r
2409 blocked list as the same list item is used for both lists. This
\r
2410 function is called with the scheduler locked so interrupts will not
\r
2411 access the lists at the same time. */
\r
2412 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2414 /* The current task must be in a ready list, so there is no need to
\r
2415 check, and the port reset macro can be called directly. */
\r
2416 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2420 mtCOVERAGE_TEST_MARKER();
\r
2423 /* If vTaskSuspend() is available then the suspended task list is also
\r
2424 available and a task that is blocking indefinitely can enter the
\r
2425 suspended state (it is not really suspended as it will re-enter the
\r
2426 Ready state when the event it is waiting indefinitely for occurs).
\r
2427 Blocking indefinitely is useful when using tickless idle mode as when
\r
2428 all tasks are blocked indefinitely all timers can be turned off. */
\r
2429 #if( INCLUDE_vTaskSuspend == 1 )
\r
2431 if( xWaitIndefinitely == pdTRUE )
\r
2433 /* Add the task to the suspended task list instead of a delayed
\r
2434 task list to ensure the task is not woken by a timing event. It
\r
2435 will block indefinitely. */
\r
2436 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2440 /* Calculate the time at which the task should be woken if the
\r
2441 event does not occur. This may overflow but this doesn't
\r
2443 xTimeToWake = xTickCount + xTicksToWait;
\r
2444 traceTASK_DELAY_UNTIL();
\r
2445 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2450 /* Calculate the time at which the task should be woken if the event
\r
2451 does not occur. This may overflow but this doesn't matter. */
\r
2452 xTimeToWake = xTickCount + xTicksToWait;
\r
2453 traceTASK_DELAY_UNTIL();
\r
2454 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2456 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2458 ( void ) xWaitIndefinitely;
\r
2463 #endif /* configUSE_TIMERS */
\r
2464 /*-----------------------------------------------------------*/
\r
2466 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2468 TCB_t *pxUnblockedTCB;
\r
2469 BaseType_t xReturn;
\r
2471 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2472 called from a critical section within an ISR. */
\r
2474 /* The event list is sorted in priority order, so the first in the list can
\r
2475 be removed as it is known to be the highest priority. Remove the TCB from
\r
2476 the delayed list, and add it to the ready list.
\r
2478 If an event is for a queue that is locked then this function will never
\r
2479 get called - the lock count on the queue will get modified instead. This
\r
2480 means exclusive access to the event list is guaranteed here.
\r
2482 This function assumes that a check has already been made to ensure that
\r
2483 pxEventList is not empty. */
\r
2484 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2485 configASSERT( pxUnblockedTCB );
\r
2486 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2488 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2490 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2491 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2495 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2496 pending until the scheduler is resumed. */
\r
2497 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2500 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2502 /* Return true if the task removed from the event list has a higher
\r
2503 priority than the calling task. This allows the calling task to know if
\r
2504 it should force a context switch now. */
\r
2507 /* Mark that a yield is pending in case the user is not using the
\r
2508 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2509 xYieldPending = pdTRUE;
\r
2513 xReturn = pdFALSE;
\r
2516 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2518 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2519 might be set to the blocked task's time out time. If the task is
\r
2520 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2521 normally left unchanged, because it is automatically reset to a new
\r
2522 value when the tick count equals xNextTaskUnblockTime. However if
\r
2523 tickless idling is used it might be more important to enter sleep mode
\r
2524 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2525 ensure it is updated at the earliest possible time. */
\r
2526 prvResetNextTaskUnblockTime();
\r
2532 /*-----------------------------------------------------------*/
\r
2534 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2536 TCB_t *pxUnblockedTCB;
\r
2537 BaseType_t xReturn;
\r
2539 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2540 the event flags implementation. */
\r
2541 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2543 /* Store the new item value in the event list. */
\r
2544 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2546 /* Remove the event list form the event flag. Interrupts do not access
\r
2548 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2549 configASSERT( pxUnblockedTCB );
\r
2550 ( void ) uxListRemove( pxEventListItem );
\r
2552 /* Remove the task from the delayed list and add it to the ready list. The
\r
2553 scheduler is suspended so interrupts will not be accessing the ready
\r
2555 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2556 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2558 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2560 /* Return true if the task removed from the event list has
\r
2561 a higher priority than the calling task. This allows
\r
2562 the calling task to know if it should force a context
\r
2566 /* Mark that a yield is pending in case the user is not using the
\r
2567 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2568 xYieldPending = pdTRUE;
\r
2572 xReturn = pdFALSE;
\r
2577 /*-----------------------------------------------------------*/
\r
2579 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2581 configASSERT( pxTimeOut );
\r
2582 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2583 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2585 /*-----------------------------------------------------------*/
\r
2587 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2589 BaseType_t xReturn;
\r
2591 configASSERT( pxTimeOut );
\r
2592 configASSERT( pxTicksToWait );
\r
2594 taskENTER_CRITICAL();
\r
2596 /* Minor optimisation. The tick count cannot change in this block. */
\r
2597 const TickType_t xConstTickCount = xTickCount;
\r
2599 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2600 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2601 the maximum block time then the task should block indefinitely, and
\r
2602 therefore never time out. */
\r
2603 if( *pxTicksToWait == portMAX_DELAY )
\r
2605 xReturn = pdFALSE;
\r
2607 else /* We are not blocking indefinitely, perform the checks below. */
\r
2610 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2612 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2613 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2614 It must have wrapped all the way around and gone past us again. This
\r
2615 passed since vTaskSetTimeout() was called. */
\r
2618 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2620 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2621 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2622 vTaskSetTimeOutState( pxTimeOut );
\r
2623 xReturn = pdFALSE;
\r
2630 taskEXIT_CRITICAL();
\r
2634 /*-----------------------------------------------------------*/
\r
2636 void vTaskMissedYield( void )
\r
2638 xYieldPending = pdTRUE;
\r
2640 /*-----------------------------------------------------------*/
\r
2642 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2644 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2646 UBaseType_t uxReturn;
\r
2649 if( xTask != NULL )
\r
2651 pxTCB = ( TCB_t * ) xTask;
\r
2652 uxReturn = pxTCB->uxTaskNumber;
\r
2662 #endif /* configUSE_TRACE_FACILITY */
\r
2663 /*-----------------------------------------------------------*/
\r
2665 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2667 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2671 if( xTask != NULL )
\r
2673 pxTCB = ( TCB_t * ) xTask;
\r
2674 pxTCB->uxTaskNumber = uxHandle;
\r
2678 #endif /* configUSE_TRACE_FACILITY */
\r
2681 * -----------------------------------------------------------
\r
2683 * ----------------------------------------------------------
\r
2685 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2686 * language extensions. The equivalent prototype for this function is:
\r
2688 * void prvIdleTask( void *pvParameters );
\r
2691 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2693 /* Stop warnings. */
\r
2694 ( void ) pvParameters;
\r
2698 /* See if any tasks have been deleted. */
\r
2699 prvCheckTasksWaitingTermination();
\r
2701 #if ( configUSE_PREEMPTION == 0 )
\r
2703 /* If we are not using preemption we keep forcing a task switch to
\r
2704 see if any other task has become available. If we are using
\r
2705 preemption we don't need to do this as any task becoming available
\r
2706 will automatically get the processor anyway. */
\r
2709 #endif /* configUSE_PREEMPTION */
\r
2711 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2713 /* When using preemption tasks of equal priority will be
\r
2714 timesliced. If a task that is sharing the idle priority is ready
\r
2715 to run then the idle task should yield before the end of the
\r
2718 A critical region is not required here as we are just reading from
\r
2719 the list, and an occasional incorrect value will not matter. If
\r
2720 the ready list at the idle priority contains more than one task
\r
2721 then a task other than the idle task is ready to execute. */
\r
2722 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2728 mtCOVERAGE_TEST_MARKER();
\r
2731 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2733 #if ( configUSE_IDLE_HOOK == 1 )
\r
2735 extern void vApplicationIdleHook( void );
\r
2737 /* Call the user defined function from within the idle task. This
\r
2738 allows the application designer to add background functionality
\r
2739 without the overhead of a separate task.
\r
2740 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2741 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2742 vApplicationIdleHook();
\r
2744 #endif /* configUSE_IDLE_HOOK */
\r
2746 /* This conditional compilation should use inequality to 0, not equality
\r
2747 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2748 user defined low power mode implementations require
\r
2749 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2750 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2752 TickType_t xExpectedIdleTime;
\r
2754 /* It is not desirable to suspend then resume the scheduler on
\r
2755 each iteration of the idle task. Therefore, a preliminary
\r
2756 test of the expected idle time is performed without the
\r
2757 scheduler suspended. The result here is not necessarily
\r
2759 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2761 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2763 vTaskSuspendAll();
\r
2765 /* Now the scheduler is suspended, the expected idle
\r
2766 time can be sampled again, and this time its value can
\r
2768 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2769 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2771 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2773 traceLOW_POWER_IDLE_BEGIN();
\r
2774 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2775 traceLOW_POWER_IDLE_END();
\r
2779 mtCOVERAGE_TEST_MARKER();
\r
2782 ( void ) xTaskResumeAll();
\r
2786 mtCOVERAGE_TEST_MARKER();
\r
2789 #endif /* configUSE_TICKLESS_IDLE */
\r
2792 /*-----------------------------------------------------------*/
\r
2794 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2796 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2798 /* The idle task exists in addition to the application tasks. */
\r
2799 const UBaseType_t uxNonApplicationTasks = 1;
\r
2800 eSleepModeStatus eReturn = eStandardSleep;
\r
2802 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2804 /* A task was made ready while the scheduler was suspended. */
\r
2805 eReturn = eAbortSleep;
\r
2807 else if( xYieldPending != pdFALSE )
\r
2809 /* A yield was pended while the scheduler was suspended. */
\r
2810 eReturn = eAbortSleep;
\r
2814 /* If all the tasks are in the suspended list (which might mean they
\r
2815 have an infinite block time rather than actually being suspended)
\r
2816 then it is safe to turn all clocks off and just wait for external
\r
2818 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2820 eReturn = eNoTasksWaitingTimeout;
\r
2824 mtCOVERAGE_TEST_MARKER();
\r
2831 #endif /* configUSE_TICKLESS_IDLE */
\r
2832 /*-----------------------------------------------------------*/
\r
2834 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
2838 /* Store the task name in the TCB. */
\r
2839 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2841 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2843 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2844 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2845 string is not accessible (extremely unlikely). */
\r
2846 if( pcName[ x ] == 0x00 )
\r
2852 mtCOVERAGE_TEST_MARKER();
\r
2856 /* Ensure the name string is terminated in the case that the string length
\r
2857 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2858 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2860 /* This is used as an array index so must ensure it's not too large. First
\r
2861 remove the privilege bit if one is present. */
\r
2862 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2864 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2868 mtCOVERAGE_TEST_MARKER();
\r
2871 pxTCB->uxPriority = uxPriority;
\r
2872 #if ( configUSE_MUTEXES == 1 )
\r
2874 pxTCB->uxBasePriority = uxPriority;
\r
2875 pxTCB->uxMutexesHeld = 0;
\r
2877 #endif /* configUSE_MUTEXES */
\r
2879 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2880 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2882 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2883 back to the containing TCB from a generic item in a list. */
\r
2884 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2886 /* Event lists are always in priority order. */
\r
2887 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
2888 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2890 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2892 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2894 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2896 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2898 pxTCB->pxTaskTag = NULL;
\r
2900 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2902 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2904 pxTCB->ulRunTimeCounter = 0UL;
\r
2906 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2908 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2910 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2912 #else /* portUSING_MPU_WRAPPERS */
\r
2914 ( void ) xRegions;
\r
2915 ( void ) usStackDepth;
\r
2917 #endif /* portUSING_MPU_WRAPPERS */
\r
2919 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2921 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2923 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2928 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2930 pxTCB->ulNotifiedValue = 0;
\r
2931 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2935 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2937 /* Initialise this task's Newlib reent structure. */
\r
2938 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2940 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2942 /*-----------------------------------------------------------*/
\r
2944 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2946 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2950 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2952 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2953 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
2957 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2958 /*-----------------------------------------------------------*/
\r
2960 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2962 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
2964 void *pvReturn = NULL;
\r
2967 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2969 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2970 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
2980 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2981 /*-----------------------------------------------------------*/
\r
2983 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2985 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2989 /* If null is passed in here then we are modifying the MPU settings of
\r
2990 the calling task. */
\r
2991 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2993 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2996 #endif /* portUSING_MPU_WRAPPERS */
\r
2997 /*-----------------------------------------------------------*/
\r
2999 static void prvInitialiseTaskLists( void )
\r
3001 UBaseType_t uxPriority;
\r
3003 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3005 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3008 vListInitialise( &xDelayedTaskList1 );
\r
3009 vListInitialise( &xDelayedTaskList2 );
\r
3010 vListInitialise( &xPendingReadyList );
\r
3012 #if ( INCLUDE_vTaskDelete == 1 )
\r
3014 vListInitialise( &xTasksWaitingTermination );
\r
3016 #endif /* INCLUDE_vTaskDelete */
\r
3018 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3020 vListInitialise( &xSuspendedTaskList );
\r
3022 #endif /* INCLUDE_vTaskSuspend */
\r
3024 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3026 pxDelayedTaskList = &xDelayedTaskList1;
\r
3027 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3029 /*-----------------------------------------------------------*/
\r
3031 static void prvCheckTasksWaitingTermination( void )
\r
3033 #if ( INCLUDE_vTaskDelete == 1 )
\r
3035 BaseType_t xListIsEmpty;
\r
3037 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3038 too often in the idle task. */
\r
3039 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
3041 vTaskSuspendAll();
\r
3043 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3045 ( void ) xTaskResumeAll();
\r
3047 if( xListIsEmpty == pdFALSE )
\r
3051 taskENTER_CRITICAL();
\r
3053 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3054 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3055 --uxCurrentNumberOfTasks;
\r
3058 taskEXIT_CRITICAL();
\r
3060 prvDeleteTCB( pxTCB );
\r
3064 mtCOVERAGE_TEST_MARKER();
\r
3068 #endif /* vTaskDelete */
\r
3070 /*-----------------------------------------------------------*/
\r
3072 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3074 /* The list item will be inserted in wake time order. */
\r
3075 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3077 if( xTimeToWake < xTickCount )
\r
3079 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3080 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3084 /* The wake time has not overflowed, so the current block list is used. */
\r
3085 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3087 /* If the task entering the blocked state was placed at the head of the
\r
3088 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3090 if( xTimeToWake < xNextTaskUnblockTime )
\r
3092 xNextTaskUnblockTime = xTimeToWake;
\r
3096 mtCOVERAGE_TEST_MARKER();
\r
3100 /*-----------------------------------------------------------*/
\r
3102 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3106 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3107 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3108 the TCB then the stack. */
\r
3109 #if( portSTACK_GROWTH > 0 )
\r
3111 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3112 the implementation of the port malloc function. */
\r
3113 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3115 if( pxNewTCB != NULL )
\r
3117 /* Allocate space for the stack used by the task being created.
\r
3118 The base of the stack memory stored in the TCB so the task can
\r
3119 be deleted later if required. */
\r
3120 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
3122 if( pxNewTCB->pxStack == NULL )
\r
3124 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3125 vPortFree( pxNewTCB );
\r
3130 #else /* portSTACK_GROWTH */
\r
3132 StackType_t *pxStack;
\r
3134 /* Allocate space for the stack used by the task being created. */
\r
3135 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
3137 if( pxStack != NULL )
\r
3139 /* Allocate space for the TCB. Where the memory comes from depends
\r
3140 on the implementation of the port malloc function. */
\r
3141 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3143 if( pxNewTCB != NULL )
\r
3145 /* Store the stack location in the TCB. */
\r
3146 pxNewTCB->pxStack = pxStack;
\r
3150 /* The stack cannot be used as the TCB was not created. Free it
\r
3152 vPortFree( pxStack );
\r
3160 #endif /* portSTACK_GROWTH */
\r
3162 if( pxNewTCB != NULL )
\r
3164 /* Avoid dependency on memset() if it is not required. */
\r
3165 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3167 /* Just to help debugging. */
\r
3168 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3170 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3175 /*-----------------------------------------------------------*/
\r
3177 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3179 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3181 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3182 UBaseType_t uxTask = 0;
\r
3184 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3186 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3188 /* Populate an TaskStatus_t structure within the
\r
3189 pxTaskStatusArray array for each task that is referenced from
\r
3190 pxList. See the definition of TaskStatus_t in task.h for the
\r
3191 meaning of each TaskStatus_t structure member. */
\r
3194 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3196 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3197 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3198 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3199 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3200 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3202 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3204 /* If the task is in the suspended list then there is a chance
\r
3205 it is actually just blocked indefinitely - so really it should
\r
3206 be reported as being in the Blocked state. */
\r
3207 if( eState == eSuspended )
\r
3209 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3211 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3215 #endif /* INCLUDE_vTaskSuspend */
\r
3217 #if ( configUSE_MUTEXES == 1 )
\r
3219 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3223 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3227 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3229 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3233 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3237 #if ( portSTACK_GROWTH > 0 )
\r
3239 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3243 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3249 } while( pxNextTCB != pxFirstTCB );
\r
3253 mtCOVERAGE_TEST_MARKER();
\r
3259 #endif /* configUSE_TRACE_FACILITY */
\r
3260 /*-----------------------------------------------------------*/
\r
3262 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3264 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3266 uint32_t ulCount = 0U;
\r
3268 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3270 pucStackByte -= portSTACK_GROWTH;
\r
3274 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3276 return ( uint16_t ) ulCount;
\r
3279 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3280 /*-----------------------------------------------------------*/
\r
3282 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3284 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3287 uint8_t *pucEndOfStack;
\r
3288 UBaseType_t uxReturn;
\r
3290 pxTCB = prvGetTCBFromHandle( xTask );
\r
3292 #if portSTACK_GROWTH < 0
\r
3294 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3298 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3302 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3307 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3308 /*-----------------------------------------------------------*/
\r
3310 #if ( INCLUDE_vTaskDelete == 1 )
\r
3312 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3314 /* This call is required specifically for the TriCore port. It must be
\r
3315 above the vPortFree() calls. The call is also used by ports/demos that
\r
3316 want to allocate and clean RAM statically. */
\r
3317 portCLEAN_UP_TCB( pxTCB );
\r
3319 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3320 to the task to free any memory allocated at the application level. */
\r
3321 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3323 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3325 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3327 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3329 /* Only free the stack if it was allocated dynamically in the first
\r
3331 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3333 vPortFreeAligned( pxTCB->pxStack );
\r
3338 vPortFreeAligned( pxTCB->pxStack );
\r
3342 vPortFree( pxTCB );
\r
3345 #endif /* INCLUDE_vTaskDelete */
\r
3346 /*-----------------------------------------------------------*/
\r
3348 static void prvResetNextTaskUnblockTime( void )
\r
3352 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3354 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3355 the maximum possible value so it is extremely unlikely that the
\r
3356 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3357 there is an item in the delayed list. */
\r
3358 xNextTaskUnblockTime = portMAX_DELAY;
\r
3362 /* The new current delayed list is not empty, get the value of
\r
3363 the item at the head of the delayed list. This is the time at
\r
3364 which the task at the head of the delayed list should be removed
\r
3365 from the Blocked state. */
\r
3366 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3367 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3370 /*-----------------------------------------------------------*/
\r
3372 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3374 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3376 TaskHandle_t xReturn;
\r
3378 /* A critical section is not required as this is not called from
\r
3379 an interrupt and the current TCB will always be the same for any
\r
3380 individual execution thread. */
\r
3381 xReturn = pxCurrentTCB;
\r
3386 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3387 /*-----------------------------------------------------------*/
\r
3389 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3391 BaseType_t xTaskGetSchedulerState( void )
\r
3393 BaseType_t xReturn;
\r
3395 if( xSchedulerRunning == pdFALSE )
\r
3397 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3401 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3403 xReturn = taskSCHEDULER_RUNNING;
\r
3407 xReturn = taskSCHEDULER_SUSPENDED;
\r
3414 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3415 /*-----------------------------------------------------------*/
\r
3417 #if ( configUSE_MUTEXES == 1 )
\r
3419 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3421 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3423 /* If the mutex was given back by an interrupt while the queue was
\r
3424 locked then the mutex holder might now be NULL. */
\r
3425 if( pxMutexHolder != NULL )
\r
3427 /* If the holder of the mutex has a priority below the priority of
\r
3428 the task attempting to obtain the mutex then it will temporarily
\r
3429 inherit the priority of the task attempting to obtain the mutex. */
\r
3430 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3432 /* Adjust the mutex holder state to account for its new
\r
3433 priority. Only reset the event list item value if the value is
\r
3434 not being used for anything else. */
\r
3435 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3437 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
3441 mtCOVERAGE_TEST_MARKER();
\r
3444 /* If the task being modified is in the ready state it will need
\r
3445 to be moved into a new list. */
\r
3446 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3448 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3450 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3454 mtCOVERAGE_TEST_MARKER();
\r
3457 /* Inherit the priority before being moved into the new list. */
\r
3458 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3459 prvAddTaskToReadyList( pxTCB );
\r
3463 /* Just inherit the priority. */
\r
3464 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3467 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3471 mtCOVERAGE_TEST_MARKER();
\r
3476 mtCOVERAGE_TEST_MARKER();
\r
3480 #endif /* configUSE_MUTEXES */
\r
3481 /*-----------------------------------------------------------*/
\r
3483 #if ( configUSE_MUTEXES == 1 )
\r
3485 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3487 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3488 BaseType_t xReturn = pdFALSE;
\r
3490 if( pxMutexHolder != NULL )
\r
3492 /* A task can only have an inherited priority if it holds the mutex.
\r
3493 If the mutex is held by a task then it cannot be given from an
\r
3494 interrupt, and if a mutex is given by the holding task then it must
\r
3495 be the running state task. */
\r
3496 configASSERT( pxTCB == pxCurrentTCB );
\r
3498 configASSERT( pxTCB->uxMutexesHeld );
\r
3499 ( pxTCB->uxMutexesHeld )--;
\r
3501 /* Has the holder of the mutex inherited the priority of another
\r
3503 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3505 /* Only disinherit if no other mutexes are held. */
\r
3506 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3508 /* A task can only have an inherited priority if it holds
\r
3509 the mutex. If the mutex is held by a task then it cannot be
\r
3510 given from an interrupt, and if a mutex is given by the
\r
3511 holding task then it must be the running state task. Remove
\r
3512 the holding task from the ready list. */
\r
3513 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3515 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3519 mtCOVERAGE_TEST_MARKER();
\r
3522 /* Disinherit the priority before adding the task into the
\r
3523 new ready list. */
\r
3524 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3525 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3527 /* Reset the event list item value. It cannot be in use for
\r
3528 any other purpose if this task is running, and it must be
\r
3529 running to give back the mutex. */
\r
3530 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
3531 prvAddTaskToReadyList( pxTCB );
\r
3533 /* Return true to indicate that a context switch is required.
\r
3534 This is only actually required in the corner case whereby
\r
3535 multiple mutexes were held and the mutexes were given back
\r
3536 in an order different to that in which they were taken.
\r
3537 If a context switch did not occur when the first mutex was
\r
3538 returned, even if a task was waiting on it, then a context
\r
3539 switch should occur when the last mutex is returned whether
\r
3540 a task is waiting on it or not. */
\r
3545 mtCOVERAGE_TEST_MARKER();
\r
3550 mtCOVERAGE_TEST_MARKER();
\r
3555 mtCOVERAGE_TEST_MARKER();
\r
3561 #endif /* configUSE_MUTEXES */
\r
3562 /*-----------------------------------------------------------*/
\r
3564 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3566 void vTaskEnterCritical( void )
\r
3568 portDISABLE_INTERRUPTS();
\r
3570 if( xSchedulerRunning != pdFALSE )
\r
3572 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3574 /* This is not the interrupt safe version of the enter critical
\r
3575 function so assert() if it is being called from an interrupt
\r
3576 context. Only API functions that end in "FromISR" can be used in an
\r
3577 interrupt. Only assert if the critical nesting count is 1 to
\r
3578 protect against recursive calls if the assert function also uses a
\r
3579 critical section. */
\r
3580 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3582 portASSERT_IF_IN_ISR();
\r
3587 mtCOVERAGE_TEST_MARKER();
\r
3591 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3592 /*-----------------------------------------------------------*/
\r
3594 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3596 void vTaskExitCritical( void )
\r
3598 if( xSchedulerRunning != pdFALSE )
\r
3600 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3602 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3604 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3606 portENABLE_INTERRUPTS();
\r
3610 mtCOVERAGE_TEST_MARKER();
\r
3615 mtCOVERAGE_TEST_MARKER();
\r
3620 mtCOVERAGE_TEST_MARKER();
\r
3624 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3625 /*-----------------------------------------------------------*/
\r
3627 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3629 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3633 /* Start by copying the entire string. */
\r
3634 strcpy( pcBuffer, pcTaskName );
\r
3636 /* Pad the end of the string with spaces to ensure columns line up when
\r
3638 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3640 pcBuffer[ x ] = ' ';
\r
3644 pcBuffer[ x ] = 0x00;
\r
3646 /* Return the new end of string. */
\r
3647 return &( pcBuffer[ x ] );
\r
3650 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3651 /*-----------------------------------------------------------*/
\r
3653 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3655 void vTaskList( char * pcWriteBuffer )
\r
3657 TaskStatus_t *pxTaskStatusArray;
\r
3658 volatile UBaseType_t uxArraySize, x;
\r
3664 * This function is provided for convenience only, and is used by many
\r
3665 * of the demo applications. Do not consider it to be part of the
\r
3668 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3669 * uxTaskGetSystemState() output into a human readable table that
\r
3670 * displays task names, states and stack usage.
\r
3672 * vTaskList() has a dependency on the sprintf() C library function that
\r
3673 * might bloat the code size, use a lot of stack, and provide different
\r
3674 * results on different platforms. An alternative, tiny, third party,
\r
3675 * and limited functionality implementation of sprintf() is provided in
\r
3676 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3677 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3678 * snprintf() implementation!).
\r
3680 * It is recommended that production systems call uxTaskGetSystemState()
\r
3681 * directly to get access to raw stats data, rather than indirectly
\r
3682 * through a call to vTaskList().
\r
3686 /* Make sure the write buffer does not contain a string. */
\r
3687 *pcWriteBuffer = 0x00;
\r
3689 /* Take a snapshot of the number of tasks in case it changes while this
\r
3690 function is executing. */
\r
3691 uxArraySize = uxCurrentNumberOfTasks;
\r
3693 /* Allocate an array index for each task. */
\r
3694 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3696 if( pxTaskStatusArray != NULL )
\r
3698 /* Generate the (binary) data. */
\r
3699 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3701 /* Create a human readable table from the binary data. */
\r
3702 for( x = 0; x < uxArraySize; x++ )
\r
3704 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3706 case eReady: cStatus = tskREADY_CHAR;
\r
3709 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3712 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3715 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3718 default: /* Should not get here, but it is included
\r
3719 to prevent static checking errors. */
\r
3724 /* Write the task name to the string, padding with spaces so it
\r
3725 can be printed in tabular form more easily. */
\r
3726 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3728 /* Write the rest of the string. */
\r
3729 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
3730 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3733 /* Free the array again. */
\r
3734 vPortFree( pxTaskStatusArray );
\r
3738 mtCOVERAGE_TEST_MARKER();
\r
3742 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3743 /*----------------------------------------------------------*/
\r
3745 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3747 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3749 TaskStatus_t *pxTaskStatusArray;
\r
3750 volatile UBaseType_t uxArraySize, x;
\r
3751 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3753 #if( configUSE_TRACE_FACILITY != 1 )
\r
3755 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3762 * This function is provided for convenience only, and is used by many
\r
3763 * of the demo applications. Do not consider it to be part of the
\r
3766 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3767 * of the uxTaskGetSystemState() output into a human readable table that
\r
3768 * displays the amount of time each task has spent in the Running state
\r
3769 * in both absolute and percentage terms.
\r
3771 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3772 * function that might bloat the code size, use a lot of stack, and
\r
3773 * provide different results on different platforms. An alternative,
\r
3774 * tiny, third party, and limited functionality implementation of
\r
3775 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3776 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3777 * a full snprintf() implementation!).
\r
3779 * It is recommended that production systems call uxTaskGetSystemState()
\r
3780 * directly to get access to raw stats data, rather than indirectly
\r
3781 * through a call to vTaskGetRunTimeStats().
\r
3784 /* Make sure the write buffer does not contain a string. */
\r
3785 *pcWriteBuffer = 0x00;
\r
3787 /* Take a snapshot of the number of tasks in case it changes while this
\r
3788 function is executing. */
\r
3789 uxArraySize = uxCurrentNumberOfTasks;
\r
3791 /* Allocate an array index for each task. */
\r
3792 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3794 if( pxTaskStatusArray != NULL )
\r
3796 /* Generate the (binary) data. */
\r
3797 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3799 /* For percentage calculations. */
\r
3800 ulTotalTime /= 100UL;
\r
3802 /* Avoid divide by zero errors. */
\r
3803 if( ulTotalTime > 0 )
\r
3805 /* Create a human readable table from the binary data. */
\r
3806 for( x = 0; x < uxArraySize; x++ )
\r
3808 /* What percentage of the total run time has the task used?
\r
3809 This will always be rounded down to the nearest integer.
\r
3810 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3811 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3813 /* Write the task name to the string, padding with
\r
3814 spaces so it can be printed in tabular form more
\r
3816 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3818 if( ulStatsAsPercentage > 0UL )
\r
3820 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3822 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3826 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3827 printf() library can be used. */
\r
3828 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3834 /* If the percentage is zero here then the task has
\r
3835 consumed less than 1% of the total run time. */
\r
3836 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3838 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3842 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3843 printf() library can be used. */
\r
3844 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3849 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3854 mtCOVERAGE_TEST_MARKER();
\r
3857 /* Free the array again. */
\r
3858 vPortFree( pxTaskStatusArray );
\r
3862 mtCOVERAGE_TEST_MARKER();
\r
3866 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3867 /*-----------------------------------------------------------*/
\r
3869 TickType_t uxTaskResetEventItemValue( void )
\r
3871 TickType_t uxReturn;
\r
3873 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3875 /* Reset the event list item to its normal value - so it can be used with
\r
3876 queues and semaphores. */
\r
3877 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
3881 /*-----------------------------------------------------------*/
\r
3883 #if ( configUSE_MUTEXES == 1 )
\r
3885 void *pvTaskIncrementMutexHeldCount( void )
\r
3887 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3888 then pxCurrentTCB will be NULL. */
\r
3889 if( pxCurrentTCB != NULL )
\r
3891 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3894 return pxCurrentTCB;
\r
3897 #endif /* configUSE_MUTEXES */
\r
3898 /*-----------------------------------------------------------*/
\r
3900 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3902 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3904 TickType_t xTimeToWake;
\r
3905 uint32_t ulReturn;
\r
3907 taskENTER_CRITICAL();
\r
3909 /* Only block if the notification count is not already non-zero. */
\r
3910 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3912 /* Mark this task as waiting for a notification. */
\r
3913 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3915 if( xTicksToWait > ( TickType_t ) 0 )
\r
3917 /* The task is going to block. First it must be removed
\r
3918 from the ready list. */
\r
3919 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3921 /* The current task must be in a ready list, so there is
\r
3922 no need to check, and the port reset macro can be called
\r
3924 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3928 mtCOVERAGE_TEST_MARKER();
\r
3931 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3933 if( xTicksToWait == portMAX_DELAY )
\r
3935 /* Add the task to the suspended task list instead
\r
3936 of a delayed task list to ensure the task is not
\r
3937 woken by a timing event. It will block
\r
3939 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3943 /* Calculate the time at which the task should be
\r
3944 woken if no notification events occur. This may
\r
3945 overflow but this doesn't matter, the scheduler will
\r
3947 xTimeToWake = xTickCount + xTicksToWait;
\r
3948 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3951 #else /* INCLUDE_vTaskSuspend */
\r
3953 /* Calculate the time at which the task should be
\r
3954 woken if the event does not occur. This may
\r
3955 overflow but this doesn't matter, the scheduler will
\r
3957 xTimeToWake = xTickCount + xTicksToWait;
\r
3958 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3960 #endif /* INCLUDE_vTaskSuspend */
\r
3962 traceTASK_NOTIFY_TAKE_BLOCK();
\r
3964 /* All ports are written to allow a yield in a critical
\r
3965 section (some will yield immediately, others wait until the
\r
3966 critical section exits) - but it is not something that
\r
3967 application code should ever do. */
\r
3968 portYIELD_WITHIN_API();
\r
3972 mtCOVERAGE_TEST_MARKER();
\r
3977 mtCOVERAGE_TEST_MARKER();
\r
3980 taskEXIT_CRITICAL();
\r
3982 taskENTER_CRITICAL();
\r
3984 traceTASK_NOTIFY_TAKE();
\r
3985 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3987 if( ulReturn != 0UL )
\r
3989 if( xClearCountOnExit != pdFALSE )
\r
3991 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3995 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4000 mtCOVERAGE_TEST_MARKER();
\r
4003 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4005 taskEXIT_CRITICAL();
\r
4010 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4011 /*-----------------------------------------------------------*/
\r
4013 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4015 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4017 TickType_t xTimeToWake;
\r
4018 BaseType_t xReturn;
\r
4020 taskENTER_CRITICAL();
\r
4022 /* Only block if a notification is not already pending. */
\r
4023 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4025 /* Clear bits in the task's notification value as bits may get
\r
4026 set by the notifying task or interrupt. This can be used to
\r
4027 clear the value to zero. */
\r
4028 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4030 /* Mark this task as waiting for a notification. */
\r
4031 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4033 if( xTicksToWait > ( TickType_t ) 0 )
\r
4035 /* The task is going to block. First it must be removed
\r
4036 from the ready list. */
\r
4037 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4039 /* The current task must be in a ready list, so there is
\r
4040 no need to check, and the port reset macro can be called
\r
4042 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4046 mtCOVERAGE_TEST_MARKER();
\r
4049 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4051 if( xTicksToWait == portMAX_DELAY )
\r
4053 /* Add the task to the suspended task list instead
\r
4054 of a delayed task list to ensure the task is not
\r
4055 woken by a timing event. It will block
\r
4057 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4061 /* Calculate the time at which the task should be
\r
4062 woken if no notification events occur. This may
\r
4063 overflow but this doesn't matter, the scheduler will
\r
4065 xTimeToWake = xTickCount + xTicksToWait;
\r
4066 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4069 #else /* INCLUDE_vTaskSuspend */
\r
4071 /* Calculate the time at which the task should be
\r
4072 woken if the event does not occur. This may
\r
4073 overflow but this doesn't matter, the scheduler will
\r
4075 xTimeToWake = xTickCount + xTicksToWait;
\r
4076 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4078 #endif /* INCLUDE_vTaskSuspend */
\r
4080 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4082 /* All ports are written to allow a yield in a critical
\r
4083 section (some will yield immediately, others wait until the
\r
4084 critical section exits) - but it is not something that
\r
4085 application code should ever do. */
\r
4086 portYIELD_WITHIN_API();
\r
4090 mtCOVERAGE_TEST_MARKER();
\r
4095 mtCOVERAGE_TEST_MARKER();
\r
4098 taskEXIT_CRITICAL();
\r
4100 taskENTER_CRITICAL();
\r
4102 traceTASK_NOTIFY_WAIT();
\r
4104 if( pulNotificationValue != NULL )
\r
4106 /* Output the current notification value, which may or may not
\r
4108 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4111 /* If eNotifyValue is set then either the task never entered the
\r
4112 blocked state (because a notification was already pending) or the
\r
4113 task unblocked because of a notification. Otherwise the task
\r
4114 unblocked because of a timeout. */
\r
4115 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4117 /* A notification was not received. */
\r
4118 xReturn = pdFALSE;
\r
4122 /* A notification was already pending or a notification was
\r
4123 received while the task was waiting. */
\r
4124 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4128 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4130 taskEXIT_CRITICAL();
\r
4135 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4136 /*-----------------------------------------------------------*/
\r
4138 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4140 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4143 eNotifyValue eOriginalNotifyState;
\r
4144 BaseType_t xReturn = pdPASS;
\r
4146 configASSERT( xTaskToNotify );
\r
4147 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4149 taskENTER_CRITICAL();
\r
4151 if( pulPreviousNotificationValue != NULL )
\r
4153 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4156 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4158 pxTCB->eNotifyState = eNotified;
\r
4163 pxTCB->ulNotifiedValue |= ulValue;
\r
4167 ( pxTCB->ulNotifiedValue )++;
\r
4170 case eSetValueWithOverwrite :
\r
4171 pxTCB->ulNotifiedValue = ulValue;
\r
4174 case eSetValueWithoutOverwrite :
\r
4175 if( eOriginalNotifyState != eNotified )
\r
4177 pxTCB->ulNotifiedValue = ulValue;
\r
4181 /* The value could not be written to the task. */
\r
4187 /* The task is being notified without its notify value being
\r
4192 traceTASK_NOTIFY();
\r
4194 /* If the task is in the blocked state specifically to wait for a
\r
4195 notification then unblock it now. */
\r
4196 if( eOriginalNotifyState == eWaitingNotification )
\r
4198 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4199 prvAddTaskToReadyList( pxTCB );
\r
4201 /* The task should not have been on an event list. */
\r
4202 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4204 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4206 /* If a task is blocked waiting for a notification then
\r
4207 xNextTaskUnblockTime might be set to the blocked task's time
\r
4208 out time. If the task is unblocked for a reason other than
\r
4209 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4210 because it will automatically get reset to a new value when
\r
4211 the tick count equals xNextTaskUnblockTime. However if
\r
4212 tickless idling is used it might be more important to enter
\r
4213 sleep mode at the earliest possible time - so reset
\r
4214 xNextTaskUnblockTime here to ensure it is updated at the
\r
4215 earliest possible time. */
\r
4216 prvResetNextTaskUnblockTime();
\r
4220 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4222 /* The notified task has a priority above the currently
\r
4223 executing task so a yield is required. */
\r
4224 taskYIELD_IF_USING_PREEMPTION();
\r
4228 mtCOVERAGE_TEST_MARKER();
\r
4233 mtCOVERAGE_TEST_MARKER();
\r
4236 taskEXIT_CRITICAL();
\r
4241 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4242 /*-----------------------------------------------------------*/
\r
4244 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4246 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4249 eNotifyValue eOriginalNotifyState;
\r
4250 BaseType_t xReturn = pdPASS;
\r
4251 UBaseType_t uxSavedInterruptStatus;
\r
4253 configASSERT( xTaskToNotify );
\r
4255 /* RTOS ports that support interrupt nesting have the concept of a
\r
4256 maximum system call (or maximum API call) interrupt priority.
\r
4257 Interrupts that are above the maximum system call priority are keep
\r
4258 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4259 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4260 is defined in FreeRTOSConfig.h then
\r
4261 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4262 failure if a FreeRTOS API function is called from an interrupt that has
\r
4263 been assigned a priority above the configured maximum system call
\r
4264 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4265 from interrupts that have been assigned a priority at or (logically)
\r
4266 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4267 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4268 simple as possible. More information (albeit Cortex-M specific) is
\r
4269 provided on the following link:
\r
4270 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4271 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4273 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4275 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4277 if( pulPreviousNotificationValue != NULL )
\r
4279 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4282 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4283 pxTCB->eNotifyState = eNotified;
\r
4288 pxTCB->ulNotifiedValue |= ulValue;
\r
4292 ( pxTCB->ulNotifiedValue )++;
\r
4295 case eSetValueWithOverwrite :
\r
4296 pxTCB->ulNotifiedValue = ulValue;
\r
4299 case eSetValueWithoutOverwrite :
\r
4300 if( eOriginalNotifyState != eNotified )
\r
4302 pxTCB->ulNotifiedValue = ulValue;
\r
4306 /* The value could not be written to the task. */
\r
4312 /* The task is being notified without its notify value being
\r
4317 traceTASK_NOTIFY_FROM_ISR();
\r
4319 /* If the task is in the blocked state specifically to wait for a
\r
4320 notification then unblock it now. */
\r
4321 if( eOriginalNotifyState == eWaitingNotification )
\r
4323 /* The task should not have been on an event list. */
\r
4324 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4326 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4328 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4329 prvAddTaskToReadyList( pxTCB );
\r
4333 /* The delayed and ready lists cannot be accessed, so hold
\r
4334 this task pending until the scheduler is resumed. */
\r
4335 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4338 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4340 /* The notified task has a priority above the currently
\r
4341 executing task so a yield is required. */
\r
4342 if( pxHigherPriorityTaskWoken != NULL )
\r
4344 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4349 mtCOVERAGE_TEST_MARKER();
\r
4353 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4358 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4359 /*-----------------------------------------------------------*/
\r
4361 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4363 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4366 eNotifyValue eOriginalNotifyState;
\r
4367 UBaseType_t uxSavedInterruptStatus;
\r
4369 configASSERT( xTaskToNotify );
\r
4371 /* RTOS ports that support interrupt nesting have the concept of a
\r
4372 maximum system call (or maximum API call) interrupt priority.
\r
4373 Interrupts that are above the maximum system call priority are keep
\r
4374 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4375 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4376 is defined in FreeRTOSConfig.h then
\r
4377 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4378 failure if a FreeRTOS API function is called from an interrupt that has
\r
4379 been assigned a priority above the configured maximum system call
\r
4380 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4381 from interrupts that have been assigned a priority at or (logically)
\r
4382 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4383 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4384 simple as possible. More information (albeit Cortex-M specific) is
\r
4385 provided on the following link:
\r
4386 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4387 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4389 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4391 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4393 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4394 pxTCB->eNotifyState = eNotified;
\r
4396 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4398 ( pxTCB->ulNotifiedValue )++;
\r
4400 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4402 /* If the task is in the blocked state specifically to wait for a
\r
4403 notification then unblock it now. */
\r
4404 if( eOriginalNotifyState == eWaitingNotification )
\r
4406 /* The task should not have been on an event list. */
\r
4407 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4409 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4411 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4412 prvAddTaskToReadyList( pxTCB );
\r
4416 /* The delayed and ready lists cannot be accessed, so hold
\r
4417 this task pending until the scheduler is resumed. */
\r
4418 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4421 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4423 /* The notified task has a priority above the currently
\r
4424 executing task so a yield is required. */
\r
4425 if( pxHigherPriorityTaskWoken != NULL )
\r
4427 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4432 mtCOVERAGE_TEST_MARKER();
\r
4436 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4439 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4441 /*-----------------------------------------------------------*/
\r
4444 #ifdef FREERTOS_MODULE_TEST
\r
4445 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob