2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Bits used to recored how a task's stack and TCB were allocated. */
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79 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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80 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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81 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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83 /* If any of the following are set then task stacks are filled with a known
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84 value so the high water mark can be determined. If none of the following are
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85 set then don't fill the stack so there is no unnecessary dependency on memset. */
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86 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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87 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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89 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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93 * Macros used by vListTask to indicate which state a task is in.
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95 #define tskRUNNING_CHAR ( 'X' )
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96 #define tskBLOCKED_CHAR ( 'B' )
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97 #define tskREADY_CHAR ( 'R' )
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98 #define tskDELETED_CHAR ( 'D' )
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99 #define tskSUSPENDED_CHAR ( 'S' )
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102 * Some kernel aware debuggers require the data the debugger needs access to be
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103 * global, rather than file scope.
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105 #ifdef portREMOVE_STATIC_QUALIFIER
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109 /* The name allocated to the Idle task. This can be overridden by defining
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110 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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111 #ifndef configIDLE_TASK_NAME
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112 #define configIDLE_TASK_NAME "IDLE"
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115 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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117 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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118 performed in a generic way that is not optimised to any particular
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119 microcontroller architecture. */
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121 /* uxTopReadyPriority holds the priority of the highest priority ready
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123 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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125 if( ( uxPriority ) > uxTopReadyPriority ) \
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127 uxTopReadyPriority = ( uxPriority ); \
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129 } /* taskRECORD_READY_PRIORITY */
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131 /*-----------------------------------------------------------*/
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133 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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135 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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137 /* Find the highest priority queue that contains ready tasks. */ \
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138 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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140 configASSERT( uxTopPriority ); \
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144 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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145 the same priority get an equal share of the processor time. */ \
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146 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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147 uxTopReadyPriority = uxTopPriority; \
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148 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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150 /*-----------------------------------------------------------*/
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152 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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153 they are only required when a port optimised method of task selection is
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155 #define taskRESET_READY_PRIORITY( uxPriority )
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156 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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158 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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160 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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161 performed in a way that is tailored to the particular microcontroller
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162 architecture being used. */
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164 /* A port optimised version is provided. Call the port defined macros. */
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165 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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167 /*-----------------------------------------------------------*/
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169 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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171 UBaseType_t uxTopPriority; \
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173 /* Find the highest priority list that contains ready tasks. */ \
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174 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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175 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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176 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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177 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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179 /*-----------------------------------------------------------*/
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181 /* A port optimised version is provided, call it only if the TCB being reset
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182 is being referenced from a ready list. If it is referenced from a delayed
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183 or suspended list then it won't be in a ready list. */
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184 #define taskRESET_READY_PRIORITY( uxPriority ) \
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186 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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188 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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192 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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194 /*-----------------------------------------------------------*/
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196 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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197 count overflows. */
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198 #define taskSWITCH_DELAYED_LISTS() \
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202 /* The delayed tasks list should be empty when the lists are switched. */ \
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203 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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205 pxTemp = pxDelayedTaskList; \
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206 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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207 pxOverflowDelayedTaskList = pxTemp; \
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208 xNumOfOverflows++; \
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209 prvResetNextTaskUnblockTime(); \
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212 /*-----------------------------------------------------------*/
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215 * Place the task represented by pxTCB into the appropriate ready list for
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216 * the task. It is inserted at the end of the list.
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218 #define prvAddTaskToReadyList( pxTCB ) \
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219 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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220 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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221 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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222 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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223 /*-----------------------------------------------------------*/
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226 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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227 * where NULL is used to indicate that the handle of the currently executing
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228 * task should be used in place of the parameter. This macro simply checks to
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229 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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231 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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233 /* The item value of the event list item is normally used to hold the priority
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234 of the task to which it belongs (coded to allow it to be held in reverse
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235 priority order). However, it is occasionally borrowed for other purposes. It
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236 is important its value is not updated due to a task priority change while it is
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237 being used for another purpose. The following bit definition is used to inform
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238 the scheduler that the value should not be changed - in which case it is the
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239 responsibility of whichever module is using the value to ensure it gets set back
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240 to its original value when it is released. */
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241 #if( configUSE_16_BIT_TICKS == 1 )
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242 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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244 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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248 * Task control block. A task control block (TCB) is allocated for each task,
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249 * and stores task state information, including a pointer to the task's context
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250 * (the task's run time environment, including register values)
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252 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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254 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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256 #if ( portUSING_MPU_WRAPPERS == 1 )
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257 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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260 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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261 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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262 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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263 StackType_t *pxStack; /*< Points to the start of the stack. */
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264 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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266 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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267 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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270 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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271 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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274 #if ( configUSE_TRACE_FACILITY == 1 )
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275 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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276 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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279 #if ( configUSE_MUTEXES == 1 )
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280 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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281 UBaseType_t uxMutexesHeld;
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284 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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285 TaskHookFunction_t pxTaskTag;
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288 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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289 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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292 #if( configGENERATE_RUN_TIME_STATS == 1 )
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293 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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296 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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297 /* Allocate a Newlib reent structure that is specific to this task.
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298 Note Newlib support has been included by popular demand, but is not
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299 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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300 responsible for resulting newlib operation. User must be familiar with
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301 newlib and must provide system-wide implementations of the necessary
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302 stubs. Be warned that (at the time of writing) the current newlib design
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303 implements a system-wide malloc() that must be provided with locks. */
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304 struct _reent xNewLib_reent;
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307 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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308 volatile uint32_t ulNotifiedValue;
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309 volatile uint8_t ucNotifyState;
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312 /* See the comments in FreeRTOS.h with the definition of
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313 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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314 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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315 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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318 #if( INCLUDE_xTaskAbortDelay == 1 )
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319 uint8_t ucDelayAborted;
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322 #if( configUSE_POSIX_ERRNO == 1 )
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328 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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329 below to enable the use of older kernel aware debuggers. */
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330 typedef tskTCB TCB_t;
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332 /*lint -save -e956 A manual analysis and inspection has been used to determine
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333 which static variables must be declared volatile. */
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334 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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336 /* Lists for ready and blocked tasks. --------------------
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337 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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338 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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339 the static qualifier. */
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340 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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341 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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342 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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343 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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344 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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345 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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347 #if( INCLUDE_vTaskDelete == 1 )
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349 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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350 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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354 #if ( INCLUDE_vTaskSuspend == 1 )
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356 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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360 /* Global POSIX errno. Its value is changed upon context switching to match
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361 the errno of the currently running task. */
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362 #if ( configUSE_POSIX_ERRNO == 1 )
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363 int FreeRTOS_errno = 0;
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366 /* Other file private variables. --------------------------------*/
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367 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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368 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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369 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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370 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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371 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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372 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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373 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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374 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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375 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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376 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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378 /* Context switches are held pending while the scheduler is suspended. Also,
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379 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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380 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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381 If an interrupt needs to unblock a task while the scheduler is suspended then it
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382 moves the task's event list item into the xPendingReadyList, ready for the
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383 kernel to move the task from the pending ready list into the real ready list
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384 when the scheduler is unsuspended. The pending ready list itself can only be
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385 accessed from a critical section. */
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386 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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388 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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390 /* Do not move these variables to function scope as doing so prevents the
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391 code working with debuggers that need to remove the static qualifier. */
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392 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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393 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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399 /*-----------------------------------------------------------*/
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401 /* Callback function prototypes. --------------------------*/
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402 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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404 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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408 #if( configUSE_TICK_HOOK > 0 )
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410 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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414 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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420 /* File private functions. --------------------------------*/
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423 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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424 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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425 * is in any other state.
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427 #if ( INCLUDE_vTaskSuspend == 1 )
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429 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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431 #endif /* INCLUDE_vTaskSuspend */
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434 * Utility to ready all the lists used by the scheduler. This is called
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435 * automatically upon the creation of the first task.
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437 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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440 * The idle task, which as all tasks is implemented as a never ending loop.
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441 * The idle task is automatically created and added to the ready lists upon
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442 * creation of the first user task.
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444 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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445 * language extensions. The equivalent prototype for this function is:
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447 * void prvIdleTask( void *pvParameters );
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450 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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453 * Utility to free all memory allocated by the scheduler to hold a TCB,
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454 * including the stack pointed to by the TCB.
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456 * This does not free memory allocated by the task itself (i.e. memory
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457 * allocated by calls to pvPortMalloc from within the tasks application code).
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459 #if ( INCLUDE_vTaskDelete == 1 )
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461 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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466 * Used only by the idle task. This checks to see if anything has been placed
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467 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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468 * and its TCB deleted.
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470 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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473 * The currently executing task is entering the Blocked state. Add the task to
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474 * either the current or the overflow delayed task list.
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476 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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479 * Fills an TaskStatus_t structure with information on each task that is
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480 * referenced from the pxList list (which may be a ready list, a delayed list,
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481 * a suspended list, etc.).
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483 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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484 * NORMAL APPLICATION CODE.
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486 #if ( configUSE_TRACE_FACILITY == 1 )
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488 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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493 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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494 * the task if it is found, or NULL if the task is not found.
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496 #if ( INCLUDE_xTaskGetHandle == 1 )
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498 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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503 * When a task is created, the stack of the task is filled with a known value.
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504 * This function determines the 'high water mark' of the task stack by
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505 * determining how much of the stack remains at the original preset value.
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507 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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509 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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514 * Return the amount of time, in ticks, that will pass before the kernel will
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515 * next move a task from the Blocked state to the Running state.
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517 * This conditional compilation should use inequality to 0, not equality to 1.
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518 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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519 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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520 * set to a value other than 1.
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522 #if ( configUSE_TICKLESS_IDLE != 0 )
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524 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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529 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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530 * will exit the Blocked state.
\r
532 static void prvResetNextTaskUnblockTime( void );
\r
534 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
537 * Helper function used to pad task names with spaces when printing out
\r
538 * human readable tables of task information.
\r
540 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
545 * Called after a Task_t structure has been allocated either statically or
\r
546 * dynamically to fill in the structure's members.
\r
548 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
549 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
550 const uint32_t ulStackDepth,
\r
551 void * const pvParameters,
\r
552 UBaseType_t uxPriority,
\r
553 TaskHandle_t * const pxCreatedTask,
\r
555 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
558 * Called after a new task has been created and initialised to place the task
\r
559 * under the control of the scheduler.
\r
561 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
564 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
565 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
566 * called by the function.
\r
568 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
570 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
574 /*-----------------------------------------------------------*/
\r
576 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
578 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
579 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
580 const uint32_t ulStackDepth,
\r
581 void * const pvParameters,
\r
582 UBaseType_t uxPriority,
\r
583 StackType_t * const puxStackBuffer,
\r
584 StaticTask_t * const pxTaskBuffer )
\r
587 TaskHandle_t xReturn;
\r
589 configASSERT( puxStackBuffer != NULL );
\r
590 configASSERT( pxTaskBuffer != NULL );
\r
592 #if( configASSERT_DEFINED == 1 )
\r
594 /* Sanity check that the size of the structure used to declare a
\r
595 variable of type StaticTask_t equals the size of the real task
\r
597 volatile size_t xSize = sizeof( StaticTask_t );
\r
598 configASSERT( xSize == sizeof( TCB_t ) );
\r
599 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
601 #endif /* configASSERT_DEFINED */
\r
604 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
606 /* The memory used for the task's TCB and stack are passed into this
\r
607 function - use them. */
\r
608 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
609 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
611 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
613 /* Tasks can be created statically or dynamically, so note this
\r
614 task was created statically in case the task is later deleted. */
\r
615 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
617 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
619 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
620 prvAddNewTaskToReadyList( pxNewTCB );
\r
630 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
631 /*-----------------------------------------------------------*/
\r
633 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
635 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
638 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
640 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
641 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
643 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
645 /* Allocate space for the TCB. Where the memory comes from depends
\r
646 on the implementation of the port malloc function and whether or
\r
647 not static allocation is being used. */
\r
648 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
650 /* Store the stack location in the TCB. */
\r
651 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
653 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
655 /* Tasks can be created statically or dynamically, so note this
\r
656 task was created statically in case the task is later deleted. */
\r
657 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
659 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
661 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
662 pxTaskDefinition->pcName,
\r
663 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
664 pxTaskDefinition->pvParameters,
\r
665 pxTaskDefinition->uxPriority,
\r
666 pxCreatedTask, pxNewTCB,
\r
667 pxTaskDefinition->xRegions );
\r
669 prvAddNewTaskToReadyList( pxNewTCB );
\r
676 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
677 /*-----------------------------------------------------------*/
\r
679 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
681 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
684 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
686 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
688 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
690 /* Allocate space for the TCB. Where the memory comes from depends
\r
691 on the implementation of the port malloc function and whether or
\r
692 not static allocation is being used. */
\r
693 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
695 if( pxNewTCB != NULL )
\r
697 /* Store the stack location in the TCB. */
\r
698 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
700 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
702 /* Tasks can be created statically or dynamically, so note
\r
703 this task had a statically allocated stack in case it is
\r
704 later deleted. The TCB was allocated dynamically. */
\r
705 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
707 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
709 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
710 pxTaskDefinition->pcName,
\r
711 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
712 pxTaskDefinition->pvParameters,
\r
713 pxTaskDefinition->uxPriority,
\r
714 pxCreatedTask, pxNewTCB,
\r
715 pxTaskDefinition->xRegions );
\r
717 prvAddNewTaskToReadyList( pxNewTCB );
\r
725 #endif /* portUSING_MPU_WRAPPERS */
\r
726 /*-----------------------------------------------------------*/
\r
728 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
730 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
731 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
732 const configSTACK_DEPTH_TYPE usStackDepth,
\r
733 void * const pvParameters,
\r
734 UBaseType_t uxPriority,
\r
735 TaskHandle_t * const pxCreatedTask )
\r
738 BaseType_t xReturn;
\r
740 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
741 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
742 the TCB then the stack. */
\r
743 #if( portSTACK_GROWTH > 0 )
\r
745 /* Allocate space for the TCB. Where the memory comes from depends on
\r
746 the implementation of the port malloc function and whether or not static
\r
747 allocation is being used. */
\r
748 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
750 if( pxNewTCB != NULL )
\r
752 /* Allocate space for the stack used by the task being created.
\r
753 The base of the stack memory stored in the TCB so the task can
\r
754 be deleted later if required. */
\r
755 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
757 if( pxNewTCB->pxStack == NULL )
\r
759 /* Could not allocate the stack. Delete the allocated TCB. */
\r
760 vPortFree( pxNewTCB );
\r
765 #else /* portSTACK_GROWTH */
\r
767 StackType_t *pxStack;
\r
769 /* Allocate space for the stack used by the task being created. */
\r
770 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
772 if( pxStack != NULL )
\r
774 /* Allocate space for the TCB. */
\r
775 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
777 if( pxNewTCB != NULL )
\r
779 /* Store the stack location in the TCB. */
\r
780 pxNewTCB->pxStack = pxStack;
\r
784 /* The stack cannot be used as the TCB was not created. Free
\r
786 vPortFree( pxStack );
\r
794 #endif /* portSTACK_GROWTH */
\r
796 if( pxNewTCB != NULL )
\r
798 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
800 /* Tasks can be created statically or dynamically, so note this
\r
801 task was created dynamically in case it is later deleted. */
\r
802 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
804 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
806 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
807 prvAddNewTaskToReadyList( pxNewTCB );
\r
812 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
818 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
819 /*-----------------------------------------------------------*/
\r
821 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
822 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
823 const uint32_t ulStackDepth,
\r
824 void * const pvParameters,
\r
825 UBaseType_t uxPriority,
\r
826 TaskHandle_t * const pxCreatedTask,
\r
828 const MemoryRegion_t * const xRegions )
\r
830 StackType_t *pxTopOfStack;
\r
833 #if( portUSING_MPU_WRAPPERS == 1 )
\r
834 /* Should the task be created in privileged mode? */
\r
835 BaseType_t xRunPrivileged;
\r
836 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
838 xRunPrivileged = pdTRUE;
\r
842 xRunPrivileged = pdFALSE;
\r
844 uxPriority &= ~portPRIVILEGE_BIT;
\r
845 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
847 /* Avoid dependency on memset() if it is not required. */
\r
848 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
850 /* Fill the stack with a known value to assist debugging. */
\r
851 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
853 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
855 /* Calculate the top of stack address. This depends on whether the stack
\r
856 grows from high memory to low (as per the 80x86) or vice versa.
\r
857 portSTACK_GROWTH is used to make the result positive or negative as required
\r
859 #if( portSTACK_GROWTH < 0 )
\r
861 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
862 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
864 /* Check the alignment of the calculated top of stack is correct. */
\r
865 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
867 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
869 /* Also record the stack's high address, which may assist
\r
871 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
873 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
875 #else /* portSTACK_GROWTH */
\r
877 pxTopOfStack = pxNewTCB->pxStack;
\r
879 /* Check the alignment of the stack buffer is correct. */
\r
880 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
882 /* The other extreme of the stack space is required if stack checking is
\r
884 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
886 #endif /* portSTACK_GROWTH */
\r
888 /* Store the task name in the TCB. */
\r
889 if( pcName != NULL )
\r
891 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
893 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
895 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
896 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
897 string is not accessible (extremely unlikely). */
\r
898 if( pcName[ x ] == ( char ) 0x00 )
\r
904 mtCOVERAGE_TEST_MARKER();
\r
908 /* Ensure the name string is terminated in the case that the string length
\r
909 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
910 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
914 /* The task has not been given a name, so just ensure there is a NULL
\r
915 terminator when it is read out. */
\r
916 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
919 /* This is used as an array index so must ensure it's not too large. First
\r
920 remove the privilege bit if one is present. */
\r
921 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
923 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
927 mtCOVERAGE_TEST_MARKER();
\r
930 pxNewTCB->uxPriority = uxPriority;
\r
931 #if ( configUSE_MUTEXES == 1 )
\r
933 pxNewTCB->uxBasePriority = uxPriority;
\r
934 pxNewTCB->uxMutexesHeld = 0;
\r
936 #endif /* configUSE_MUTEXES */
\r
938 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
939 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
941 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
942 back to the containing TCB from a generic item in a list. */
\r
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
945 /* Event lists are always in priority order. */
\r
946 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
947 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
949 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
951 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
953 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
955 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
957 pxNewTCB->pxTaskTag = NULL;
\r
959 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
961 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
963 pxNewTCB->ulRunTimeCounter = 0UL;
\r
965 #endif /* configGENERATE_RUN_TIME_STATS */
\r
967 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
969 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
973 /* Avoid compiler warning about unreferenced parameter. */
\r
978 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
980 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
982 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
987 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
989 pxNewTCB->ulNotifiedValue = 0;
\r
990 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
994 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
996 /* Initialise this task's Newlib reent structure. */
\r
997 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1001 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1003 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1007 /* Initialize the TCB stack to look as if the task was already running,
\r
1008 but had been interrupted by the scheduler. The return address is set
\r
1009 to the start of the task function. Once the stack has been initialised
\r
1010 the top of stack variable is updated. */
\r
1011 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1013 /* If the port has capability to detect stack overflow,
\r
1014 pass the stack end address to the stack initialization
\r
1015 function as well. */
\r
1016 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1018 #if( portSTACK_GROWTH < 0 )
\r
1020 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1022 #else /* portSTACK_GROWTH */
\r
1024 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1026 #endif /* portSTACK_GROWTH */
\r
1028 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1030 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1032 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1034 #else /* portUSING_MPU_WRAPPERS */
\r
1036 /* If the port has capability to detect stack overflow,
\r
1037 pass the stack end address to the stack initialization
\r
1038 function as well. */
\r
1039 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1041 #if( portSTACK_GROWTH < 0 )
\r
1043 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1045 #else /* portSTACK_GROWTH */
\r
1047 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1049 #endif /* portSTACK_GROWTH */
\r
1051 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1053 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1055 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1057 #endif /* portUSING_MPU_WRAPPERS */
\r
1059 if( pxCreatedTask != NULL )
\r
1061 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1062 change the created task's priority, delete the created task, etc.*/
\r
1063 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1067 mtCOVERAGE_TEST_MARKER();
\r
1070 /*-----------------------------------------------------------*/
\r
1072 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1074 /* Ensure interrupts don't access the task lists while the lists are being
\r
1076 taskENTER_CRITICAL();
\r
1078 uxCurrentNumberOfTasks++;
\r
1079 if( pxCurrentTCB == NULL )
\r
1081 /* There are no other tasks, or all the other tasks are in
\r
1082 the suspended state - make this the current task. */
\r
1083 pxCurrentTCB = pxNewTCB;
\r
1085 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1087 /* This is the first task to be created so do the preliminary
\r
1088 initialisation required. We will not recover if this call
\r
1089 fails, but we will report the failure. */
\r
1090 prvInitialiseTaskLists();
\r
1094 mtCOVERAGE_TEST_MARKER();
\r
1099 /* If the scheduler is not already running, make this task the
\r
1100 current task if it is the highest priority task to be created
\r
1102 if( xSchedulerRunning == pdFALSE )
\r
1104 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1106 pxCurrentTCB = pxNewTCB;
\r
1110 mtCOVERAGE_TEST_MARKER();
\r
1115 mtCOVERAGE_TEST_MARKER();
\r
1121 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1123 /* Add a counter into the TCB for tracing only. */
\r
1124 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1126 #endif /* configUSE_TRACE_FACILITY */
\r
1127 traceTASK_CREATE( pxNewTCB );
\r
1129 prvAddTaskToReadyList( pxNewTCB );
\r
1131 portSETUP_TCB( pxNewTCB );
\r
1133 taskEXIT_CRITICAL();
\r
1135 if( xSchedulerRunning != pdFALSE )
\r
1137 /* If the created task is of a higher priority than the current task
\r
1138 then it should run now. */
\r
1139 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1141 taskYIELD_IF_USING_PREEMPTION();
\r
1145 mtCOVERAGE_TEST_MARKER();
\r
1150 mtCOVERAGE_TEST_MARKER();
\r
1153 /*-----------------------------------------------------------*/
\r
1155 #if ( INCLUDE_vTaskDelete == 1 )
\r
1157 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1161 taskENTER_CRITICAL();
\r
1163 /* If null is passed in here then it is the calling task that is
\r
1165 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1167 /* Remove task from the ready/delayed list. */
\r
1168 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1170 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1174 mtCOVERAGE_TEST_MARKER();
\r
1177 /* Is the task waiting on an event also? */
\r
1178 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1180 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1184 mtCOVERAGE_TEST_MARKER();
\r
1187 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1188 detect that the task lists need re-generating. This is done before
\r
1189 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1193 if( pxTCB == pxCurrentTCB )
\r
1195 /* A task is deleting itself. This cannot complete within the
\r
1196 task itself, as a context switch to another task is required.
\r
1197 Place the task in the termination list. The idle task will
\r
1198 check the termination list and free up any memory allocated by
\r
1199 the scheduler for the TCB and stack of the deleted task. */
\r
1200 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1202 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1203 there is a task that has been deleted and that it should therefore
\r
1204 check the xTasksWaitingTermination list. */
\r
1205 ++uxDeletedTasksWaitingCleanUp;
\r
1207 /* The pre-delete hook is primarily for the Windows simulator,
\r
1208 in which Windows specific clean up operations are performed,
\r
1209 after which it is not possible to yield away from this task -
\r
1210 hence xYieldPending is used to latch that a context switch is
\r
1212 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1216 --uxCurrentNumberOfTasks;
\r
1217 prvDeleteTCB( pxTCB );
\r
1219 /* Reset the next expected unblock time in case it referred to
\r
1220 the task that has just been deleted. */
\r
1221 prvResetNextTaskUnblockTime();
\r
1224 traceTASK_DELETE( pxTCB );
\r
1226 taskEXIT_CRITICAL();
\r
1228 /* Force a reschedule if it is the currently running task that has just
\r
1230 if( xSchedulerRunning != pdFALSE )
\r
1232 if( pxTCB == pxCurrentTCB )
\r
1234 configASSERT( uxSchedulerSuspended == 0 );
\r
1235 portYIELD_WITHIN_API();
\r
1239 mtCOVERAGE_TEST_MARKER();
\r
1244 #endif /* INCLUDE_vTaskDelete */
\r
1245 /*-----------------------------------------------------------*/
\r
1247 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1249 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1251 TickType_t xTimeToWake;
\r
1252 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1254 configASSERT( pxPreviousWakeTime );
\r
1255 configASSERT( ( xTimeIncrement > 0U ) );
\r
1256 configASSERT( uxSchedulerSuspended == 0 );
\r
1258 vTaskSuspendAll();
\r
1260 /* Minor optimisation. The tick count cannot change in this
\r
1262 const TickType_t xConstTickCount = xTickCount;
\r
1264 /* Generate the tick time at which the task wants to wake. */
\r
1265 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1267 if( xConstTickCount < *pxPreviousWakeTime )
\r
1269 /* The tick count has overflowed since this function was
\r
1270 lasted called. In this case the only time we should ever
\r
1271 actually delay is if the wake time has also overflowed,
\r
1272 and the wake time is greater than the tick time. When this
\r
1273 is the case it is as if neither time had overflowed. */
\r
1274 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1276 xShouldDelay = pdTRUE;
\r
1280 mtCOVERAGE_TEST_MARKER();
\r
1285 /* The tick time has not overflowed. In this case we will
\r
1286 delay if either the wake time has overflowed, and/or the
\r
1287 tick time is less than the wake time. */
\r
1288 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1290 xShouldDelay = pdTRUE;
\r
1294 mtCOVERAGE_TEST_MARKER();
\r
1298 /* Update the wake time ready for the next call. */
\r
1299 *pxPreviousWakeTime = xTimeToWake;
\r
1301 if( xShouldDelay != pdFALSE )
\r
1303 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1305 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1306 the time to wake, so subtract the current tick count. */
\r
1307 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1311 mtCOVERAGE_TEST_MARKER();
\r
1314 xAlreadyYielded = xTaskResumeAll();
\r
1316 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1317 have put ourselves to sleep. */
\r
1318 if( xAlreadyYielded == pdFALSE )
\r
1320 portYIELD_WITHIN_API();
\r
1324 mtCOVERAGE_TEST_MARKER();
\r
1328 #endif /* INCLUDE_vTaskDelayUntil */
\r
1329 /*-----------------------------------------------------------*/
\r
1331 #if ( INCLUDE_vTaskDelay == 1 )
\r
1333 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1335 BaseType_t xAlreadyYielded = pdFALSE;
\r
1337 /* A delay time of zero just forces a reschedule. */
\r
1338 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1340 configASSERT( uxSchedulerSuspended == 0 );
\r
1341 vTaskSuspendAll();
\r
1343 traceTASK_DELAY();
\r
1345 /* A task that is removed from the event list while the
\r
1346 scheduler is suspended will not get placed in the ready
\r
1347 list or removed from the blocked list until the scheduler
\r
1350 This task cannot be in an event list as it is the currently
\r
1351 executing task. */
\r
1352 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1354 xAlreadyYielded = xTaskResumeAll();
\r
1358 mtCOVERAGE_TEST_MARKER();
\r
1361 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1362 have put ourselves to sleep. */
\r
1363 if( xAlreadyYielded == pdFALSE )
\r
1365 portYIELD_WITHIN_API();
\r
1369 mtCOVERAGE_TEST_MARKER();
\r
1373 #endif /* INCLUDE_vTaskDelay */
\r
1374 /*-----------------------------------------------------------*/
\r
1376 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1378 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1380 eTaskState eReturn;
\r
1381 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1382 const TCB_t * const pxTCB = xTask;
\r
1384 configASSERT( pxTCB );
\r
1386 if( pxTCB == pxCurrentTCB )
\r
1388 /* The task calling this function is querying its own state. */
\r
1389 eReturn = eRunning;
\r
1393 taskENTER_CRITICAL();
\r
1395 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1396 pxDelayedList = pxDelayedTaskList;
\r
1397 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1399 taskEXIT_CRITICAL();
\r
1401 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1403 /* The task being queried is referenced from one of the Blocked
\r
1405 eReturn = eBlocked;
\r
1408 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1409 else if( pxStateList == &xSuspendedTaskList )
\r
1411 /* The task being queried is referenced from the suspended
\r
1412 list. Is it genuinely suspended or is it blocked
\r
1414 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1416 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1418 /* The task does not appear on the event list item of
\r
1419 and of the RTOS objects, but could still be in the
\r
1420 blocked state if it is waiting on its notification
\r
1421 rather than waiting on an object. */
\r
1422 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1424 eReturn = eBlocked;
\r
1428 eReturn = eSuspended;
\r
1433 eReturn = eSuspended;
\r
1439 eReturn = eBlocked;
\r
1444 #if ( INCLUDE_vTaskDelete == 1 )
\r
1445 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1447 /* The task being queried is referenced from the deleted
\r
1448 tasks list, or it is not referenced from any lists at
\r
1450 eReturn = eDeleted;
\r
1454 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1456 /* If the task is not in any other state, it must be in the
\r
1457 Ready (including pending ready) state. */
\r
1463 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1465 #endif /* INCLUDE_eTaskGetState */
\r
1466 /*-----------------------------------------------------------*/
\r
1468 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1470 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1472 TCB_t const *pxTCB;
\r
1473 UBaseType_t uxReturn;
\r
1475 taskENTER_CRITICAL();
\r
1477 /* If null is passed in here then it is the priority of the task
\r
1478 that called uxTaskPriorityGet() that is being queried. */
\r
1479 pxTCB = prvGetTCBFromHandle( xTask );
\r
1480 uxReturn = pxTCB->uxPriority;
\r
1482 taskEXIT_CRITICAL();
\r
1487 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1488 /*-----------------------------------------------------------*/
\r
1490 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1492 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1494 TCB_t const *pxTCB;
\r
1495 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1497 /* RTOS ports that support interrupt nesting have the concept of a
\r
1498 maximum system call (or maximum API call) interrupt priority.
\r
1499 Interrupts that are above the maximum system call priority are keep
\r
1500 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1501 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1502 is defined in FreeRTOSConfig.h then
\r
1503 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1504 failure if a FreeRTOS API function is called from an interrupt that has
\r
1505 been assigned a priority above the configured maximum system call
\r
1506 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1507 from interrupts that have been assigned a priority at or (logically)
\r
1508 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1509 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1510 simple as possible. More information (albeit Cortex-M specific) is
\r
1511 provided on the following link:
\r
1512 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1513 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1515 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1517 /* If null is passed in here then it is the priority of the calling
\r
1518 task that is being queried. */
\r
1519 pxTCB = prvGetTCBFromHandle( xTask );
\r
1520 uxReturn = pxTCB->uxPriority;
\r
1522 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1527 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1528 /*-----------------------------------------------------------*/
\r
1530 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1532 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1535 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1536 BaseType_t xYieldRequired = pdFALSE;
\r
1538 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1540 /* Ensure the new priority is valid. */
\r
1541 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1543 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1547 mtCOVERAGE_TEST_MARKER();
\r
1550 taskENTER_CRITICAL();
\r
1552 /* If null is passed in here then it is the priority of the calling
\r
1553 task that is being changed. */
\r
1554 pxTCB = prvGetTCBFromHandle( xTask );
\r
1556 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1558 #if ( configUSE_MUTEXES == 1 )
\r
1560 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1564 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1568 if( uxCurrentBasePriority != uxNewPriority )
\r
1570 /* The priority change may have readied a task of higher
\r
1571 priority than the calling task. */
\r
1572 if( uxNewPriority > uxCurrentBasePriority )
\r
1574 if( pxTCB != pxCurrentTCB )
\r
1576 /* The priority of a task other than the currently
\r
1577 running task is being raised. Is the priority being
\r
1578 raised above that of the running task? */
\r
1579 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1581 xYieldRequired = pdTRUE;
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1590 /* The priority of the running task is being raised,
\r
1591 but the running task must already be the highest
\r
1592 priority task able to run so no yield is required. */
\r
1595 else if( pxTCB == pxCurrentTCB )
\r
1597 /* Setting the priority of the running task down means
\r
1598 there may now be another task of higher priority that
\r
1599 is ready to execute. */
\r
1600 xYieldRequired = pdTRUE;
\r
1604 /* Setting the priority of any other task down does not
\r
1605 require a yield as the running task must be above the
\r
1606 new priority of the task being modified. */
\r
1609 /* Remember the ready list the task might be referenced from
\r
1610 before its uxPriority member is changed so the
\r
1611 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1612 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1614 #if ( configUSE_MUTEXES == 1 )
\r
1616 /* Only change the priority being used if the task is not
\r
1617 currently using an inherited priority. */
\r
1618 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1620 pxTCB->uxPriority = uxNewPriority;
\r
1624 mtCOVERAGE_TEST_MARKER();
\r
1627 /* The base priority gets set whatever. */
\r
1628 pxTCB->uxBasePriority = uxNewPriority;
\r
1632 pxTCB->uxPriority = uxNewPriority;
\r
1636 /* Only reset the event list item value if the value is not
\r
1637 being used for anything else. */
\r
1638 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1640 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
1644 mtCOVERAGE_TEST_MARKER();
\r
1647 /* If the task is in the blocked or suspended list we need do
\r
1648 nothing more than change its priority variable. However, if
\r
1649 the task is in a ready list it needs to be removed and placed
\r
1650 in the list appropriate to its new priority. */
\r
1651 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1653 /* The task is currently in its ready list - remove before
\r
1654 adding it to it's new ready list. As we are in a critical
\r
1655 section we can do this even if the scheduler is suspended. */
\r
1656 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1658 /* It is known that the task is in its ready list so
\r
1659 there is no need to check again and the port level
\r
1660 reset macro can be called directly. */
\r
1661 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1665 mtCOVERAGE_TEST_MARKER();
\r
1667 prvAddTaskToReadyList( pxTCB );
\r
1671 mtCOVERAGE_TEST_MARKER();
\r
1674 if( xYieldRequired != pdFALSE )
\r
1676 taskYIELD_IF_USING_PREEMPTION();
\r
1680 mtCOVERAGE_TEST_MARKER();
\r
1683 /* Remove compiler warning about unused variables when the port
\r
1684 optimised task selection is not being used. */
\r
1685 ( void ) uxPriorityUsedOnEntry;
\r
1688 taskEXIT_CRITICAL();
\r
1691 #endif /* INCLUDE_vTaskPrioritySet */
\r
1692 /*-----------------------------------------------------------*/
\r
1694 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1696 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1700 taskENTER_CRITICAL();
\r
1702 /* If null is passed in here then it is the running task that is
\r
1703 being suspended. */
\r
1704 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1706 traceTASK_SUSPEND( pxTCB );
\r
1708 /* Remove task from the ready/delayed list and place in the
\r
1709 suspended list. */
\r
1710 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1712 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1716 mtCOVERAGE_TEST_MARKER();
\r
1719 /* Is the task waiting on an event also? */
\r
1720 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1722 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1726 mtCOVERAGE_TEST_MARKER();
\r
1729 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1731 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1733 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1735 /* The task was blocked to wait for a notification, but is
\r
1736 now suspended, so no notification was received. */
\r
1737 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1742 taskEXIT_CRITICAL();
\r
1744 if( xSchedulerRunning != pdFALSE )
\r
1746 /* Reset the next expected unblock time in case it referred to the
\r
1747 task that is now in the Suspended state. */
\r
1748 taskENTER_CRITICAL();
\r
1750 prvResetNextTaskUnblockTime();
\r
1752 taskEXIT_CRITICAL();
\r
1756 mtCOVERAGE_TEST_MARKER();
\r
1759 if( pxTCB == pxCurrentTCB )
\r
1761 if( xSchedulerRunning != pdFALSE )
\r
1763 /* The current task has just been suspended. */
\r
1764 configASSERT( uxSchedulerSuspended == 0 );
\r
1765 portYIELD_WITHIN_API();
\r
1769 /* The scheduler is not running, but the task that was pointed
\r
1770 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1771 must be adjusted to point to a different task. */
\r
1772 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1774 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1775 NULL so when the next task is created pxCurrentTCB will
\r
1776 be set to point to it no matter what its relative priority
\r
1778 pxCurrentTCB = NULL;
\r
1782 vTaskSwitchContext();
\r
1788 mtCOVERAGE_TEST_MARKER();
\r
1792 #endif /* INCLUDE_vTaskSuspend */
\r
1793 /*-----------------------------------------------------------*/
\r
1795 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1797 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1799 BaseType_t xReturn = pdFALSE;
\r
1800 const TCB_t * const pxTCB = xTask;
\r
1802 /* Accesses xPendingReadyList so must be called from a critical
\r
1805 /* It does not make sense to check if the calling task is suspended. */
\r
1806 configASSERT( xTask );
\r
1808 /* Is the task being resumed actually in the suspended list? */
\r
1809 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1811 /* Has the task already been resumed from within an ISR? */
\r
1812 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1814 /* Is it in the suspended list because it is in the Suspended
\r
1815 state, or because is is blocked with no timeout? */
\r
1816 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1822 mtCOVERAGE_TEST_MARKER();
\r
1827 mtCOVERAGE_TEST_MARKER();
\r
1832 mtCOVERAGE_TEST_MARKER();
\r
1836 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1838 #endif /* INCLUDE_vTaskSuspend */
\r
1839 /*-----------------------------------------------------------*/
\r
1841 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1843 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1845 TCB_t * const pxTCB = xTaskToResume;
\r
1847 /* It does not make sense to resume the calling task. */
\r
1848 configASSERT( xTaskToResume );
\r
1850 /* The parameter cannot be NULL as it is impossible to resume the
\r
1851 currently executing task. */
\r
1852 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1854 taskENTER_CRITICAL();
\r
1856 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1858 traceTASK_RESUME( pxTCB );
\r
1860 /* The ready list can be accessed even if the scheduler is
\r
1861 suspended because this is inside a critical section. */
\r
1862 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1863 prvAddTaskToReadyList( pxTCB );
\r
1865 /* A higher priority task may have just been resumed. */
\r
1866 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1868 /* This yield may not cause the task just resumed to run,
\r
1869 but will leave the lists in the correct state for the
\r
1871 taskYIELD_IF_USING_PREEMPTION();
\r
1875 mtCOVERAGE_TEST_MARKER();
\r
1880 mtCOVERAGE_TEST_MARKER();
\r
1883 taskEXIT_CRITICAL();
\r
1887 mtCOVERAGE_TEST_MARKER();
\r
1891 #endif /* INCLUDE_vTaskSuspend */
\r
1893 /*-----------------------------------------------------------*/
\r
1895 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1897 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1899 BaseType_t xYieldRequired = pdFALSE;
\r
1900 TCB_t * const pxTCB = xTaskToResume;
\r
1901 UBaseType_t uxSavedInterruptStatus;
\r
1903 configASSERT( xTaskToResume );
\r
1905 /* RTOS ports that support interrupt nesting have the concept of a
\r
1906 maximum system call (or maximum API call) interrupt priority.
\r
1907 Interrupts that are above the maximum system call priority are keep
\r
1908 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1909 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1910 is defined in FreeRTOSConfig.h then
\r
1911 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1912 failure if a FreeRTOS API function is called from an interrupt that has
\r
1913 been assigned a priority above the configured maximum system call
\r
1914 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1915 from interrupts that have been assigned a priority at or (logically)
\r
1916 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1917 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1918 simple as possible. More information (albeit Cortex-M specific) is
\r
1919 provided on the following link:
\r
1920 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1921 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1923 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1925 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1927 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1929 /* Check the ready lists can be accessed. */
\r
1930 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1932 /* Ready lists can be accessed so move the task from the
\r
1933 suspended list to the ready list directly. */
\r
1934 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1936 xYieldRequired = pdTRUE;
\r
1940 mtCOVERAGE_TEST_MARKER();
\r
1943 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1944 prvAddTaskToReadyList( pxTCB );
\r
1948 /* The delayed or ready lists cannot be accessed so the task
\r
1949 is held in the pending ready list until the scheduler is
\r
1951 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1956 mtCOVERAGE_TEST_MARKER();
\r
1959 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1961 return xYieldRequired;
\r
1964 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1965 /*-----------------------------------------------------------*/
\r
1967 void vTaskStartScheduler( void )
\r
1969 BaseType_t xReturn;
\r
1971 /* Add the idle task at the lowest priority. */
\r
1972 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1974 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1975 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1976 uint32_t ulIdleTaskStackSize;
\r
1978 /* The Idle task is created using user provided RAM - obtain the
\r
1979 address of the RAM then create the idle task. */
\r
1980 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1981 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1982 configIDLE_TASK_NAME,
\r
1983 ulIdleTaskStackSize,
\r
1984 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1985 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1986 pxIdleTaskStackBuffer,
\r
1987 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1989 if( xIdleTaskHandle != NULL )
\r
2000 /* The Idle task is being created using dynamically allocated RAM. */
\r
2001 xReturn = xTaskCreate( prvIdleTask,
\r
2002 configIDLE_TASK_NAME,
\r
2003 configMINIMAL_STACK_SIZE,
\r
2005 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2006 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2008 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2010 #if ( configUSE_TIMERS == 1 )
\r
2012 if( xReturn == pdPASS )
\r
2014 xReturn = xTimerCreateTimerTask();
\r
2018 mtCOVERAGE_TEST_MARKER();
\r
2021 #endif /* configUSE_TIMERS */
\r
2023 if( xReturn == pdPASS )
\r
2025 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2026 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2027 the only macro called by the function. */
\r
2028 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2030 freertos_tasks_c_additions_init();
\r
2034 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2035 before or during the call to xPortStartScheduler(). The stacks of
\r
2036 the created tasks contain a status word with interrupts switched on
\r
2037 so interrupts will automatically get re-enabled when the first task
\r
2039 portDISABLE_INTERRUPTS();
\r
2041 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2043 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2044 structure specific to the task that will run first. */
\r
2045 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2047 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2049 xNextTaskUnblockTime = portMAX_DELAY;
\r
2050 xSchedulerRunning = pdTRUE;
\r
2051 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2053 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2054 macro must be defined to configure the timer/counter used to generate
\r
2055 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2056 is set to 0 and the following line fails to build then ensure you do not
\r
2057 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2058 FreeRTOSConfig.h file. */
\r
2059 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2061 traceTASK_SWITCHED_IN();
\r
2063 /* Setting up the timer tick is hardware specific and thus in the
\r
2064 portable interface. */
\r
2065 if( xPortStartScheduler() != pdFALSE )
\r
2067 /* Should not reach here as if the scheduler is running the
\r
2068 function will not return. */
\r
2072 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2077 /* This line will only be reached if the kernel could not be started,
\r
2078 because there was not enough FreeRTOS heap to create the idle task
\r
2079 or the timer task. */
\r
2080 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2083 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2084 meaning xIdleTaskHandle is not used anywhere else. */
\r
2085 ( void ) xIdleTaskHandle;
\r
2087 /*-----------------------------------------------------------*/
\r
2089 void vTaskEndScheduler( void )
\r
2091 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2092 routine so the original ISRs can be restored if necessary. The port
\r
2093 layer must ensure interrupts enable bit is left in the correct state. */
\r
2094 portDISABLE_INTERRUPTS();
\r
2095 xSchedulerRunning = pdFALSE;
\r
2096 vPortEndScheduler();
\r
2098 /*----------------------------------------------------------*/
\r
2100 void vTaskSuspendAll( void )
\r
2102 /* A critical section is not required as the variable is of type
\r
2103 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2104 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2105 http://goo.gl/wu4acr */
\r
2106 ++uxSchedulerSuspended;
\r
2107 portMEMORY_BARRIER();
\r
2109 /*----------------------------------------------------------*/
\r
2111 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2113 static TickType_t prvGetExpectedIdleTime( void )
\r
2115 TickType_t xReturn;
\r
2116 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2118 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2119 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2120 task that are in the Ready state, even though the idle task is
\r
2122 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2124 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2126 uxHigherPriorityReadyTasks = pdTRUE;
\r
2131 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2133 /* When port optimised task selection is used the uxTopReadyPriority
\r
2134 variable is used as a bit map. If bits other than the least
\r
2135 significant bit are set then there are tasks that have a priority
\r
2136 above the idle priority that are in the Ready state. This takes
\r
2137 care of the case where the co-operative scheduler is in use. */
\r
2138 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2140 uxHigherPriorityReadyTasks = pdTRUE;
\r
2145 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2149 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2151 /* There are other idle priority tasks in the ready state. If
\r
2152 time slicing is used then the very next tick interrupt must be
\r
2156 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2158 /* There are tasks in the Ready state that have a priority above the
\r
2159 idle priority. This path can only be reached if
\r
2160 configUSE_PREEMPTION is 0. */
\r
2165 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2171 #endif /* configUSE_TICKLESS_IDLE */
\r
2172 /*----------------------------------------------------------*/
\r
2174 BaseType_t xTaskResumeAll( void )
\r
2176 TCB_t *pxTCB = NULL;
\r
2177 BaseType_t xAlreadyYielded = pdFALSE;
\r
2178 TickType_t xTicksToNextUnblockTime;
\r
2180 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2181 previous call to vTaskSuspendAll(). */
\r
2182 configASSERT( uxSchedulerSuspended );
\r
2184 /* It is possible that an ISR caused a task to be removed from an event
\r
2185 list while the scheduler was suspended. If this was the case then the
\r
2186 removed task will have been added to the xPendingReadyList. Once the
\r
2187 scheduler has been resumed it is safe to move all the pending ready
\r
2188 tasks from this list into their appropriate ready list. */
\r
2189 taskENTER_CRITICAL();
\r
2191 --uxSchedulerSuspended;
\r
2193 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2195 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2197 /* Move any readied tasks from the pending list into the
\r
2198 appropriate ready list. */
\r
2199 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2201 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2202 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2203 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2204 prvAddTaskToReadyList( pxTCB );
\r
2206 /* If the moved task has a priority higher than the current
\r
2207 task then a yield must be performed. */
\r
2208 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2210 xYieldPending = pdTRUE;
\r
2214 mtCOVERAGE_TEST_MARKER();
\r
2218 if( pxTCB != NULL )
\r
2220 /* A task was unblocked while the scheduler was suspended,
\r
2221 which may have prevented the next unblock time from being
\r
2222 re-calculated, in which case re-calculate it now. Mainly
\r
2223 important for low power tickless implementations, where
\r
2224 this can prevent an unnecessary exit from low power
\r
2226 prvResetNextTaskUnblockTime();
\r
2229 /* If any ticks occurred while the scheduler was suspended then
\r
2230 they should be processed now. This ensures the tick count does
\r
2231 not slip, and that any delayed tasks are resumed at the correct
\r
2233 while( xPendedTicks > ( TickType_t ) 0 )
\r
2235 /* Calculate how far into the future the next task will
\r
2236 leave the Blocked state because its timeout expired. If
\r
2237 there are no tasks due to leave the blocked state between
\r
2238 the time now and the time at which the tick count overflows
\r
2239 then xNextTaskUnblockTime will the tick overflow time.
\r
2240 This means xNextTaskUnblockTime can never be less than
\r
2241 xTickCount, and the following can therefore not
\r
2243 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2244 xTicksToNextUnblockTime = xNextTaskUnblockTime - xTickCount;
\r
2246 /* Don't want to move the tick count more than the number
\r
2247 of ticks that are pending, so cap if necessary. */
\r
2248 if( xTicksToNextUnblockTime > xPendedTicks )
\r
2250 xTicksToNextUnblockTime = xPendedTicks;
\r
2253 if( xTicksToNextUnblockTime == 0 )
\r
2255 /* xTicksToNextUnblockTime could be zero if the tick
\r
2256 count is about to overflow and xTicksToNetUnblockTime
\r
2257 holds the time at which the tick count will overflow
\r
2258 (rather than the time at which the next task will
\r
2259 unblock). Set to 1 otherwise xPendedTicks won't be
\r
2260 decremented below. */
\r
2261 xTicksToNextUnblockTime = ( TickType_t ) 1;
\r
2263 else if( xTicksToNextUnblockTime > ( TickType_t ) 1 )
\r
2265 /* Move the tick count one short of the next unblock
\r
2266 time, then call xTaskIncrementTick() to move the tick
\r
2267 count up to the next unblock time to unblock the task,
\r
2268 if any. This will also swap the blocked task and
\r
2269 overflow blocked task lists if necessary. */
\r
2270 xTickCount += ( xTicksToNextUnblockTime - ( TickType_t ) 1 );
\r
2272 xYieldPending |= xTaskIncrementTick();
\r
2274 /* Adjust for the number of ticks just added to
\r
2275 xTickCount and go around the loop again if
\r
2276 xTicksToCatchUp is still greater than 0. */
\r
2277 xPendedTicks -= xTicksToNextUnblockTime;
\r
2280 if( xYieldPending != pdFALSE )
\r
2282 #if( configUSE_PREEMPTION != 0 )
\r
2284 xAlreadyYielded = pdTRUE;
\r
2287 taskYIELD_IF_USING_PREEMPTION();
\r
2291 mtCOVERAGE_TEST_MARKER();
\r
2297 mtCOVERAGE_TEST_MARKER();
\r
2300 taskEXIT_CRITICAL();
\r
2302 return xAlreadyYielded;
\r
2304 /*-----------------------------------------------------------*/
\r
2306 TickType_t xTaskGetTickCount( void )
\r
2308 TickType_t xTicks;
\r
2310 /* Critical section required if running on a 16 bit processor. */
\r
2311 portTICK_TYPE_ENTER_CRITICAL();
\r
2313 xTicks = xTickCount;
\r
2315 portTICK_TYPE_EXIT_CRITICAL();
\r
2319 /*-----------------------------------------------------------*/
\r
2321 TickType_t xTaskGetTickCountFromISR( void )
\r
2323 TickType_t xReturn;
\r
2324 UBaseType_t uxSavedInterruptStatus;
\r
2326 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2327 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2328 above the maximum system call priority are kept permanently enabled, even
\r
2329 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2330 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2331 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2332 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2333 assigned a priority above the configured maximum system call priority.
\r
2334 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2335 that have been assigned a priority at or (logically) below the maximum
\r
2336 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2337 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2338 More information (albeit Cortex-M specific) is provided on the following
\r
2339 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2340 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2342 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2344 xReturn = xTickCount;
\r
2346 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2350 /*-----------------------------------------------------------*/
\r
2352 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2354 /* A critical section is not required because the variables are of type
\r
2356 return uxCurrentNumberOfTasks;
\r
2358 /*-----------------------------------------------------------*/
\r
2360 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2364 /* If null is passed in here then the name of the calling task is being
\r
2366 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2367 configASSERT( pxTCB );
\r
2368 return &( pxTCB->pcTaskName[ 0 ] );
\r
2370 /*-----------------------------------------------------------*/
\r
2372 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2374 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2376 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2379 BaseType_t xBreakLoop;
\r
2381 /* This function is called with the scheduler suspended. */
\r
2383 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2385 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2389 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2391 /* Check each character in the name looking for a match or
\r
2393 xBreakLoop = pdFALSE;
\r
2394 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2396 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2398 if( cNextChar != pcNameToQuery[ x ] )
\r
2400 /* Characters didn't match. */
\r
2401 xBreakLoop = pdTRUE;
\r
2403 else if( cNextChar == ( char ) 0x00 )
\r
2405 /* Both strings terminated, a match must have been
\r
2407 pxReturn = pxNextTCB;
\r
2408 xBreakLoop = pdTRUE;
\r
2412 mtCOVERAGE_TEST_MARKER();
\r
2415 if( xBreakLoop != pdFALSE )
\r
2421 if( pxReturn != NULL )
\r
2423 /* The handle has been found. */
\r
2427 } while( pxNextTCB != pxFirstTCB );
\r
2431 mtCOVERAGE_TEST_MARKER();
\r
2437 #endif /* INCLUDE_xTaskGetHandle */
\r
2438 /*-----------------------------------------------------------*/
\r
2440 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2442 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2444 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2447 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2448 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2450 vTaskSuspendAll();
\r
2452 /* Search the ready lists. */
\r
2456 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2458 if( pxTCB != NULL )
\r
2460 /* Found the handle. */
\r
2464 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2466 /* Search the delayed lists. */
\r
2467 if( pxTCB == NULL )
\r
2469 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2472 if( pxTCB == NULL )
\r
2474 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2477 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2479 if( pxTCB == NULL )
\r
2481 /* Search the suspended list. */
\r
2482 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2487 #if( INCLUDE_vTaskDelete == 1 )
\r
2489 if( pxTCB == NULL )
\r
2491 /* Search the deleted list. */
\r
2492 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2497 ( void ) xTaskResumeAll();
\r
2502 #endif /* INCLUDE_xTaskGetHandle */
\r
2503 /*-----------------------------------------------------------*/
\r
2505 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2507 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2509 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2511 vTaskSuspendAll();
\r
2513 /* Is there a space in the array for each task in the system? */
\r
2514 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2516 /* Fill in an TaskStatus_t structure with information on each
\r
2517 task in the Ready state. */
\r
2521 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2523 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2525 /* Fill in an TaskStatus_t structure with information on each
\r
2526 task in the Blocked state. */
\r
2527 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2528 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2530 #if( INCLUDE_vTaskDelete == 1 )
\r
2532 /* Fill in an TaskStatus_t structure with information on
\r
2533 each task that has been deleted but not yet cleaned up. */
\r
2534 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2538 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2540 /* Fill in an TaskStatus_t structure with information on
\r
2541 each task in the Suspended state. */
\r
2542 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2546 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2548 if( pulTotalRunTime != NULL )
\r
2550 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2551 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2553 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2559 if( pulTotalRunTime != NULL )
\r
2561 *pulTotalRunTime = 0;
\r
2568 mtCOVERAGE_TEST_MARKER();
\r
2571 ( void ) xTaskResumeAll();
\r
2576 #endif /* configUSE_TRACE_FACILITY */
\r
2577 /*----------------------------------------------------------*/
\r
2579 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2581 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2583 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2584 started, then xIdleTaskHandle will be NULL. */
\r
2585 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2586 return xIdleTaskHandle;
\r
2589 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2590 /*----------------------------------------------------------*/
\r
2592 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2593 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2594 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2596 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2598 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2600 /* Correct the tick count value after a period during which the tick
\r
2601 was suppressed. Note this does *not* call the tick hook function for
\r
2602 each stepped tick. */
\r
2603 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2604 xTickCount += xTicksToJump;
\r
2605 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2608 #endif /* configUSE_TICKLESS_IDLE */
\r
2609 /*----------------------------------------------------------*/
\r
2611 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
\r
2613 BaseType_t xYieldRequired = pdFALSE;
\r
2615 /* Must not be called with the scheduler suspended as the implementation
\r
2616 relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
\r
2617 configASSERT( uxSchedulerSuspended == 0 );
\r
2619 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occuring when
\r
2620 the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
\r
2621 vTaskSuspendAll();
\r
2622 xPendedTicks += xTicksToCatchUp;
\r
2623 xYieldRequired = xTaskResumeAll();
\r
2625 return xYieldRequired;
\r
2627 /*----------------------------------------------------------*/
\r
2629 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2631 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2633 TCB_t *pxTCB = xTask;
\r
2634 BaseType_t xReturn;
\r
2636 configASSERT( pxTCB );
\r
2638 vTaskSuspendAll();
\r
2640 /* A task can only be prematurely removed from the Blocked state if
\r
2641 it is actually in the Blocked state. */
\r
2642 if( eTaskGetState( xTask ) == eBlocked )
\r
2646 /* Remove the reference to the task from the blocked list. An
\r
2647 interrupt won't touch the xStateListItem because the
\r
2648 scheduler is suspended. */
\r
2649 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2651 /* Is the task waiting on an event also? If so remove it from
\r
2652 the event list too. Interrupts can touch the event list item,
\r
2653 even though the scheduler is suspended, so a critical section
\r
2655 taskENTER_CRITICAL();
\r
2657 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2659 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2660 pxTCB->ucDelayAborted = pdTRUE;
\r
2664 mtCOVERAGE_TEST_MARKER();
\r
2667 taskEXIT_CRITICAL();
\r
2669 /* Place the unblocked task into the appropriate ready list. */
\r
2670 prvAddTaskToReadyList( pxTCB );
\r
2672 /* A task being unblocked cannot cause an immediate context
\r
2673 switch if preemption is turned off. */
\r
2674 #if ( configUSE_PREEMPTION == 1 )
\r
2676 /* Preemption is on, but a context switch should only be
\r
2677 performed if the unblocked task has a priority that is
\r
2678 equal to or higher than the currently executing task. */
\r
2679 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2681 /* Pend the yield to be performed when the scheduler
\r
2682 is unsuspended. */
\r
2683 xYieldPending = pdTRUE;
\r
2687 mtCOVERAGE_TEST_MARKER();
\r
2690 #endif /* configUSE_PREEMPTION */
\r
2697 ( void ) xTaskResumeAll();
\r
2702 #endif /* INCLUDE_xTaskAbortDelay */
\r
2703 /*----------------------------------------------------------*/
\r
2705 BaseType_t xTaskIncrementTick( void )
\r
2708 TickType_t xItemValue;
\r
2709 BaseType_t xSwitchRequired = pdFALSE;
\r
2711 /* Called by the portable layer each time a tick interrupt occurs.
\r
2712 Increments the tick then checks to see if the new tick value will cause any
\r
2713 tasks to be unblocked. */
\r
2714 traceTASK_INCREMENT_TICK( xTickCount );
\r
2715 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2717 /* Minor optimisation. The tick count cannot change in this
\r
2719 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2721 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2722 delayed lists if it wraps to 0. */
\r
2723 xTickCount = xConstTickCount;
\r
2725 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2727 taskSWITCH_DELAYED_LISTS();
\r
2731 mtCOVERAGE_TEST_MARKER();
\r
2734 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2735 the queue in the order of their wake time - meaning once one task
\r
2736 has been found whose block time has not expired there is no need to
\r
2737 look any further down the list. */
\r
2738 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2742 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2744 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2745 to the maximum possible value so it is extremely
\r
2747 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2748 next time through. */
\r
2749 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2754 /* The delayed list is not empty, get the value of the
\r
2755 item at the head of the delayed list. This is the time
\r
2756 at which the task at the head of the delayed list must
\r
2757 be removed from the Blocked state. */
\r
2758 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2759 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2761 if( xConstTickCount < xItemValue )
\r
2763 /* It is not time to unblock this item yet, but the
\r
2764 item value is the time at which the task at the head
\r
2765 of the blocked list must be removed from the Blocked
\r
2766 state - so record the item value in
\r
2767 xNextTaskUnblockTime. */
\r
2768 xNextTaskUnblockTime = xItemValue;
\r
2769 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2773 mtCOVERAGE_TEST_MARKER();
\r
2776 /* It is time to remove the item from the Blocked state. */
\r
2777 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2779 /* Is the task waiting on an event also? If so remove
\r
2780 it from the event list. */
\r
2781 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2783 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2787 mtCOVERAGE_TEST_MARKER();
\r
2790 /* Place the unblocked task into the appropriate ready
\r
2792 prvAddTaskToReadyList( pxTCB );
\r
2794 /* A task being unblocked cannot cause an immediate
\r
2795 context switch if preemption is turned off. */
\r
2796 #if ( configUSE_PREEMPTION == 1 )
\r
2798 /* Preemption is on, but a context switch should
\r
2799 only be performed if the unblocked task has a
\r
2800 priority that is equal to or higher than the
\r
2801 currently executing task. */
\r
2802 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2804 xSwitchRequired = pdTRUE;
\r
2808 mtCOVERAGE_TEST_MARKER();
\r
2811 #endif /* configUSE_PREEMPTION */
\r
2816 /* Tasks of equal priority to the currently running task will share
\r
2817 processing time (time slice) if preemption is on, and the application
\r
2818 writer has not explicitly turned time slicing off. */
\r
2819 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2821 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2823 xSwitchRequired = pdTRUE;
\r
2827 mtCOVERAGE_TEST_MARKER();
\r
2830 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2832 #if ( configUSE_TICK_HOOK == 1 )
\r
2834 /* Guard against the tick hook being called when the pended tick
\r
2835 count is being unwound (when the scheduler is being unlocked). */
\r
2836 if( xPendedTicks == ( TickType_t ) 0 )
\r
2838 vApplicationTickHook();
\r
2842 mtCOVERAGE_TEST_MARKER();
\r
2845 #endif /* configUSE_TICK_HOOK */
\r
2851 /* The tick hook gets called at regular intervals, even if the
\r
2852 scheduler is locked. */
\r
2853 #if ( configUSE_TICK_HOOK == 1 )
\r
2855 vApplicationTickHook();
\r
2860 #if ( configUSE_PREEMPTION == 1 )
\r
2862 if( xYieldPending != pdFALSE )
\r
2864 xSwitchRequired = pdTRUE;
\r
2868 mtCOVERAGE_TEST_MARKER();
\r
2871 #endif /* configUSE_PREEMPTION */
\r
2873 return xSwitchRequired;
\r
2875 /*-----------------------------------------------------------*/
\r
2877 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2879 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2883 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2885 if( xTask == NULL )
\r
2887 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2894 /* Save the hook function in the TCB. A critical section is required as
\r
2895 the value can be accessed from an interrupt. */
\r
2896 taskENTER_CRITICAL();
\r
2898 xTCB->pxTaskTag = pxHookFunction;
\r
2900 taskEXIT_CRITICAL();
\r
2903 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2904 /*-----------------------------------------------------------*/
\r
2906 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2908 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2911 TaskHookFunction_t xReturn;
\r
2913 /* If xTask is NULL then set the calling task's hook. */
\r
2914 pxTCB = prvGetTCBFromHandle( xTask );
\r
2916 /* Save the hook function in the TCB. A critical section is required as
\r
2917 the value can be accessed from an interrupt. */
\r
2918 taskENTER_CRITICAL();
\r
2920 xReturn = pxTCB->pxTaskTag;
\r
2922 taskEXIT_CRITICAL();
\r
2927 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2928 /*-----------------------------------------------------------*/
\r
2930 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2932 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2935 TaskHookFunction_t xReturn;
\r
2936 UBaseType_t uxSavedInterruptStatus;
\r
2938 /* If xTask is NULL then set the calling task's hook. */
\r
2939 pxTCB = prvGetTCBFromHandle( xTask );
\r
2941 /* Save the hook function in the TCB. A critical section is required as
\r
2942 the value can be accessed from an interrupt. */
\r
2943 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2945 xReturn = pxTCB->pxTaskTag;
\r
2947 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2952 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2953 /*-----------------------------------------------------------*/
\r
2955 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2957 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2960 BaseType_t xReturn;
\r
2962 /* If xTask is NULL then we are calling our own task hook. */
\r
2963 if( xTask == NULL )
\r
2965 xTCB = pxCurrentTCB;
\r
2972 if( xTCB->pxTaskTag != NULL )
\r
2974 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2984 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2985 /*-----------------------------------------------------------*/
\r
2987 void vTaskSwitchContext( void )
\r
2989 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2991 /* The scheduler is currently suspended - do not allow a context
\r
2993 xYieldPending = pdTRUE;
\r
2997 xYieldPending = pdFALSE;
\r
2998 traceTASK_SWITCHED_OUT();
\r
3000 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3002 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
3003 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
3005 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
3008 /* Add the amount of time the task has been running to the
\r
3009 accumulated time so far. The time the task started running was
\r
3010 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
3011 protection here so count values are only valid until the timer
\r
3012 overflows. The guard against negative values is to protect
\r
3013 against suspect run time stat counter implementations - which
\r
3014 are provided by the application, not the kernel. */
\r
3015 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
3017 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
3021 mtCOVERAGE_TEST_MARKER();
\r
3023 ulTaskSwitchedInTime = ulTotalRunTime;
\r
3025 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3027 /* Check for stack overflow, if configured. */
\r
3028 taskCHECK_FOR_STACK_OVERFLOW();
\r
3030 /* Before the currently running task is switched out, save its errno. */
\r
3031 #if( configUSE_POSIX_ERRNO == 1 )
\r
3033 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
3037 /* Select a new task to run using either the generic C or port
\r
3038 optimised asm code. */
\r
3039 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3040 traceTASK_SWITCHED_IN();
\r
3042 /* After the new task is switched in, update the global errno. */
\r
3043 #if( configUSE_POSIX_ERRNO == 1 )
\r
3045 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3049 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3051 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3052 structure specific to this task. */
\r
3053 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3055 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3058 /*-----------------------------------------------------------*/
\r
3060 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
3062 configASSERT( pxEventList );
\r
3064 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3065 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3067 /* Place the event list item of the TCB in the appropriate event list.
\r
3068 This is placed in the list in priority order so the highest priority task
\r
3069 is the first to be woken by the event. The queue that contains the event
\r
3070 list is locked, preventing simultaneous access from interrupts. */
\r
3071 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3073 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3075 /*-----------------------------------------------------------*/
\r
3077 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3079 configASSERT( pxEventList );
\r
3081 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3082 the event groups implementation. */
\r
3083 configASSERT( uxSchedulerSuspended != 0 );
\r
3085 /* Store the item value in the event list item. It is safe to access the
\r
3086 event list item here as interrupts won't access the event list item of a
\r
3087 task that is not in the Blocked state. */
\r
3088 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3090 /* Place the event list item of the TCB at the end of the appropriate event
\r
3091 list. It is safe to access the event list here because it is part of an
\r
3092 event group implementation - and interrupts don't access event groups
\r
3093 directly (instead they access them indirectly by pending function calls to
\r
3094 the task level). */
\r
3095 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3097 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3099 /*-----------------------------------------------------------*/
\r
3101 #if( configUSE_TIMERS == 1 )
\r
3103 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3105 configASSERT( pxEventList );
\r
3107 /* This function should not be called by application code hence the
\r
3108 'Restricted' in its name. It is not part of the public API. It is
\r
3109 designed for use by kernel code, and has special calling requirements -
\r
3110 it should be called with the scheduler suspended. */
\r
3113 /* Place the event list item of the TCB in the appropriate event list.
\r
3114 In this case it is assume that this is the only task that is going to
\r
3115 be waiting on this event list, so the faster vListInsertEnd() function
\r
3116 can be used in place of vListInsert. */
\r
3117 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3119 /* If the task should block indefinitely then set the block time to a
\r
3120 value that will be recognised as an indefinite delay inside the
\r
3121 prvAddCurrentTaskToDelayedList() function. */
\r
3122 if( xWaitIndefinitely != pdFALSE )
\r
3124 xTicksToWait = portMAX_DELAY;
\r
3127 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3128 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3131 #endif /* configUSE_TIMERS */
\r
3132 /*-----------------------------------------------------------*/
\r
3134 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3136 TCB_t *pxUnblockedTCB;
\r
3137 BaseType_t xReturn;
\r
3139 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3140 called from a critical section within an ISR. */
\r
3142 /* The event list is sorted in priority order, so the first in the list can
\r
3143 be removed as it is known to be the highest priority. Remove the TCB from
\r
3144 the delayed list, and add it to the ready list.
\r
3146 If an event is for a queue that is locked then this function will never
\r
3147 get called - the lock count on the queue will get modified instead. This
\r
3148 means exclusive access to the event list is guaranteed here.
\r
3150 This function assumes that a check has already been made to ensure that
\r
3151 pxEventList is not empty. */
\r
3152 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3153 configASSERT( pxUnblockedTCB );
\r
3154 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3156 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3158 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3159 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3161 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3163 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3164 might be set to the blocked task's time out time. If the task is
\r
3165 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3166 normally left unchanged, because it is automatically reset to a new
\r
3167 value when the tick count equals xNextTaskUnblockTime. However if
\r
3168 tickless idling is used it might be more important to enter sleep mode
\r
3169 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3170 ensure it is updated at the earliest possible time. */
\r
3171 prvResetNextTaskUnblockTime();
\r
3177 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3178 pending until the scheduler is resumed. */
\r
3179 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3182 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3184 /* Return true if the task removed from the event list has a higher
\r
3185 priority than the calling task. This allows the calling task to know if
\r
3186 it should force a context switch now. */
\r
3189 /* Mark that a yield is pending in case the user is not using the
\r
3190 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3191 xYieldPending = pdTRUE;
\r
3195 xReturn = pdFALSE;
\r
3200 /*-----------------------------------------------------------*/
\r
3202 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3204 TCB_t *pxUnblockedTCB;
\r
3206 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3207 the event flags implementation. */
\r
3208 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3210 /* Store the new item value in the event list. */
\r
3211 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3213 /* Remove the event list form the event flag. Interrupts do not access
\r
3215 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3216 configASSERT( pxUnblockedTCB );
\r
3217 ( void ) uxListRemove( pxEventListItem );
\r
3219 /* Remove the task from the delayed list and add it to the ready list. The
\r
3220 scheduler is suspended so interrupts will not be accessing the ready
\r
3222 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3223 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3225 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3227 /* The unblocked task has a priority above that of the calling task, so
\r
3228 a context switch is required. This function is called with the
\r
3229 scheduler suspended so xYieldPending is set so the context switch
\r
3230 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3231 xYieldPending = pdTRUE;
\r
3234 /*-----------------------------------------------------------*/
\r
3236 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3238 configASSERT( pxTimeOut );
\r
3239 taskENTER_CRITICAL();
\r
3241 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3242 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3244 taskEXIT_CRITICAL();
\r
3246 /*-----------------------------------------------------------*/
\r
3248 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3250 /* For internal use only as it does not use a critical section. */
\r
3251 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3252 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3254 /*-----------------------------------------------------------*/
\r
3256 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3258 BaseType_t xReturn;
\r
3260 configASSERT( pxTimeOut );
\r
3261 configASSERT( pxTicksToWait );
\r
3263 taskENTER_CRITICAL();
\r
3265 /* Minor optimisation. The tick count cannot change in this block. */
\r
3266 const TickType_t xConstTickCount = xTickCount;
\r
3267 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3269 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3270 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3272 /* The delay was aborted, which is not the same as a time out,
\r
3273 but has the same result. */
\r
3274 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3280 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3281 if( *pxTicksToWait == portMAX_DELAY )
\r
3283 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3284 specified is the maximum block time then the task should block
\r
3285 indefinitely, and therefore never time out. */
\r
3286 xReturn = pdFALSE;
\r
3291 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3293 /* The tick count is greater than the time at which
\r
3294 vTaskSetTimeout() was called, but has also overflowed since
\r
3295 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3296 around and gone past again. This passed since vTaskSetTimeout()
\r
3300 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3302 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3303 *pxTicksToWait -= xElapsedTime;
\r
3304 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3305 xReturn = pdFALSE;
\r
3309 *pxTicksToWait = 0;
\r
3313 taskEXIT_CRITICAL();
\r
3317 /*-----------------------------------------------------------*/
\r
3319 void vTaskMissedYield( void )
\r
3321 xYieldPending = pdTRUE;
\r
3323 /*-----------------------------------------------------------*/
\r
3325 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3327 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3329 UBaseType_t uxReturn;
\r
3330 TCB_t const *pxTCB;
\r
3332 if( xTask != NULL )
\r
3335 uxReturn = pxTCB->uxTaskNumber;
\r
3345 #endif /* configUSE_TRACE_FACILITY */
\r
3346 /*-----------------------------------------------------------*/
\r
3348 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3350 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3354 if( xTask != NULL )
\r
3357 pxTCB->uxTaskNumber = uxHandle;
\r
3361 #endif /* configUSE_TRACE_FACILITY */
\r
3364 * -----------------------------------------------------------
\r
3366 * ----------------------------------------------------------
\r
3368 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3369 * language extensions. The equivalent prototype for this function is:
\r
3371 * void prvIdleTask( void *pvParameters );
\r
3374 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3376 /* Stop warnings. */
\r
3377 ( void ) pvParameters;
\r
3379 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3380 SCHEDULER IS STARTED. **/
\r
3382 /* In case a task that has a secure context deletes itself, in which case
\r
3383 the idle task is responsible for deleting the task's secure context, if
\r
3385 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3389 /* See if any tasks have deleted themselves - if so then the idle task
\r
3390 is responsible for freeing the deleted task's TCB and stack. */
\r
3391 prvCheckTasksWaitingTermination();
\r
3393 #if ( configUSE_PREEMPTION == 0 )
\r
3395 /* If we are not using preemption we keep forcing a task switch to
\r
3396 see if any other task has become available. If we are using
\r
3397 preemption we don't need to do this as any task becoming available
\r
3398 will automatically get the processor anyway. */
\r
3401 #endif /* configUSE_PREEMPTION */
\r
3403 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3405 /* When using preemption tasks of equal priority will be
\r
3406 timesliced. If a task that is sharing the idle priority is ready
\r
3407 to run then the idle task should yield before the end of the
\r
3410 A critical region is not required here as we are just reading from
\r
3411 the list, and an occasional incorrect value will not matter. If
\r
3412 the ready list at the idle priority contains more than one task
\r
3413 then a task other than the idle task is ready to execute. */
\r
3414 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3420 mtCOVERAGE_TEST_MARKER();
\r
3423 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3425 #if ( configUSE_IDLE_HOOK == 1 )
\r
3427 extern void vApplicationIdleHook( void );
\r
3429 /* Call the user defined function from within the idle task. This
\r
3430 allows the application designer to add background functionality
\r
3431 without the overhead of a separate task.
\r
3432 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3433 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3434 vApplicationIdleHook();
\r
3436 #endif /* configUSE_IDLE_HOOK */
\r
3438 /* This conditional compilation should use inequality to 0, not equality
\r
3439 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3440 user defined low power mode implementations require
\r
3441 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3442 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3444 TickType_t xExpectedIdleTime;
\r
3446 /* It is not desirable to suspend then resume the scheduler on
\r
3447 each iteration of the idle task. Therefore, a preliminary
\r
3448 test of the expected idle time is performed without the
\r
3449 scheduler suspended. The result here is not necessarily
\r
3451 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3453 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3455 vTaskSuspendAll();
\r
3457 /* Now the scheduler is suspended, the expected idle
\r
3458 time can be sampled again, and this time its value can
\r
3460 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3461 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3463 /* Define the following macro to set xExpectedIdleTime to 0
\r
3464 if the application does not want
\r
3465 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3466 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3468 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3470 traceLOW_POWER_IDLE_BEGIN();
\r
3471 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3472 traceLOW_POWER_IDLE_END();
\r
3476 mtCOVERAGE_TEST_MARKER();
\r
3479 ( void ) xTaskResumeAll();
\r
3483 mtCOVERAGE_TEST_MARKER();
\r
3486 #endif /* configUSE_TICKLESS_IDLE */
\r
3489 /*-----------------------------------------------------------*/
\r
3491 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3493 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3495 /* The idle task exists in addition to the application tasks. */
\r
3496 const UBaseType_t uxNonApplicationTasks = 1;
\r
3497 eSleepModeStatus eReturn = eStandardSleep;
\r
3499 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3501 /* A task was made ready while the scheduler was suspended. */
\r
3502 eReturn = eAbortSleep;
\r
3504 else if( xYieldPending != pdFALSE )
\r
3506 /* A yield was pended while the scheduler was suspended. */
\r
3507 eReturn = eAbortSleep;
\r
3511 /* If all the tasks are in the suspended list (which might mean they
\r
3512 have an infinite block time rather than actually being suspended)
\r
3513 then it is safe to turn all clocks off and just wait for external
\r
3515 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3517 eReturn = eNoTasksWaitingTimeout;
\r
3521 mtCOVERAGE_TEST_MARKER();
\r
3528 #endif /* configUSE_TICKLESS_IDLE */
\r
3529 /*-----------------------------------------------------------*/
\r
3531 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3533 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3537 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3539 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3540 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3544 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3545 /*-----------------------------------------------------------*/
\r
3547 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3549 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3551 void *pvReturn = NULL;
\r
3554 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3556 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3557 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3567 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3568 /*-----------------------------------------------------------*/
\r
3570 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3572 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3576 /* If null is passed in here then we are modifying the MPU settings of
\r
3577 the calling task. */
\r
3578 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3580 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3583 #endif /* portUSING_MPU_WRAPPERS */
\r
3584 /*-----------------------------------------------------------*/
\r
3586 static void prvInitialiseTaskLists( void )
\r
3588 UBaseType_t uxPriority;
\r
3590 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3592 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3595 vListInitialise( &xDelayedTaskList1 );
\r
3596 vListInitialise( &xDelayedTaskList2 );
\r
3597 vListInitialise( &xPendingReadyList );
\r
3599 #if ( INCLUDE_vTaskDelete == 1 )
\r
3601 vListInitialise( &xTasksWaitingTermination );
\r
3603 #endif /* INCLUDE_vTaskDelete */
\r
3605 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3607 vListInitialise( &xSuspendedTaskList );
\r
3609 #endif /* INCLUDE_vTaskSuspend */
\r
3611 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3613 pxDelayedTaskList = &xDelayedTaskList1;
\r
3614 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3616 /*-----------------------------------------------------------*/
\r
3618 static void prvCheckTasksWaitingTermination( void )
\r
3621 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3623 #if ( INCLUDE_vTaskDelete == 1 )
\r
3627 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3628 being called too often in the idle task. */
\r
3629 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3631 taskENTER_CRITICAL();
\r
3633 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3634 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3635 --uxCurrentNumberOfTasks;
\r
3636 --uxDeletedTasksWaitingCleanUp;
\r
3638 taskEXIT_CRITICAL();
\r
3640 prvDeleteTCB( pxTCB );
\r
3643 #endif /* INCLUDE_vTaskDelete */
\r
3645 /*-----------------------------------------------------------*/
\r
3647 #if( configUSE_TRACE_FACILITY == 1 )
\r
3649 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3653 /* xTask is NULL then get the state of the calling task. */
\r
3654 pxTCB = prvGetTCBFromHandle( xTask );
\r
3656 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3657 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3658 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3659 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3660 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3662 #if ( configUSE_MUTEXES == 1 )
\r
3664 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3668 pxTaskStatus->uxBasePriority = 0;
\r
3672 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3674 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3678 pxTaskStatus->ulRunTimeCounter = 0;
\r
3682 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3683 value of eState passed into this function is eInvalid - otherwise the
\r
3684 state is just set to whatever is passed in. */
\r
3685 if( eState != eInvalid )
\r
3687 if( pxTCB == pxCurrentTCB )
\r
3689 pxTaskStatus->eCurrentState = eRunning;
\r
3693 pxTaskStatus->eCurrentState = eState;
\r
3695 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3697 /* If the task is in the suspended list then there is a
\r
3698 chance it is actually just blocked indefinitely - so really
\r
3699 it should be reported as being in the Blocked state. */
\r
3700 if( eState == eSuspended )
\r
3702 vTaskSuspendAll();
\r
3704 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3706 pxTaskStatus->eCurrentState = eBlocked;
\r
3709 ( void ) xTaskResumeAll();
\r
3712 #endif /* INCLUDE_vTaskSuspend */
\r
3717 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3720 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3721 parameter is provided to allow it to be skipped. */
\r
3722 if( xGetFreeStackSpace != pdFALSE )
\r
3724 #if ( portSTACK_GROWTH > 0 )
\r
3726 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3730 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3736 pxTaskStatus->usStackHighWaterMark = 0;
\r
3740 #endif /* configUSE_TRACE_FACILITY */
\r
3741 /*-----------------------------------------------------------*/
\r
3743 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3745 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3747 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3748 UBaseType_t uxTask = 0;
\r
3750 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3752 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3754 /* Populate an TaskStatus_t structure within the
\r
3755 pxTaskStatusArray array for each task that is referenced from
\r
3756 pxList. See the definition of TaskStatus_t in task.h for the
\r
3757 meaning of each TaskStatus_t structure member. */
\r
3760 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3761 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3763 } while( pxNextTCB != pxFirstTCB );
\r
3767 mtCOVERAGE_TEST_MARKER();
\r
3773 #endif /* configUSE_TRACE_FACILITY */
\r
3774 /*-----------------------------------------------------------*/
\r
3776 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3778 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3780 uint32_t ulCount = 0U;
\r
3782 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3784 pucStackByte -= portSTACK_GROWTH;
\r
3788 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3790 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3793 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3794 /*-----------------------------------------------------------*/
\r
3796 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3798 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3799 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3800 user to determine the return type. It gets around the problem of the value
\r
3801 overflowing on 8-bit types without breaking backward compatibility for
\r
3802 applications that expect an 8-bit return type. */
\r
3803 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3806 uint8_t *pucEndOfStack;
\r
3807 configSTACK_DEPTH_TYPE uxReturn;
\r
3809 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3810 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3811 allows the user to determine the return type. It gets around the
\r
3812 problem of the value overflowing on 8-bit types without breaking
\r
3813 backward compatibility for applications that expect an 8-bit return
\r
3816 pxTCB = prvGetTCBFromHandle( xTask );
\r
3818 #if portSTACK_GROWTH < 0
\r
3820 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3824 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3828 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3833 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3834 /*-----------------------------------------------------------*/
\r
3836 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3838 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3841 uint8_t *pucEndOfStack;
\r
3842 UBaseType_t uxReturn;
\r
3844 pxTCB = prvGetTCBFromHandle( xTask );
\r
3846 #if portSTACK_GROWTH < 0
\r
3848 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3852 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3856 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3861 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3862 /*-----------------------------------------------------------*/
\r
3864 #if ( INCLUDE_vTaskDelete == 1 )
\r
3866 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3868 /* This call is required specifically for the TriCore port. It must be
\r
3869 above the vPortFree() calls. The call is also used by ports/demos that
\r
3870 want to allocate and clean RAM statically. */
\r
3871 portCLEAN_UP_TCB( pxTCB );
\r
3873 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3874 to the task to free any memory allocated at the application level. */
\r
3875 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3877 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3879 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3881 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3883 /* The task can only have been allocated dynamically - free both
\r
3884 the stack and TCB. */
\r
3885 vPortFree( pxTCB->pxStack );
\r
3886 vPortFree( pxTCB );
\r
3888 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3890 /* The task could have been allocated statically or dynamically, so
\r
3891 check what was statically allocated before trying to free the
\r
3893 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3895 /* Both the stack and TCB were allocated dynamically, so both
\r
3897 vPortFree( pxTCB->pxStack );
\r
3898 vPortFree( pxTCB );
\r
3900 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3902 /* Only the stack was statically allocated, so the TCB is the
\r
3903 only memory that must be freed. */
\r
3904 vPortFree( pxTCB );
\r
3908 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3909 nothing needs to be freed. */
\r
3910 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3911 mtCOVERAGE_TEST_MARKER();
\r
3914 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3917 #endif /* INCLUDE_vTaskDelete */
\r
3918 /*-----------------------------------------------------------*/
\r
3920 static void prvResetNextTaskUnblockTime( void )
\r
3924 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3926 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3927 the maximum possible value so it is extremely unlikely that the
\r
3928 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3929 there is an item in the delayed list. */
\r
3930 xNextTaskUnblockTime = portMAX_DELAY;
\r
3934 /* The new current delayed list is not empty, get the value of
\r
3935 the item at the head of the delayed list. This is the time at
\r
3936 which the task at the head of the delayed list should be removed
\r
3937 from the Blocked state. */
\r
3938 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3939 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3942 /*-----------------------------------------------------------*/
\r
3944 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3946 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3948 TaskHandle_t xReturn;
\r
3950 /* A critical section is not required as this is not called from
\r
3951 an interrupt and the current TCB will always be the same for any
\r
3952 individual execution thread. */
\r
3953 xReturn = pxCurrentTCB;
\r
3958 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3959 /*-----------------------------------------------------------*/
\r
3961 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3963 BaseType_t xTaskGetSchedulerState( void )
\r
3965 BaseType_t xReturn;
\r
3967 if( xSchedulerRunning == pdFALSE )
\r
3969 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3973 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3975 xReturn = taskSCHEDULER_RUNNING;
\r
3979 xReturn = taskSCHEDULER_SUSPENDED;
\r
3986 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3987 /*-----------------------------------------------------------*/
\r
3989 #if ( configUSE_MUTEXES == 1 )
\r
3991 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3993 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3994 BaseType_t xReturn = pdFALSE;
\r
3996 /* If the mutex was given back by an interrupt while the queue was
\r
3997 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3998 needed as interrupts can no longer use mutexes? */
\r
3999 if( pxMutexHolder != NULL )
\r
4001 /* If the holder of the mutex has a priority below the priority of
\r
4002 the task attempting to obtain the mutex then it will temporarily
\r
4003 inherit the priority of the task attempting to obtain the mutex. */
\r
4004 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
4006 /* Adjust the mutex holder state to account for its new
\r
4007 priority. Only reset the event list item value if the value is
\r
4008 not being used for anything else. */
\r
4009 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4011 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4015 mtCOVERAGE_TEST_MARKER();
\r
4018 /* If the task being modified is in the ready state it will need
\r
4019 to be moved into a new list. */
\r
4020 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
4022 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4024 /* It is known that the task is in its ready list so
\r
4025 there is no need to check again and the port level
\r
4026 reset macro can be called directly. */
\r
4027 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
4031 mtCOVERAGE_TEST_MARKER();
\r
4034 /* Inherit the priority before being moved into the new list. */
\r
4035 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4036 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4040 /* Just inherit the priority. */
\r
4041 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4044 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4046 /* Inheritance occurred. */
\r
4051 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4053 /* The base priority of the mutex holder is lower than the
\r
4054 priority of the task attempting to take the mutex, but the
\r
4055 current priority of the mutex holder is not lower than the
\r
4056 priority of the task attempting to take the mutex.
\r
4057 Therefore the mutex holder must have already inherited a
\r
4058 priority, but inheritance would have occurred if that had
\r
4059 not been the case. */
\r
4064 mtCOVERAGE_TEST_MARKER();
\r
4070 mtCOVERAGE_TEST_MARKER();
\r
4076 #endif /* configUSE_MUTEXES */
\r
4077 /*-----------------------------------------------------------*/
\r
4079 #if ( configUSE_MUTEXES == 1 )
\r
4081 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4083 TCB_t * const pxTCB = pxMutexHolder;
\r
4084 BaseType_t xReturn = pdFALSE;
\r
4086 if( pxMutexHolder != NULL )
\r
4088 /* A task can only have an inherited priority if it holds the mutex.
\r
4089 If the mutex is held by a task then it cannot be given from an
\r
4090 interrupt, and if a mutex is given by the holding task then it must
\r
4091 be the running state task. */
\r
4092 configASSERT( pxTCB == pxCurrentTCB );
\r
4093 configASSERT( pxTCB->uxMutexesHeld );
\r
4094 ( pxTCB->uxMutexesHeld )--;
\r
4096 /* Has the holder of the mutex inherited the priority of another
\r
4098 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4100 /* Only disinherit if no other mutexes are held. */
\r
4101 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4103 /* A task can only have an inherited priority if it holds
\r
4104 the mutex. If the mutex is held by a task then it cannot be
\r
4105 given from an interrupt, and if a mutex is given by the
\r
4106 holding task then it must be the running state task. Remove
\r
4107 the holding task from the ready/delayed list. */
\r
4108 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4110 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4114 mtCOVERAGE_TEST_MARKER();
\r
4117 /* Disinherit the priority before adding the task into the
\r
4118 new ready list. */
\r
4119 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4120 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4122 /* Reset the event list item value. It cannot be in use for
\r
4123 any other purpose if this task is running, and it must be
\r
4124 running to give back the mutex. */
\r
4125 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
4126 prvAddTaskToReadyList( pxTCB );
\r
4128 /* Return true to indicate that a context switch is required.
\r
4129 This is only actually required in the corner case whereby
\r
4130 multiple mutexes were held and the mutexes were given back
\r
4131 in an order different to that in which they were taken.
\r
4132 If a context switch did not occur when the first mutex was
\r
4133 returned, even if a task was waiting on it, then a context
\r
4134 switch should occur when the last mutex is returned whether
\r
4135 a task is waiting on it or not. */
\r
4140 mtCOVERAGE_TEST_MARKER();
\r
4145 mtCOVERAGE_TEST_MARKER();
\r
4150 mtCOVERAGE_TEST_MARKER();
\r
4156 #endif /* configUSE_MUTEXES */
\r
4157 /*-----------------------------------------------------------*/
\r
4159 #if ( configUSE_MUTEXES == 1 )
\r
4161 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4163 TCB_t * const pxTCB = pxMutexHolder;
\r
4164 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4165 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4167 if( pxMutexHolder != NULL )
\r
4169 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4171 configASSERT( pxTCB->uxMutexesHeld );
\r
4173 /* Determine the priority to which the priority of the task that
\r
4174 holds the mutex should be set. This will be the greater of the
\r
4175 holding task's base priority and the priority of the highest
\r
4176 priority task that is waiting to obtain the mutex. */
\r
4177 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4179 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4183 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4186 /* Does the priority need to change? */
\r
4187 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4189 /* Only disinherit if no other mutexes are held. This is a
\r
4190 simplification in the priority inheritance implementation. If
\r
4191 the task that holds the mutex is also holding other mutexes then
\r
4192 the other mutexes may have caused the priority inheritance. */
\r
4193 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4195 /* If a task has timed out because it already holds the
\r
4196 mutex it was trying to obtain then it cannot of inherited
\r
4197 its own priority. */
\r
4198 configASSERT( pxTCB != pxCurrentTCB );
\r
4200 /* Disinherit the priority, remembering the previous
\r
4201 priority to facilitate determining the subject task's
\r
4203 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4204 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4205 pxTCB->uxPriority = uxPriorityToUse;
\r
4207 /* Only reset the event list item value if the value is not
\r
4208 being used for anything else. */
\r
4209 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4211 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4215 mtCOVERAGE_TEST_MARKER();
\r
4218 /* If the running task is not the task that holds the mutex
\r
4219 then the task that holds the mutex could be in either the
\r
4220 Ready, Blocked or Suspended states. Only remove the task
\r
4221 from its current state list if it is in the Ready state as
\r
4222 the task's priority is going to change and there is one
\r
4223 Ready list per priority. */
\r
4224 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4226 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4228 /* It is known that the task is in its ready list so
\r
4229 there is no need to check again and the port level
\r
4230 reset macro can be called directly. */
\r
4231 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4235 mtCOVERAGE_TEST_MARKER();
\r
4238 prvAddTaskToReadyList( pxTCB );
\r
4242 mtCOVERAGE_TEST_MARKER();
\r
4247 mtCOVERAGE_TEST_MARKER();
\r
4252 mtCOVERAGE_TEST_MARKER();
\r
4257 mtCOVERAGE_TEST_MARKER();
\r
4261 #endif /* configUSE_MUTEXES */
\r
4262 /*-----------------------------------------------------------*/
\r
4264 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4266 void vTaskEnterCritical( void )
\r
4268 portDISABLE_INTERRUPTS();
\r
4270 if( xSchedulerRunning != pdFALSE )
\r
4272 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4274 /* This is not the interrupt safe version of the enter critical
\r
4275 function so assert() if it is being called from an interrupt
\r
4276 context. Only API functions that end in "FromISR" can be used in an
\r
4277 interrupt. Only assert if the critical nesting count is 1 to
\r
4278 protect against recursive calls if the assert function also uses a
\r
4279 critical section. */
\r
4280 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4282 portASSERT_IF_IN_ISR();
\r
4287 mtCOVERAGE_TEST_MARKER();
\r
4291 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4292 /*-----------------------------------------------------------*/
\r
4294 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4296 void vTaskExitCritical( void )
\r
4298 if( xSchedulerRunning != pdFALSE )
\r
4300 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4302 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4304 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4306 portENABLE_INTERRUPTS();
\r
4310 mtCOVERAGE_TEST_MARKER();
\r
4315 mtCOVERAGE_TEST_MARKER();
\r
4320 mtCOVERAGE_TEST_MARKER();
\r
4324 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4325 /*-----------------------------------------------------------*/
\r
4327 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4329 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4333 /* Start by copying the entire string. */
\r
4334 strcpy( pcBuffer, pcTaskName );
\r
4336 /* Pad the end of the string with spaces to ensure columns line up when
\r
4338 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4340 pcBuffer[ x ] = ' ';
\r
4344 pcBuffer[ x ] = ( char ) 0x00;
\r
4346 /* Return the new end of string. */
\r
4347 return &( pcBuffer[ x ] );
\r
4350 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4351 /*-----------------------------------------------------------*/
\r
4353 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4355 void vTaskList( char * pcWriteBuffer )
\r
4357 TaskStatus_t *pxTaskStatusArray;
\r
4358 UBaseType_t uxArraySize, x;
\r
4364 * This function is provided for convenience only, and is used by many
\r
4365 * of the demo applications. Do not consider it to be part of the
\r
4368 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4369 * uxTaskGetSystemState() output into a human readable table that
\r
4370 * displays task names, states and stack usage.
\r
4372 * vTaskList() has a dependency on the sprintf() C library function that
\r
4373 * might bloat the code size, use a lot of stack, and provide different
\r
4374 * results on different platforms. An alternative, tiny, third party,
\r
4375 * and limited functionality implementation of sprintf() is provided in
\r
4376 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4377 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4378 * snprintf() implementation!).
\r
4380 * It is recommended that production systems call uxTaskGetSystemState()
\r
4381 * directly to get access to raw stats data, rather than indirectly
\r
4382 * through a call to vTaskList().
\r
4386 /* Make sure the write buffer does not contain a string. */
\r
4387 *pcWriteBuffer = ( char ) 0x00;
\r
4389 /* Take a snapshot of the number of tasks in case it changes while this
\r
4390 function is executing. */
\r
4391 uxArraySize = uxCurrentNumberOfTasks;
\r
4393 /* Allocate an array index for each task. NOTE! if
\r
4394 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4395 equate to NULL. */
\r
4396 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4398 if( pxTaskStatusArray != NULL )
\r
4400 /* Generate the (binary) data. */
\r
4401 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4403 /* Create a human readable table from the binary data. */
\r
4404 for( x = 0; x < uxArraySize; x++ )
\r
4406 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4408 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4411 case eReady: cStatus = tskREADY_CHAR;
\r
4414 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4417 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4420 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4423 case eInvalid: /* Fall through. */
\r
4424 default: /* Should not get here, but it is included
\r
4425 to prevent static checking errors. */
\r
4426 cStatus = ( char ) 0x00;
\r
4430 /* Write the task name to the string, padding with spaces so it
\r
4431 can be printed in tabular form more easily. */
\r
4432 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4434 /* Write the rest of the string. */
\r
4435 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4436 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4439 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4440 is 0 then vPortFree() will be #defined to nothing. */
\r
4441 vPortFree( pxTaskStatusArray );
\r
4445 mtCOVERAGE_TEST_MARKER();
\r
4449 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4450 /*----------------------------------------------------------*/
\r
4452 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4454 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4456 TaskStatus_t *pxTaskStatusArray;
\r
4457 UBaseType_t uxArraySize, x;
\r
4458 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4460 #if( configUSE_TRACE_FACILITY != 1 )
\r
4462 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4469 * This function is provided for convenience only, and is used by many
\r
4470 * of the demo applications. Do not consider it to be part of the
\r
4473 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4474 * of the uxTaskGetSystemState() output into a human readable table that
\r
4475 * displays the amount of time each task has spent in the Running state
\r
4476 * in both absolute and percentage terms.
\r
4478 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4479 * function that might bloat the code size, use a lot of stack, and
\r
4480 * provide different results on different platforms. An alternative,
\r
4481 * tiny, third party, and limited functionality implementation of
\r
4482 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4483 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4484 * a full snprintf() implementation!).
\r
4486 * It is recommended that production systems call uxTaskGetSystemState()
\r
4487 * directly to get access to raw stats data, rather than indirectly
\r
4488 * through a call to vTaskGetRunTimeStats().
\r
4491 /* Make sure the write buffer does not contain a string. */
\r
4492 *pcWriteBuffer = ( char ) 0x00;
\r
4494 /* Take a snapshot of the number of tasks in case it changes while this
\r
4495 function is executing. */
\r
4496 uxArraySize = uxCurrentNumberOfTasks;
\r
4498 /* Allocate an array index for each task. NOTE! If
\r
4499 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4500 equate to NULL. */
\r
4501 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4503 if( pxTaskStatusArray != NULL )
\r
4505 /* Generate the (binary) data. */
\r
4506 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4508 /* For percentage calculations. */
\r
4509 ulTotalTime /= 100UL;
\r
4511 /* Avoid divide by zero errors. */
\r
4512 if( ulTotalTime > 0UL )
\r
4514 /* Create a human readable table from the binary data. */
\r
4515 for( x = 0; x < uxArraySize; x++ )
\r
4517 /* What percentage of the total run time has the task used?
\r
4518 This will always be rounded down to the nearest integer.
\r
4519 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4520 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4522 /* Write the task name to the string, padding with
\r
4523 spaces so it can be printed in tabular form more
\r
4525 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4527 if( ulStatsAsPercentage > 0UL )
\r
4529 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4531 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4535 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4536 printf() library can be used. */
\r
4537 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4543 /* If the percentage is zero here then the task has
\r
4544 consumed less than 1% of the total run time. */
\r
4545 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4547 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4551 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4552 printf() library can be used. */
\r
4553 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4558 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4563 mtCOVERAGE_TEST_MARKER();
\r
4566 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4567 is 0 then vPortFree() will be #defined to nothing. */
\r
4568 vPortFree( pxTaskStatusArray );
\r
4572 mtCOVERAGE_TEST_MARKER();
\r
4576 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4577 /*-----------------------------------------------------------*/
\r
4579 TickType_t uxTaskResetEventItemValue( void )
\r
4581 TickType_t uxReturn;
\r
4583 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4585 /* Reset the event list item to its normal value - so it can be used with
\r
4586 queues and semaphores. */
\r
4587 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
4591 /*-----------------------------------------------------------*/
\r
4593 #if ( configUSE_MUTEXES == 1 )
\r
4595 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4597 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4598 then pxCurrentTCB will be NULL. */
\r
4599 if( pxCurrentTCB != NULL )
\r
4601 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4604 return pxCurrentTCB;
\r
4607 #endif /* configUSE_MUTEXES */
\r
4608 /*-----------------------------------------------------------*/
\r
4610 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4612 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4614 uint32_t ulReturn;
\r
4616 taskENTER_CRITICAL();
\r
4618 /* Only block if the notification count is not already non-zero. */
\r
4619 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4621 /* Mark this task as waiting for a notification. */
\r
4622 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4624 if( xTicksToWait > ( TickType_t ) 0 )
\r
4626 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4627 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4629 /* All ports are written to allow a yield in a critical
\r
4630 section (some will yield immediately, others wait until the
\r
4631 critical section exits) - but it is not something that
\r
4632 application code should ever do. */
\r
4633 portYIELD_WITHIN_API();
\r
4637 mtCOVERAGE_TEST_MARKER();
\r
4642 mtCOVERAGE_TEST_MARKER();
\r
4645 taskEXIT_CRITICAL();
\r
4647 taskENTER_CRITICAL();
\r
4649 traceTASK_NOTIFY_TAKE();
\r
4650 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4652 if( ulReturn != 0UL )
\r
4654 if( xClearCountOnExit != pdFALSE )
\r
4656 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4660 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4665 mtCOVERAGE_TEST_MARKER();
\r
4668 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4670 taskEXIT_CRITICAL();
\r
4675 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4676 /*-----------------------------------------------------------*/
\r
4678 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4680 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4682 BaseType_t xReturn;
\r
4684 taskENTER_CRITICAL();
\r
4686 /* Only block if a notification is not already pending. */
\r
4687 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4689 /* Clear bits in the task's notification value as bits may get
\r
4690 set by the notifying task or interrupt. This can be used to
\r
4691 clear the value to zero. */
\r
4692 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4694 /* Mark this task as waiting for a notification. */
\r
4695 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4697 if( xTicksToWait > ( TickType_t ) 0 )
\r
4699 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4700 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4702 /* All ports are written to allow a yield in a critical
\r
4703 section (some will yield immediately, others wait until the
\r
4704 critical section exits) - but it is not something that
\r
4705 application code should ever do. */
\r
4706 portYIELD_WITHIN_API();
\r
4710 mtCOVERAGE_TEST_MARKER();
\r
4715 mtCOVERAGE_TEST_MARKER();
\r
4718 taskEXIT_CRITICAL();
\r
4720 taskENTER_CRITICAL();
\r
4722 traceTASK_NOTIFY_WAIT();
\r
4724 if( pulNotificationValue != NULL )
\r
4726 /* Output the current notification value, which may or may not
\r
4728 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4731 /* If ucNotifyValue is set then either the task never entered the
\r
4732 blocked state (because a notification was already pending) or the
\r
4733 task unblocked because of a notification. Otherwise the task
\r
4734 unblocked because of a timeout. */
\r
4735 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4737 /* A notification was not received. */
\r
4738 xReturn = pdFALSE;
\r
4742 /* A notification was already pending or a notification was
\r
4743 received while the task was waiting. */
\r
4744 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4748 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4750 taskEXIT_CRITICAL();
\r
4755 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4756 /*-----------------------------------------------------------*/
\r
4758 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4760 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4763 BaseType_t xReturn = pdPASS;
\r
4764 uint8_t ucOriginalNotifyState;
\r
4766 configASSERT( xTaskToNotify );
\r
4767 pxTCB = xTaskToNotify;
\r
4769 taskENTER_CRITICAL();
\r
4771 if( pulPreviousNotificationValue != NULL )
\r
4773 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4776 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4778 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4783 pxTCB->ulNotifiedValue |= ulValue;
\r
4787 ( pxTCB->ulNotifiedValue )++;
\r
4790 case eSetValueWithOverwrite :
\r
4791 pxTCB->ulNotifiedValue = ulValue;
\r
4794 case eSetValueWithoutOverwrite :
\r
4795 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4797 pxTCB->ulNotifiedValue = ulValue;
\r
4801 /* The value could not be written to the task. */
\r
4807 /* The task is being notified without its notify value being
\r
4812 /* Should not get here if all enums are handled.
\r
4813 Artificially force an assert by testing a value the
\r
4814 compiler can't assume is const. */
\r
4815 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4820 traceTASK_NOTIFY();
\r
4822 /* If the task is in the blocked state specifically to wait for a
\r
4823 notification then unblock it now. */
\r
4824 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4826 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4827 prvAddTaskToReadyList( pxTCB );
\r
4829 /* The task should not have been on an event list. */
\r
4830 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4832 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4834 /* If a task is blocked waiting for a notification then
\r
4835 xNextTaskUnblockTime might be set to the blocked task's time
\r
4836 out time. If the task is unblocked for a reason other than
\r
4837 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4838 because it will automatically get reset to a new value when
\r
4839 the tick count equals xNextTaskUnblockTime. However if
\r
4840 tickless idling is used it might be more important to enter
\r
4841 sleep mode at the earliest possible time - so reset
\r
4842 xNextTaskUnblockTime here to ensure it is updated at the
\r
4843 earliest possible time. */
\r
4844 prvResetNextTaskUnblockTime();
\r
4848 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4850 /* The notified task has a priority above the currently
\r
4851 executing task so a yield is required. */
\r
4852 taskYIELD_IF_USING_PREEMPTION();
\r
4856 mtCOVERAGE_TEST_MARKER();
\r
4861 mtCOVERAGE_TEST_MARKER();
\r
4864 taskEXIT_CRITICAL();
\r
4869 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4870 /*-----------------------------------------------------------*/
\r
4872 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4874 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4877 uint8_t ucOriginalNotifyState;
\r
4878 BaseType_t xReturn = pdPASS;
\r
4879 UBaseType_t uxSavedInterruptStatus;
\r
4881 configASSERT( xTaskToNotify );
\r
4883 /* RTOS ports that support interrupt nesting have the concept of a
\r
4884 maximum system call (or maximum API call) interrupt priority.
\r
4885 Interrupts that are above the maximum system call priority are keep
\r
4886 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4887 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4888 is defined in FreeRTOSConfig.h then
\r
4889 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4890 failure if a FreeRTOS API function is called from an interrupt that has
\r
4891 been assigned a priority above the configured maximum system call
\r
4892 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4893 from interrupts that have been assigned a priority at or (logically)
\r
4894 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4895 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4896 simple as possible. More information (albeit Cortex-M specific) is
\r
4897 provided on the following link:
\r
4898 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4899 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4901 pxTCB = xTaskToNotify;
\r
4903 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4905 if( pulPreviousNotificationValue != NULL )
\r
4907 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4910 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4911 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4916 pxTCB->ulNotifiedValue |= ulValue;
\r
4920 ( pxTCB->ulNotifiedValue )++;
\r
4923 case eSetValueWithOverwrite :
\r
4924 pxTCB->ulNotifiedValue = ulValue;
\r
4927 case eSetValueWithoutOverwrite :
\r
4928 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4930 pxTCB->ulNotifiedValue = ulValue;
\r
4934 /* The value could not be written to the task. */
\r
4940 /* The task is being notified without its notify value being
\r
4945 /* Should not get here if all enums are handled.
\r
4946 Artificially force an assert by testing a value the
\r
4947 compiler can't assume is const. */
\r
4948 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4952 traceTASK_NOTIFY_FROM_ISR();
\r
4954 /* If the task is in the blocked state specifically to wait for a
\r
4955 notification then unblock it now. */
\r
4956 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4958 /* The task should not have been on an event list. */
\r
4959 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4961 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4963 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4964 prvAddTaskToReadyList( pxTCB );
\r
4968 /* The delayed and ready lists cannot be accessed, so hold
\r
4969 this task pending until the scheduler is resumed. */
\r
4970 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4973 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4975 /* The notified task has a priority above the currently
\r
4976 executing task so a yield is required. */
\r
4977 if( pxHigherPriorityTaskWoken != NULL )
\r
4979 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4982 /* Mark that a yield is pending in case the user is not
\r
4983 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4984 safe FreeRTOS function. */
\r
4985 xYieldPending = pdTRUE;
\r
4989 mtCOVERAGE_TEST_MARKER();
\r
4993 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4998 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4999 /*-----------------------------------------------------------*/
\r
5001 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5003 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
5006 uint8_t ucOriginalNotifyState;
\r
5007 UBaseType_t uxSavedInterruptStatus;
\r
5009 configASSERT( xTaskToNotify );
\r
5011 /* RTOS ports that support interrupt nesting have the concept of a
\r
5012 maximum system call (or maximum API call) interrupt priority.
\r
5013 Interrupts that are above the maximum system call priority are keep
\r
5014 permanently enabled, even when the RTOS kernel is in a critical section,
\r
5015 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5016 is defined in FreeRTOSConfig.h then
\r
5017 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5018 failure if a FreeRTOS API function is called from an interrupt that has
\r
5019 been assigned a priority above the configured maximum system call
\r
5020 priority. Only FreeRTOS functions that end in FromISR can be called
\r
5021 from interrupts that have been assigned a priority at or (logically)
\r
5022 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5023 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5024 simple as possible. More information (albeit Cortex-M specific) is
\r
5025 provided on the following link:
\r
5026 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
5027 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5029 pxTCB = xTaskToNotify;
\r
5031 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5033 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
5034 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
5036 /* 'Giving' is equivalent to incrementing a count in a counting
\r
5038 ( pxTCB->ulNotifiedValue )++;
\r
5040 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
5042 /* If the task is in the blocked state specifically to wait for a
\r
5043 notification then unblock it now. */
\r
5044 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5046 /* The task should not have been on an event list. */
\r
5047 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5049 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5051 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5052 prvAddTaskToReadyList( pxTCB );
\r
5056 /* The delayed and ready lists cannot be accessed, so hold
\r
5057 this task pending until the scheduler is resumed. */
\r
5058 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5061 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5063 /* The notified task has a priority above the currently
\r
5064 executing task so a yield is required. */
\r
5065 if( pxHigherPriorityTaskWoken != NULL )
\r
5067 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5070 /* Mark that a yield is pending in case the user is not
\r
5071 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5072 safe FreeRTOS function. */
\r
5073 xYieldPending = pdTRUE;
\r
5077 mtCOVERAGE_TEST_MARKER();
\r
5081 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5084 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5086 /*-----------------------------------------------------------*/
\r
5088 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5090 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5093 BaseType_t xReturn;
\r
5095 /* If null is passed in here then it is the calling task that is having
\r
5096 its notification state cleared. */
\r
5097 pxTCB = prvGetTCBFromHandle( xTask );
\r
5099 taskENTER_CRITICAL();
\r
5101 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5103 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5111 taskEXIT_CRITICAL();
\r
5116 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5117 /*-----------------------------------------------------------*/
\r
5119 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5121 uint32_t ulTaskGetIdleRunTimeCounter( void )
\r
5123 return xIdleTaskHandle->ulRunTimeCounter;
\r
5127 /*-----------------------------------------------------------*/
\r
5129 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5131 TickType_t xTimeToWake;
\r
5132 const TickType_t xConstTickCount = xTickCount;
\r
5134 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5136 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5137 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5138 when the task leaves the Blocked state. */
\r
5139 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5143 /* Remove the task from the ready list before adding it to the blocked list
\r
5144 as the same list item is used for both lists. */
\r
5145 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5147 /* The current task must be in a ready list, so there is no need to
\r
5148 check, and the port reset macro can be called directly. */
\r
5149 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5153 mtCOVERAGE_TEST_MARKER();
\r
5156 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5158 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5160 /* Add the task to the suspended task list instead of a delayed task
\r
5161 list to ensure it is not woken by a timing event. It will block
\r
5163 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5167 /* Calculate the time at which the task should be woken if the event
\r
5168 does not occur. This may overflow but this doesn't matter, the
\r
5169 kernel will manage it correctly. */
\r
5170 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5172 /* The list item will be inserted in wake time order. */
\r
5173 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5175 if( xTimeToWake < xConstTickCount )
\r
5177 /* Wake time has overflowed. Place this item in the overflow
\r
5179 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5183 /* The wake time has not overflowed, so the current block list
\r
5185 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5187 /* If the task entering the blocked state was placed at the
\r
5188 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5189 needs to be updated too. */
\r
5190 if( xTimeToWake < xNextTaskUnblockTime )
\r
5192 xNextTaskUnblockTime = xTimeToWake;
\r
5196 mtCOVERAGE_TEST_MARKER();
\r
5201 #else /* INCLUDE_vTaskSuspend */
\r
5203 /* Calculate the time at which the task should be woken if the event
\r
5204 does not occur. This may overflow but this doesn't matter, the kernel
\r
5205 will manage it correctly. */
\r
5206 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5208 /* The list item will be inserted in wake time order. */
\r
5209 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5211 if( xTimeToWake < xConstTickCount )
\r
5213 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5214 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5218 /* The wake time has not overflowed, so the current block list is used. */
\r
5219 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5221 /* If the task entering the blocked state was placed at the head of the
\r
5222 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5224 if( xTimeToWake < xNextTaskUnblockTime )
\r
5226 xNextTaskUnblockTime = xTimeToWake;
\r
5230 mtCOVERAGE_TEST_MARKER();
\r
5234 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5235 ( void ) xCanBlockIndefinitely;
\r
5237 #endif /* INCLUDE_vTaskSuspend */
\r
5240 /* Code below here allows additional code to be inserted into this source file,
\r
5241 especially where access to file scope functions and data is needed (for example
\r
5242 when performing module tests). */
\r
5244 #ifdef FREERTOS_MODULE_TEST
\r
5245 #include "tasks_test_access_functions.h"
\r
5249 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5251 #include "freertos_tasks_c_additions.h"
\r
5253 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5254 static void freertos_tasks_c_additions_init( void )
\r
5256 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob