2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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109 * Defines the size, in words, of the stack allocated to the idle task.
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111 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define taskYIELD_IF_USING_PREEMPTION()
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118 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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121 /* Value that can be assigned to the eNotifyState member of the TCB. */
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124 eNotWaitingNotification = 0,
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125 eWaitingNotification,
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130 * Task control block. A task control block (TCB) is allocated for each task,
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131 * and stores task state information, including a pointer to the task's context
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132 * (the task's run time environment, including register values)
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134 typedef struct tskTaskControlBlock
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136 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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138 #if ( portUSING_MPU_WRAPPERS == 1 )
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139 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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140 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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143 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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144 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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145 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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146 StackType_t *pxStack; /*< Points to the start of the stack. */
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147 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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149 #if ( portSTACK_GROWTH > 0 )
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150 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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153 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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154 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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157 #if ( configUSE_TRACE_FACILITY == 1 )
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158 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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159 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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162 #if ( configUSE_MUTEXES == 1 )
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163 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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164 UBaseType_t uxMutexesHeld;
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167 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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168 TaskHookFunction_t pxTaskTag;
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171 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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172 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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175 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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179 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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180 /* Allocate a Newlib reent structure that is specific to this task.
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181 Note Newlib support has been included by popular demand, but is not
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182 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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183 responsible for resulting newlib operation. User must be familiar with
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184 newlib and must provide system-wide implementations of the necessary
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185 stubs. Be warned that (at the time of writing) the current newlib design
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186 implements a system-wide malloc() that must be provided with locks. */
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187 struct _reent xNewLib_reent;
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190 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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191 volatile uint32_t ulNotifiedValue;
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192 volatile eNotifyValue eNotifyState;
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197 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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198 below to enable the use of older kernel aware debuggers. */
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199 typedef tskTCB TCB_t;
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202 * Some kernel aware debuggers require the data the debugger needs access to to
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203 * be global, rather than file scope.
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205 #ifdef portREMOVE_STATIC_QUALIFIER
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209 /*lint -e956 A manual analysis and inspection has been used to determine which
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210 static variables must be declared volatile. */
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212 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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214 /* Lists for ready and blocked tasks. --------------------*/
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215 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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216 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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217 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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218 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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219 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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220 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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222 #if ( INCLUDE_vTaskDelete == 1 )
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224 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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225 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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229 #if ( INCLUDE_vTaskSuspend == 1 )
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231 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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235 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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237 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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252 /* Context switches are held pending while the scheduler is suspended. Also,
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253 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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254 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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255 If an interrupt needs to unblock a task while the scheduler is suspended then it
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256 moves the task's event list item into the xPendingReadyList, ready for the
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257 kernel to move the task from the pending ready list into the real ready list
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258 when the scheduler is unsuspended. The pending ready list itself can only be
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259 accessed from a critical section. */
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260 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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262 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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264 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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265 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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271 /* Debugging and trace facilities private variables and macros. ------------*/
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274 * The value used to fill the stack of a task when the task is created. This
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275 * is used purely for checking the high water mark for tasks.
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277 #define tskSTACK_FILL_BYTE ( 0xa5U )
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280 * Macros used by vListTask to indicate which state a task is in.
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282 #define tskBLOCKED_CHAR ( 'B' )
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283 #define tskREADY_CHAR ( 'R' )
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284 #define tskDELETED_CHAR ( 'D' )
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285 #define tskSUSPENDED_CHAR ( 'S' )
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287 /*-----------------------------------------------------------*/
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289 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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291 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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292 performed in a generic way that is not optimised to any particular
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293 microcontroller architecture. */
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295 /* uxTopReadyPriority holds the priority of the highest priority ready
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297 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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299 if( ( uxPriority ) > uxTopReadyPriority ) \
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301 uxTopReadyPriority = ( uxPriority ); \
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303 } /* taskRECORD_READY_PRIORITY */
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305 /*-----------------------------------------------------------*/
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307 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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309 /* Find the highest priority queue that contains ready tasks. */ \
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310 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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312 configASSERT( uxTopReadyPriority ); \
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313 --uxTopReadyPriority; \
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316 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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317 the same priority get an equal share of the processor time. */ \
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318 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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319 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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321 /*-----------------------------------------------------------*/
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323 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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324 they are only required when a port optimised method of task selection is
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326 #define taskRESET_READY_PRIORITY( uxPriority )
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327 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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329 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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331 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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332 performed in a way that is tailored to the particular microcontroller
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333 architecture being used. */
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335 /* A port optimised version is provided. Call the port defined macros. */
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336 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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338 /*-----------------------------------------------------------*/
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340 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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342 UBaseType_t uxTopPriority; \
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344 /* Find the highest priority list that contains ready tasks. */ \
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345 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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346 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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347 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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348 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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350 /*-----------------------------------------------------------*/
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352 /* A port optimised version is provided, call it only if the TCB being reset
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353 is being referenced from a ready list. If it is referenced from a delayed
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354 or suspended list then it won't be in a ready list. */
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355 #define taskRESET_READY_PRIORITY( uxPriority ) \
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357 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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359 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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363 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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365 /*-----------------------------------------------------------*/
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367 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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368 count overflows. */
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369 #define taskSWITCH_DELAYED_LISTS() \
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373 /* The delayed tasks list should be empty when the lists are switched. */ \
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374 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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376 pxTemp = pxDelayedTaskList; \
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377 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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378 pxOverflowDelayedTaskList = pxTemp; \
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379 xNumOfOverflows++; \
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380 prvResetNextTaskUnblockTime(); \
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383 /*-----------------------------------------------------------*/
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386 * Place the task represented by pxTCB into the appropriate ready list for
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387 * the task. It is inserted at the end of the list.
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389 #define prvAddTaskToReadyList( pxTCB ) \
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390 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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391 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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392 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ); \
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393 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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394 /*-----------------------------------------------------------*/
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397 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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398 * where NULL is used to indicate that the handle of the currently executing
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399 * task should be used in place of the parameter. This macro simply checks to
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400 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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402 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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404 /* The item value of the event list item is normally used to hold the priority
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405 of the task to which it belongs (coded to allow it to be held in reverse
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406 priority order). However, it is occasionally borrowed for other purposes. It
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407 is important its value is not updated due to a task priority change while it is
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408 being used for another purpose. The following bit definition is used to inform
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409 the scheduler that the value should not be changed - in which case it is the
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410 responsibility of whichever module is using the value to ensure it gets set back
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411 to its original value when it is released. */
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412 #if configUSE_16_BIT_TICKS == 1
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413 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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415 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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418 /* Callback function prototypes. --------------------------*/
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419 #if configCHECK_FOR_STACK_OVERFLOW > 0
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420 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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423 #if configUSE_TICK_HOOK > 0
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424 extern void vApplicationTickHook( void );
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427 /* File private functions. --------------------------------*/
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430 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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431 * into the TCB structure.
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433 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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436 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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437 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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438 * is in any other state.
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440 #if ( INCLUDE_vTaskSuspend == 1 )
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441 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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442 #endif /* INCLUDE_vTaskSuspend */
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445 * Utility to ready all the lists used by the scheduler. This is called
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446 * automatically upon the creation of the first task.
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448 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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451 * The idle task, which as all tasks is implemented as a never ending loop.
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452 * The idle task is automatically created and added to the ready lists upon
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453 * creation of the first user task.
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455 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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456 * language extensions. The equivalent prototype for this function is:
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458 * void prvIdleTask( void *pvParameters );
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461 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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464 * Utility to free all memory allocated by the scheduler to hold a TCB,
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465 * including the stack pointed to by the TCB.
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467 * This does not free memory allocated by the task itself (i.e. memory
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468 * allocated by calls to pvPortMalloc from within the tasks application code).
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470 #if ( INCLUDE_vTaskDelete == 1 )
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472 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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477 * Used only by the idle task. This checks to see if anything has been placed
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478 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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479 * and its TCB deleted.
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481 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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484 * The currently executing task is entering the Blocked state. Add the task to
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485 * either the current or the overflow delayed task list.
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487 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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490 * Allocates memory from the heap for a TCB and associated stack. Checks the
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491 * allocation was successful.
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493 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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496 * Fills an TaskStatus_t structure with information on each task that is
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497 * referenced from the pxList list (which may be a ready list, a delayed list,
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498 * a suspended list, etc.).
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500 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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501 * NORMAL APPLICATION CODE.
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503 #if ( configUSE_TRACE_FACILITY == 1 )
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505 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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510 * When a task is created, the stack of the task is filled with a known value.
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511 * This function determines the 'high water mark' of the task stack by
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512 * determining how much of the stack remains at the original preset value.
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514 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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516 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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521 * Return the amount of time, in ticks, that will pass before the kernel will
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522 * next move a task from the Blocked state to the Running state.
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524 * This conditional compilation should use inequality to 0, not equality to 1.
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525 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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526 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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527 * set to a value other than 1.
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529 #if ( configUSE_TICKLESS_IDLE != 0 )
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531 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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536 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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537 * will exit the Blocked state.
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539 static void prvResetNextTaskUnblockTime( void );
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541 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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544 * Helper function used to pad task names with spaces when printing out
\r
545 * human readable tables of task information.
\r
547 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
550 /*-----------------------------------------------------------*/
\r
552 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
554 BaseType_t xReturn;
\r
556 StackType_t *pxTopOfStack;
\r
558 configASSERT( pxTaskCode );
\r
559 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
561 /* Allocate the memory required by the TCB and stack for the new task,
\r
562 checking that the allocation was successful. */
\r
563 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
565 if( pxNewTCB != NULL )
\r
567 #if( portUSING_MPU_WRAPPERS == 1 )
\r
568 /* Should the task be created in privileged mode? */
\r
569 BaseType_t xRunPrivileged;
\r
570 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
572 xRunPrivileged = pdTRUE;
\r
576 xRunPrivileged = pdFALSE;
\r
578 uxPriority &= ~portPRIVILEGE_BIT;
\r
580 if( puxStackBuffer != NULL )
\r
582 /* The application provided its own stack. Note this so no
\r
583 attempt is made to delete the stack should that task be
\r
585 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
589 /* The stack was allocated dynamically. Note this so it can be
\r
590 deleted again if the task is deleted. */
\r
591 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
593 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
595 /* Calculate the top of stack address. This depends on whether the
\r
596 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
597 portSTACK_GROWTH is used to make the result positive or negative as
\r
598 required by the port. */
\r
599 #if( portSTACK_GROWTH < 0 )
\r
601 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
602 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
604 /* Check the alignment of the calculated top of stack is correct. */
\r
605 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
607 #else /* portSTACK_GROWTH */
\r
609 pxTopOfStack = pxNewTCB->pxStack;
\r
611 /* Check the alignment of the stack buffer is correct. */
\r
612 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
614 /* If we want to use stack checking on architectures that use
\r
615 a positive stack growth direction then we also need to store the
\r
616 other extreme of the stack space. */
\r
617 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
619 #endif /* portSTACK_GROWTH */
\r
621 /* Setup the newly allocated TCB with the initial state of the task. */
\r
622 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
624 /* Initialize the TCB stack to look as if the task was already running,
\r
625 but had been interrupted by the scheduler. The return address is set
\r
626 to the start of the task function. Once the stack has been initialised
\r
627 the top of stack variable is updated. */
\r
628 #if( portUSING_MPU_WRAPPERS == 1 )
\r
630 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
632 #else /* portUSING_MPU_WRAPPERS */
\r
634 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
636 #endif /* portUSING_MPU_WRAPPERS */
\r
638 if( ( void * ) pxCreatedTask != NULL )
\r
640 /* Pass the TCB out - in an anonymous way. The calling function/
\r
641 task can use this as a handle to delete the task later if
\r
643 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
647 mtCOVERAGE_TEST_MARKER();
\r
650 /* Ensure interrupts don't access the task lists while they are being
\r
652 taskENTER_CRITICAL();
\r
654 uxCurrentNumberOfTasks++;
\r
655 if( pxCurrentTCB == NULL )
\r
657 /* There are no other tasks, or all the other tasks are in
\r
658 the suspended state - make this the current task. */
\r
659 pxCurrentTCB = pxNewTCB;
\r
661 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
663 /* This is the first task to be created so do the preliminary
\r
664 initialisation required. We will not recover if this call
\r
665 fails, but we will report the failure. */
\r
666 prvInitialiseTaskLists();
\r
670 mtCOVERAGE_TEST_MARKER();
\r
675 /* If the scheduler is not already running, make this task the
\r
676 current task if it is the highest priority task to be created
\r
678 if( xSchedulerRunning == pdFALSE )
\r
680 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
682 pxCurrentTCB = pxNewTCB;
\r
686 mtCOVERAGE_TEST_MARKER();
\r
691 mtCOVERAGE_TEST_MARKER();
\r
697 #if ( configUSE_TRACE_FACILITY == 1 )
\r
699 /* Add a counter into the TCB for tracing only. */
\r
700 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
702 #endif /* configUSE_TRACE_FACILITY */
\r
703 traceTASK_CREATE( pxNewTCB );
\r
705 prvAddTaskToReadyList( pxNewTCB );
\r
708 portSETUP_TCB( pxNewTCB );
\r
710 taskEXIT_CRITICAL();
\r
714 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
715 traceTASK_CREATE_FAILED();
\r
718 if( xReturn == pdPASS )
\r
720 if( xSchedulerRunning != pdFALSE )
\r
722 /* If the created task is of a higher priority than the current task
\r
723 then it should run now. */
\r
724 if( pxCurrentTCB->uxPriority < uxPriority )
\r
726 taskYIELD_IF_USING_PREEMPTION();
\r
730 mtCOVERAGE_TEST_MARKER();
\r
735 mtCOVERAGE_TEST_MARKER();
\r
741 /*-----------------------------------------------------------*/
\r
743 #if ( INCLUDE_vTaskDelete == 1 )
\r
745 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
749 taskENTER_CRITICAL();
\r
751 /* If null is passed in here then it is the calling task that is
\r
753 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
755 /* Remove task from the ready list and place in the termination list.
\r
756 This will stop the task from be scheduled. The idle task will check
\r
757 the termination list and free up any memory allocated by the
\r
758 scheduler for the TCB and stack. */
\r
759 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
761 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
765 mtCOVERAGE_TEST_MARKER();
\r
768 /* Is the task waiting on an event also? */
\r
769 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
771 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
775 mtCOVERAGE_TEST_MARKER();
\r
778 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
780 /* Increment the ucTasksDeleted variable so the idle task knows
\r
781 there is a task that has been deleted and that it should therefore
\r
782 check the xTasksWaitingTermination list. */
\r
785 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
786 can detect that the task lists need re-generating. */
\r
789 traceTASK_DELETE( pxTCB );
\r
791 taskEXIT_CRITICAL();
\r
793 /* Force a reschedule if it is the currently running task that has just
\r
795 if( xSchedulerRunning != pdFALSE )
\r
797 if( pxTCB == pxCurrentTCB )
\r
799 configASSERT( uxSchedulerSuspended == 0 );
\r
801 /* The pre-delete hook is primarily for the Windows simulator,
\r
802 in which Windows specific clean up operations are performed,
\r
803 after which it is not possible to yield away from this task -
\r
804 hence xYieldPending is used to latch that a context switch is
\r
806 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
807 portYIELD_WITHIN_API();
\r
811 /* Reset the next expected unblock time in case it referred to
\r
812 the task that has just been deleted. */
\r
813 taskENTER_CRITICAL();
\r
815 prvResetNextTaskUnblockTime();
\r
817 taskEXIT_CRITICAL();
\r
822 #endif /* INCLUDE_vTaskDelete */
\r
823 /*-----------------------------------------------------------*/
\r
825 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
827 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
829 TickType_t xTimeToWake;
\r
830 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
832 configASSERT( pxPreviousWakeTime );
\r
833 configASSERT( ( xTimeIncrement > 0U ) );
\r
834 configASSERT( uxSchedulerSuspended == 0 );
\r
838 /* Minor optimisation. The tick count cannot change in this
\r
840 const TickType_t xConstTickCount = xTickCount;
\r
842 /* Generate the tick time at which the task wants to wake. */
\r
843 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
845 if( xConstTickCount < *pxPreviousWakeTime )
\r
847 /* The tick count has overflowed since this function was
\r
848 lasted called. In this case the only time we should ever
\r
849 actually delay is if the wake time has also overflowed,
\r
850 and the wake time is greater than the tick time. When this
\r
851 is the case it is as if neither time had overflowed. */
\r
852 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
854 xShouldDelay = pdTRUE;
\r
858 mtCOVERAGE_TEST_MARKER();
\r
863 /* The tick time has not overflowed. In this case we will
\r
864 delay if either the wake time has overflowed, and/or the
\r
865 tick time is less than the wake time. */
\r
866 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
868 xShouldDelay = pdTRUE;
\r
872 mtCOVERAGE_TEST_MARKER();
\r
876 /* Update the wake time ready for the next call. */
\r
877 *pxPreviousWakeTime = xTimeToWake;
\r
879 if( xShouldDelay != pdFALSE )
\r
881 traceTASK_DELAY_UNTIL();
\r
883 /* Remove the task from the ready list before adding it to the
\r
884 blocked list as the same list item is used for both lists. */
\r
885 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
887 /* The current task must be in a ready list, so there is
\r
888 no need to check, and the port reset macro can be called
\r
890 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
894 mtCOVERAGE_TEST_MARKER();
\r
897 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
901 mtCOVERAGE_TEST_MARKER();
\r
904 xAlreadyYielded = xTaskResumeAll();
\r
906 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
907 have put ourselves to sleep. */
\r
908 if( xAlreadyYielded == pdFALSE )
\r
910 portYIELD_WITHIN_API();
\r
914 mtCOVERAGE_TEST_MARKER();
\r
918 #endif /* INCLUDE_vTaskDelayUntil */
\r
919 /*-----------------------------------------------------------*/
\r
921 #if ( INCLUDE_vTaskDelay == 1 )
\r
923 void vTaskDelay( const TickType_t xTicksToDelay )
\r
925 TickType_t xTimeToWake;
\r
926 BaseType_t xAlreadyYielded = pdFALSE;
\r
929 /* A delay time of zero just forces a reschedule. */
\r
930 if( xTicksToDelay > ( TickType_t ) 0U )
\r
932 configASSERT( uxSchedulerSuspended == 0 );
\r
937 /* A task that is removed from the event list while the
\r
938 scheduler is suspended will not get placed in the ready
\r
939 list or removed from the blocked list until the scheduler
\r
942 This task cannot be in an event list as it is the currently
\r
945 /* Calculate the time to wake - this may overflow but this is
\r
947 xTimeToWake = xTickCount + xTicksToDelay;
\r
949 /* We must remove ourselves from the ready list before adding
\r
950 ourselves to the blocked list as the same list item is used for
\r
952 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
954 /* The current task must be in a ready list, so there is
\r
955 no need to check, and the port reset macro can be called
\r
957 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
961 mtCOVERAGE_TEST_MARKER();
\r
963 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
965 xAlreadyYielded = xTaskResumeAll();
\r
969 mtCOVERAGE_TEST_MARKER();
\r
972 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
973 have put ourselves to sleep. */
\r
974 if( xAlreadyYielded == pdFALSE )
\r
976 portYIELD_WITHIN_API();
\r
980 mtCOVERAGE_TEST_MARKER();
\r
984 #endif /* INCLUDE_vTaskDelay */
\r
985 /*-----------------------------------------------------------*/
\r
987 #if ( INCLUDE_eTaskGetState == 1 )
\r
989 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
991 eTaskState eReturn;
\r
992 List_t *pxStateList;
\r
993 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
995 configASSERT( pxTCB );
\r
997 if( pxTCB == pxCurrentTCB )
\r
999 /* The task calling this function is querying its own state. */
\r
1000 eReturn = eRunning;
\r
1004 taskENTER_CRITICAL();
\r
1006 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1008 taskEXIT_CRITICAL();
\r
1010 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1012 /* The task being queried is referenced from one of the Blocked
\r
1014 eReturn = eBlocked;
\r
1017 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1018 else if( pxStateList == &xSuspendedTaskList )
\r
1020 /* The task being queried is referenced from the suspended
\r
1021 list. Is it genuinely suspended or is it block
\r
1023 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1025 eReturn = eSuspended;
\r
1029 eReturn = eBlocked;
\r
1034 #if ( INCLUDE_vTaskDelete == 1 )
\r
1035 else if( pxStateList == &xTasksWaitingTermination )
\r
1037 /* The task being queried is referenced from the deleted
\r
1039 eReturn = eDeleted;
\r
1043 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1045 /* If the task is not in any other state, it must be in the
\r
1046 Ready (including pending ready) state. */
\r
1052 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1054 #endif /* INCLUDE_eTaskGetState */
\r
1055 /*-----------------------------------------------------------*/
\r
1057 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1059 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1062 UBaseType_t uxReturn;
\r
1064 taskENTER_CRITICAL();
\r
1066 /* If null is passed in here then it is the priority of the that
\r
1067 called uxTaskPriorityGet() that is being queried. */
\r
1068 pxTCB = prvGetTCBFromHandle( xTask );
\r
1069 uxReturn = pxTCB->uxPriority;
\r
1071 taskEXIT_CRITICAL();
\r
1076 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1077 /*-----------------------------------------------------------*/
\r
1079 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1081 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1084 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1086 /* RTOS ports that support interrupt nesting have the concept of a
\r
1087 maximum system call (or maximum API call) interrupt priority.
\r
1088 Interrupts that are above the maximum system call priority are keep
\r
1089 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1090 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1091 is defined in FreeRTOSConfig.h then
\r
1092 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1093 failure if a FreeRTOS API function is called from an interrupt that has
\r
1094 been assigned a priority above the configured maximum system call
\r
1095 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1096 from interrupts that have been assigned a priority at or (logically)
\r
1097 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1098 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1099 simple as possible. More information (albeit Cortex-M specific) is
\r
1100 provided on the following link:
\r
1101 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1102 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1104 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1106 /* If null is passed in here then it is the priority of the calling
\r
1107 task that is being queried. */
\r
1108 pxTCB = prvGetTCBFromHandle( xTask );
\r
1109 uxReturn = pxTCB->uxPriority;
\r
1111 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1116 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1117 /*-----------------------------------------------------------*/
\r
1119 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1121 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1124 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1125 BaseType_t xYieldRequired = pdFALSE;
\r
1127 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1129 /* Ensure the new priority is valid. */
\r
1130 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1132 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1136 mtCOVERAGE_TEST_MARKER();
\r
1139 taskENTER_CRITICAL();
\r
1141 /* If null is passed in here then it is the priority of the calling
\r
1142 task that is being changed. */
\r
1143 pxTCB = prvGetTCBFromHandle( xTask );
\r
1145 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1147 #if ( configUSE_MUTEXES == 1 )
\r
1149 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1153 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1157 if( uxCurrentBasePriority != uxNewPriority )
\r
1159 /* The priority change may have readied a task of higher
\r
1160 priority than the calling task. */
\r
1161 if( uxNewPriority > uxCurrentBasePriority )
\r
1163 if( pxTCB != pxCurrentTCB )
\r
1165 /* The priority of a task other than the currently
\r
1166 running task is being raised. Is the priority being
\r
1167 raised above that of the running task? */
\r
1168 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1170 xYieldRequired = pdTRUE;
\r
1174 mtCOVERAGE_TEST_MARKER();
\r
1179 /* The priority of the running task is being raised,
\r
1180 but the running task must already be the highest
\r
1181 priority task able to run so no yield is required. */
\r
1184 else if( pxTCB == pxCurrentTCB )
\r
1186 /* Setting the priority of the running task down means
\r
1187 there may now be another task of higher priority that
\r
1188 is ready to execute. */
\r
1189 xYieldRequired = pdTRUE;
\r
1193 /* Setting the priority of any other task down does not
\r
1194 require a yield as the running task must be above the
\r
1195 new priority of the task being modified. */
\r
1198 /* Remember the ready list the task might be referenced from
\r
1199 before its uxPriority member is changed so the
\r
1200 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1201 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1203 #if ( configUSE_MUTEXES == 1 )
\r
1205 /* Only change the priority being used if the task is not
\r
1206 currently using an inherited priority. */
\r
1207 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1209 pxTCB->uxPriority = uxNewPriority;
\r
1213 mtCOVERAGE_TEST_MARKER();
\r
1216 /* The base priority gets set whatever. */
\r
1217 pxTCB->uxBasePriority = uxNewPriority;
\r
1221 pxTCB->uxPriority = uxNewPriority;
\r
1225 /* Only reset the event list item value if the value is not
\r
1226 being used for anything else. */
\r
1227 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1229 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
1233 mtCOVERAGE_TEST_MARKER();
\r
1236 /* If the task is in the blocked or suspended list we need do
\r
1237 nothing more than change it's priority variable. However, if
\r
1238 the task is in a ready list it needs to be removed and placed
\r
1239 in the list appropriate to its new priority. */
\r
1240 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1242 /* The task is currently in its ready list - remove before adding
\r
1243 it to it's new ready list. As we are in a critical section we
\r
1244 can do this even if the scheduler is suspended. */
\r
1245 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1247 /* It is known that the task is in its ready list so
\r
1248 there is no need to check again and the port level
\r
1249 reset macro can be called directly. */
\r
1250 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1254 mtCOVERAGE_TEST_MARKER();
\r
1256 prvAddTaskToReadyList( pxTCB );
\r
1260 mtCOVERAGE_TEST_MARKER();
\r
1263 if( xYieldRequired == pdTRUE )
\r
1265 taskYIELD_IF_USING_PREEMPTION();
\r
1269 mtCOVERAGE_TEST_MARKER();
\r
1272 /* Remove compiler warning about unused variables when the port
\r
1273 optimised task selection is not being used. */
\r
1274 ( void ) uxPriorityUsedOnEntry;
\r
1277 taskEXIT_CRITICAL();
\r
1280 #endif /* INCLUDE_vTaskPrioritySet */
\r
1281 /*-----------------------------------------------------------*/
\r
1283 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1285 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1289 taskENTER_CRITICAL();
\r
1291 /* If null is passed in here then it is the running task that is
\r
1292 being suspended. */
\r
1293 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1295 traceTASK_SUSPEND( pxTCB );
\r
1297 /* Remove task from the ready/delayed list and place in the
\r
1298 suspended list. */
\r
1299 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1301 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1305 mtCOVERAGE_TEST_MARKER();
\r
1308 /* Is the task waiting on an event also? */
\r
1309 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1311 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1315 mtCOVERAGE_TEST_MARKER();
\r
1318 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1320 taskEXIT_CRITICAL();
\r
1322 if( pxTCB == pxCurrentTCB )
\r
1324 if( xSchedulerRunning != pdFALSE )
\r
1326 /* The current task has just been suspended. */
\r
1327 configASSERT( uxSchedulerSuspended == 0 );
\r
1328 portYIELD_WITHIN_API();
\r
1332 /* The scheduler is not running, but the task that was pointed
\r
1333 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1334 must be adjusted to point to a different task. */
\r
1335 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1337 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1338 NULL so when the next task is created pxCurrentTCB will
\r
1339 be set to point to it no matter what its relative priority
\r
1341 pxCurrentTCB = NULL;
\r
1345 vTaskSwitchContext();
\r
1351 if( xSchedulerRunning != pdFALSE )
\r
1353 /* A task other than the currently running task was suspended,
\r
1354 reset the next expected unblock time in case it referred to the
\r
1355 task that is now in the Suspended state. */
\r
1356 taskENTER_CRITICAL();
\r
1358 prvResetNextTaskUnblockTime();
\r
1360 taskEXIT_CRITICAL();
\r
1364 mtCOVERAGE_TEST_MARKER();
\r
1369 #endif /* INCLUDE_vTaskSuspend */
\r
1370 /*-----------------------------------------------------------*/
\r
1372 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1374 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1376 BaseType_t xReturn = pdFALSE;
\r
1377 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1379 /* Accesses xPendingReadyList so must be called from a critical
\r
1382 /* It does not make sense to check if the calling task is suspended. */
\r
1383 configASSERT( xTask );
\r
1385 /* Is the task being resumed actually in the suspended list? */
\r
1386 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1388 /* Has the task already been resumed from within an ISR? */
\r
1389 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1391 /* Is it in the suspended list because it is in the Suspended
\r
1392 state, or because is is blocked with no timeout? */
\r
1393 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1399 mtCOVERAGE_TEST_MARKER();
\r
1404 mtCOVERAGE_TEST_MARKER();
\r
1409 mtCOVERAGE_TEST_MARKER();
\r
1413 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1415 #endif /* INCLUDE_vTaskSuspend */
\r
1416 /*-----------------------------------------------------------*/
\r
1418 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1420 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1422 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1424 /* It does not make sense to resume the calling task. */
\r
1425 configASSERT( xTaskToResume );
\r
1427 /* The parameter cannot be NULL as it is impossible to resume the
\r
1428 currently executing task. */
\r
1429 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1431 taskENTER_CRITICAL();
\r
1433 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1435 traceTASK_RESUME( pxTCB );
\r
1437 /* As we are in a critical section we can access the ready
\r
1438 lists even if the scheduler is suspended. */
\r
1439 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1440 prvAddTaskToReadyList( pxTCB );
\r
1442 /* We may have just resumed a higher priority task. */
\r
1443 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1445 /* This yield may not cause the task just resumed to run,
\r
1446 but will leave the lists in the correct state for the
\r
1448 taskYIELD_IF_USING_PREEMPTION();
\r
1452 mtCOVERAGE_TEST_MARKER();
\r
1457 mtCOVERAGE_TEST_MARKER();
\r
1460 taskEXIT_CRITICAL();
\r
1464 mtCOVERAGE_TEST_MARKER();
\r
1468 #endif /* INCLUDE_vTaskSuspend */
\r
1470 /*-----------------------------------------------------------*/
\r
1472 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1474 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1476 BaseType_t xYieldRequired = pdFALSE;
\r
1477 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1478 UBaseType_t uxSavedInterruptStatus;
\r
1480 configASSERT( xTaskToResume );
\r
1482 /* RTOS ports that support interrupt nesting have the concept of a
\r
1483 maximum system call (or maximum API call) interrupt priority.
\r
1484 Interrupts that are above the maximum system call priority are keep
\r
1485 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1486 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1487 is defined in FreeRTOSConfig.h then
\r
1488 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1489 failure if a FreeRTOS API function is called from an interrupt that has
\r
1490 been assigned a priority above the configured maximum system call
\r
1491 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1492 from interrupts that have been assigned a priority at or (logically)
\r
1493 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1494 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1495 simple as possible. More information (albeit Cortex-M specific) is
\r
1496 provided on the following link:
\r
1497 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1498 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1500 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1502 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1504 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1506 /* Check the ready lists can be accessed. */
\r
1507 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1509 /* Ready lists can be accessed so move the task from the
\r
1510 suspended list to the ready list directly. */
\r
1511 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1513 xYieldRequired = pdTRUE;
\r
1517 mtCOVERAGE_TEST_MARKER();
\r
1520 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1521 prvAddTaskToReadyList( pxTCB );
\r
1525 /* The delayed or ready lists cannot be accessed so the task
\r
1526 is held in the pending ready list until the scheduler is
\r
1528 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1533 mtCOVERAGE_TEST_MARKER();
\r
1536 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1538 return xYieldRequired;
\r
1541 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1542 /*-----------------------------------------------------------*/
\r
1544 void vTaskStartScheduler( void )
\r
1546 BaseType_t xReturn;
\r
1548 /* Add the idle task at the lowest priority. */
\r
1549 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1551 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1552 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1553 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1557 /* Create the idle task without storing its handle. */
\r
1558 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1560 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1562 #if ( configUSE_TIMERS == 1 )
\r
1564 if( xReturn == pdPASS )
\r
1566 xReturn = xTimerCreateTimerTask();
\r
1570 mtCOVERAGE_TEST_MARKER();
\r
1573 #endif /* configUSE_TIMERS */
\r
1575 if( xReturn == pdPASS )
\r
1577 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1578 before or during the call to xPortStartScheduler(). The stacks of
\r
1579 the created tasks contain a status word with interrupts switched on
\r
1580 so interrupts will automatically get re-enabled when the first task
\r
1582 portDISABLE_INTERRUPTS();
\r
1584 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1586 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1587 structure specific to the task that will run first. */
\r
1588 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1590 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1592 xNextTaskUnblockTime = portMAX_DELAY;
\r
1593 xSchedulerRunning = pdTRUE;
\r
1594 xTickCount = ( TickType_t ) 0U;
\r
1596 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1597 macro must be defined to configure the timer/counter used to generate
\r
1598 the run time counter time base. */
\r
1599 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1601 /* Setting up the timer tick is hardware specific and thus in the
\r
1602 portable interface. */
\r
1603 if( xPortStartScheduler() != pdFALSE )
\r
1605 /* Should not reach here as if the scheduler is running the
\r
1606 function will not return. */
\r
1610 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1615 /* This line will only be reached if the kernel could not be started,
\r
1616 because there was not enough FreeRTOS heap to create the idle task
\r
1617 or the timer task. */
\r
1618 configASSERT( xReturn );
\r
1621 /*-----------------------------------------------------------*/
\r
1623 void vTaskEndScheduler( void )
\r
1625 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1626 routine so the original ISRs can be restored if necessary. The port
\r
1627 layer must ensure interrupts enable bit is left in the correct state. */
\r
1628 portDISABLE_INTERRUPTS();
\r
1629 xSchedulerRunning = pdFALSE;
\r
1630 vPortEndScheduler();
\r
1632 /*----------------------------------------------------------*/
\r
1634 void vTaskSuspendAll( void )
\r
1636 /* A critical section is not required as the variable is of type
\r
1637 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1638 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1639 http://goo.gl/wu4acr */
\r
1640 ++uxSchedulerSuspended;
\r
1642 /*----------------------------------------------------------*/
\r
1644 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1646 static TickType_t prvGetExpectedIdleTime( void )
\r
1648 TickType_t xReturn;
\r
1649 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1651 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1652 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1653 task that are in the Ready state, even though the idle task is
\r
1655 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1657 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1659 uxHigherPriorityReadyTasks = pdTRUE;
\r
1664 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1666 /* When port optimised task selection is used the uxTopReadyPriority
\r
1667 variable is used as a bit map. If bits other than the least
\r
1668 significant bit are set then there are tasks that have a priority
\r
1669 above the idle priority that are in the Ready state. This takes
\r
1670 care of the case where the co-operative scheduler is in use. */
\r
1671 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1673 uxHigherPriorityReadyTasks = pdTRUE;
\r
1678 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1682 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1684 /* There are other idle priority tasks in the ready state. If
\r
1685 time slicing is used then the very next tick interrupt must be
\r
1689 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1691 /* There are tasks in the Ready state that have a priority above the
\r
1692 idle priority. This path can only be reached if
\r
1693 configUSE_PREEMPTION is 0. */
\r
1698 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1704 #endif /* configUSE_TICKLESS_IDLE */
\r
1705 /*----------------------------------------------------------*/
\r
1707 BaseType_t xTaskResumeAll( void )
\r
1710 BaseType_t xAlreadyYielded = pdFALSE;
\r
1712 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1713 previous call to vTaskSuspendAll(). */
\r
1714 configASSERT( uxSchedulerSuspended );
\r
1716 /* It is possible that an ISR caused a task to be removed from an event
\r
1717 list while the scheduler was suspended. If this was the case then the
\r
1718 removed task will have been added to the xPendingReadyList. Once the
\r
1719 scheduler has been resumed it is safe to move all the pending ready
\r
1720 tasks from this list into their appropriate ready list. */
\r
1721 taskENTER_CRITICAL();
\r
1723 --uxSchedulerSuspended;
\r
1725 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1727 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1729 /* Move any readied tasks from the pending list into the
\r
1730 appropriate ready list. */
\r
1731 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1733 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1734 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1735 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1736 prvAddTaskToReadyList( pxTCB );
\r
1738 /* If the moved task has a priority higher than the current
\r
1739 task then a yield must be performed. */
\r
1740 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1742 xYieldPending = pdTRUE;
\r
1746 mtCOVERAGE_TEST_MARKER();
\r
1750 /* If any ticks occurred while the scheduler was suspended then
\r
1751 they should be processed now. This ensures the tick count does
\r
1752 not slip, and that any delayed tasks are resumed at the correct
\r
1754 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1756 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1758 if( xTaskIncrementTick() != pdFALSE )
\r
1760 xYieldPending = pdTRUE;
\r
1764 mtCOVERAGE_TEST_MARKER();
\r
1771 mtCOVERAGE_TEST_MARKER();
\r
1774 if( xYieldPending == pdTRUE )
\r
1776 #if( configUSE_PREEMPTION != 0 )
\r
1778 xAlreadyYielded = pdTRUE;
\r
1781 taskYIELD_IF_USING_PREEMPTION();
\r
1785 mtCOVERAGE_TEST_MARKER();
\r
1791 mtCOVERAGE_TEST_MARKER();
\r
1794 taskEXIT_CRITICAL();
\r
1796 return xAlreadyYielded;
\r
1798 /*-----------------------------------------------------------*/
\r
1800 TickType_t xTaskGetTickCount( void )
\r
1802 TickType_t xTicks;
\r
1804 /* Critical section required if running on a 16 bit processor. */
\r
1805 portTICK_TYPE_ENTER_CRITICAL();
\r
1807 xTicks = xTickCount;
\r
1809 portTICK_TYPE_EXIT_CRITICAL();
\r
1813 /*-----------------------------------------------------------*/
\r
1815 TickType_t xTaskGetTickCountFromISR( void )
\r
1817 TickType_t xReturn;
\r
1818 UBaseType_t uxSavedInterruptStatus;
\r
1820 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1821 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1822 above the maximum system call priority are kept permanently enabled, even
\r
1823 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1824 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1825 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1826 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1827 assigned a priority above the configured maximum system call priority.
\r
1828 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1829 that have been assigned a priority at or (logically) below the maximum
\r
1830 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1831 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1832 More information (albeit Cortex-M specific) is provided on the following
\r
1833 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1834 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1836 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1838 xReturn = xTickCount;
\r
1840 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1844 /*-----------------------------------------------------------*/
\r
1846 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1848 /* A critical section is not required because the variables are of type
\r
1850 return uxCurrentNumberOfTasks;
\r
1852 /*-----------------------------------------------------------*/
\r
1854 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1856 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1860 /* If null is passed in here then the name of the calling task is being queried. */
\r
1861 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1862 configASSERT( pxTCB );
\r
1863 return &( pxTCB->pcTaskName[ 0 ] );
\r
1866 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1867 /*-----------------------------------------------------------*/
\r
1869 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1871 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1873 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1875 vTaskSuspendAll();
\r
1877 /* Is there a space in the array for each task in the system? */
\r
1878 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1880 /* Fill in an TaskStatus_t structure with information on each
\r
1881 task in the Ready state. */
\r
1885 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1887 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1889 /* Fill in an TaskStatus_t structure with information on each
\r
1890 task in the Blocked state. */
\r
1891 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1892 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1894 #if( INCLUDE_vTaskDelete == 1 )
\r
1896 /* Fill in an TaskStatus_t structure with information on
\r
1897 each task that has been deleted but not yet cleaned up. */
\r
1898 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1902 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1904 /* Fill in an TaskStatus_t structure with information on
\r
1905 each task in the Suspended state. */
\r
1906 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1910 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1912 if( pulTotalRunTime != NULL )
\r
1914 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1915 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1917 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1923 if( pulTotalRunTime != NULL )
\r
1925 *pulTotalRunTime = 0;
\r
1932 mtCOVERAGE_TEST_MARKER();
\r
1935 ( void ) xTaskResumeAll();
\r
1940 #endif /* configUSE_TRACE_FACILITY */
\r
1941 /*----------------------------------------------------------*/
\r
1943 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1945 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1947 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1948 started, then xIdleTaskHandle will be NULL. */
\r
1949 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1950 return xIdleTaskHandle;
\r
1953 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1954 /*----------------------------------------------------------*/
\r
1956 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1957 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1958 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1960 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1962 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1964 /* Correct the tick count value after a period during which the tick
\r
1965 was suppressed. Note this does *not* call the tick hook function for
\r
1966 each stepped tick. */
\r
1967 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1968 xTickCount += xTicksToJump;
\r
1969 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1972 #endif /* configUSE_TICKLESS_IDLE */
\r
1973 /*----------------------------------------------------------*/
\r
1975 BaseType_t xTaskIncrementTick( void )
\r
1978 TickType_t xItemValue;
\r
1979 BaseType_t xSwitchRequired = pdFALSE;
\r
1981 /* Called by the portable layer each time a tick interrupt occurs.
\r
1982 Increments the tick then checks to see if the new tick value will cause any
\r
1983 tasks to be unblocked. */
\r
1984 traceTASK_INCREMENT_TICK( xTickCount );
\r
1985 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1987 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1988 delayed lists if it wraps to 0. */
\r
1992 /* Minor optimisation. The tick count cannot change in this
\r
1994 const TickType_t xConstTickCount = xTickCount;
\r
1996 if( xConstTickCount == ( TickType_t ) 0U )
\r
1998 taskSWITCH_DELAYED_LISTS();
\r
2002 mtCOVERAGE_TEST_MARKER();
\r
2005 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2006 the queue in the order of their wake time - meaning once one task
\r
2007 has been found whose block time has not expired there is no need to
\r
2008 look any further down the list. */
\r
2009 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2013 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2015 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2016 to the maximum possible value so it is extremely
\r
2018 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2019 next time through. */
\r
2020 xNextTaskUnblockTime = portMAX_DELAY;
\r
2025 /* The delayed list is not empty, get the value of the
\r
2026 item at the head of the delayed list. This is the time
\r
2027 at which the task at the head of the delayed list must
\r
2028 be removed from the Blocked state. */
\r
2029 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2030 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2032 if( xConstTickCount < xItemValue )
\r
2034 /* It is not time to unblock this item yet, but the
\r
2035 item value is the time at which the task at the head
\r
2036 of the blocked list must be removed from the Blocked
\r
2037 state - so record the item value in
\r
2038 xNextTaskUnblockTime. */
\r
2039 xNextTaskUnblockTime = xItemValue;
\r
2044 mtCOVERAGE_TEST_MARKER();
\r
2047 /* It is time to remove the item from the Blocked state. */
\r
2048 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2050 /* Is the task waiting on an event also? If so remove
\r
2051 it from the event list. */
\r
2052 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2054 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2058 mtCOVERAGE_TEST_MARKER();
\r
2061 /* Place the unblocked task into the appropriate ready
\r
2063 prvAddTaskToReadyList( pxTCB );
\r
2065 /* A task being unblocked cannot cause an immediate
\r
2066 context switch if preemption is turned off. */
\r
2067 #if ( configUSE_PREEMPTION == 1 )
\r
2069 /* Preemption is on, but a context switch should
\r
2070 only be performed if the unblocked task has a
\r
2071 priority that is equal to or higher than the
\r
2072 currently executing task. */
\r
2073 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2075 xSwitchRequired = pdTRUE;
\r
2079 mtCOVERAGE_TEST_MARKER();
\r
2082 #endif /* configUSE_PREEMPTION */
\r
2088 /* Tasks of equal priority to the currently running task will share
\r
2089 processing time (time slice) if preemption is on, and the application
\r
2090 writer has not explicitly turned time slicing off. */
\r
2091 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2093 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2095 xSwitchRequired = pdTRUE;
\r
2099 mtCOVERAGE_TEST_MARKER();
\r
2102 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2104 #if ( configUSE_TICK_HOOK == 1 )
\r
2106 /* Guard against the tick hook being called when the pended tick
\r
2107 count is being unwound (when the scheduler is being unlocked). */
\r
2108 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2110 vApplicationTickHook();
\r
2114 mtCOVERAGE_TEST_MARKER();
\r
2117 #endif /* configUSE_TICK_HOOK */
\r
2123 /* The tick hook gets called at regular intervals, even if the
\r
2124 scheduler is locked. */
\r
2125 #if ( configUSE_TICK_HOOK == 1 )
\r
2127 vApplicationTickHook();
\r
2132 #if ( configUSE_PREEMPTION == 1 )
\r
2134 if( xYieldPending != pdFALSE )
\r
2136 xSwitchRequired = pdTRUE;
\r
2140 mtCOVERAGE_TEST_MARKER();
\r
2143 #endif /* configUSE_PREEMPTION */
\r
2145 return xSwitchRequired;
\r
2147 /*-----------------------------------------------------------*/
\r
2149 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2151 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2155 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2157 if( xTask == NULL )
\r
2159 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2163 xTCB = ( TCB_t * ) xTask;
\r
2166 /* Save the hook function in the TCB. A critical section is required as
\r
2167 the value can be accessed from an interrupt. */
\r
2168 taskENTER_CRITICAL();
\r
2169 xTCB->pxTaskTag = pxHookFunction;
\r
2170 taskEXIT_CRITICAL();
\r
2173 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2174 /*-----------------------------------------------------------*/
\r
2176 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2178 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2181 TaskHookFunction_t xReturn;
\r
2183 /* If xTask is NULL then we are setting our own task hook. */
\r
2184 if( xTask == NULL )
\r
2186 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2190 xTCB = ( TCB_t * ) xTask;
\r
2193 /* Save the hook function in the TCB. A critical section is required as
\r
2194 the value can be accessed from an interrupt. */
\r
2195 taskENTER_CRITICAL();
\r
2197 xReturn = xTCB->pxTaskTag;
\r
2199 taskEXIT_CRITICAL();
\r
2204 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2205 /*-----------------------------------------------------------*/
\r
2207 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2209 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2212 BaseType_t xReturn;
\r
2214 /* If xTask is NULL then we are calling our own task hook. */
\r
2215 if( xTask == NULL )
\r
2217 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2221 xTCB = ( TCB_t * ) xTask;
\r
2224 if( xTCB->pxTaskTag != NULL )
\r
2226 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2236 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2237 /*-----------------------------------------------------------*/
\r
2239 void vTaskSwitchContext( void )
\r
2241 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2243 /* The scheduler is currently suspended - do not allow a context
\r
2245 xYieldPending = pdTRUE;
\r
2249 xYieldPending = pdFALSE;
\r
2250 traceTASK_SWITCHED_OUT();
\r
2252 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2254 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2255 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2257 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2260 /* Add the amount of time the task has been running to the
\r
2261 accumulated time so far. The time the task started running was
\r
2262 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2263 protection here so count values are only valid until the timer
\r
2264 overflows. The guard against negative values is to protect
\r
2265 against suspect run time stat counter implementations - which
\r
2266 are provided by the application, not the kernel. */
\r
2267 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2269 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2273 mtCOVERAGE_TEST_MARKER();
\r
2275 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2277 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2279 /* Check for stack overflow, if configured. */
\r
2280 taskCHECK_FOR_STACK_OVERFLOW();
\r
2282 /* Select a new task to run using either the generic C or port
\r
2283 optimised asm code. */
\r
2284 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2285 traceTASK_SWITCHED_IN();
\r
2287 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2289 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2290 structure specific to this task. */
\r
2291 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2293 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2296 /*-----------------------------------------------------------*/
\r
2298 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2300 TickType_t xTimeToWake;
\r
2302 configASSERT( pxEventList );
\r
2304 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2305 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2307 /* Place the event list item of the TCB in the appropriate event list.
\r
2308 This is placed in the list in priority order so the highest priority task
\r
2309 is the first to be woken by the event. The queue that contains the event
\r
2310 list is locked, preventing simultaneous access from interrupts. */
\r
2311 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2313 /* The task must be removed from from the ready list before it is added to
\r
2314 the blocked list as the same list item is used for both lists. Exclusive
\r
2315 access to the ready lists guaranteed because the scheduler is locked. */
\r
2316 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2318 /* The current task must be in a ready list, so there is no need to
\r
2319 check, and the port reset macro can be called directly. */
\r
2320 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2324 mtCOVERAGE_TEST_MARKER();
\r
2327 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2329 if( xTicksToWait == portMAX_DELAY )
\r
2331 /* Add the task to the suspended task list instead of a delayed task
\r
2332 list to ensure the task is not woken by a timing event. It will
\r
2333 block indefinitely. */
\r
2334 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2338 /* Calculate the time at which the task should be woken if the event
\r
2339 does not occur. This may overflow but this doesn't matter, the
\r
2340 scheduler will handle it. */
\r
2341 xTimeToWake = xTickCount + xTicksToWait;
\r
2342 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2345 #else /* INCLUDE_vTaskSuspend */
\r
2347 /* Calculate the time at which the task should be woken if the event does
\r
2348 not occur. This may overflow but this doesn't matter, the scheduler
\r
2349 will handle it. */
\r
2350 xTimeToWake = xTickCount + xTicksToWait;
\r
2351 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2353 #endif /* INCLUDE_vTaskSuspend */
\r
2355 /*-----------------------------------------------------------*/
\r
2357 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2359 TickType_t xTimeToWake;
\r
2361 configASSERT( pxEventList );
\r
2363 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2364 the event groups implementation. */
\r
2365 configASSERT( uxSchedulerSuspended != 0 );
\r
2367 /* Store the item value in the event list item. It is safe to access the
\r
2368 event list item here as interrupts won't access the event list item of a
\r
2369 task that is not in the Blocked state. */
\r
2370 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2372 /* Place the event list item of the TCB at the end of the appropriate event
\r
2373 list. It is safe to access the event list here because it is part of an
\r
2374 event group implementation - and interrupts don't access event groups
\r
2375 directly (instead they access them indirectly by pending function calls to
\r
2376 the task level). */
\r
2377 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2379 /* The task must be removed from the ready list before it is added to the
\r
2380 blocked list. Exclusive access can be assured to the ready list as the
\r
2381 scheduler is locked. */
\r
2382 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2384 /* The current task must be in a ready list, so there is no need to
\r
2385 check, and the port reset macro can be called directly. */
\r
2386 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2390 mtCOVERAGE_TEST_MARKER();
\r
2393 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2395 if( xTicksToWait == portMAX_DELAY )
\r
2397 /* Add the task to the suspended task list instead of a delayed task
\r
2398 list to ensure it is not woken by a timing event. It will block
\r
2400 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2404 /* Calculate the time at which the task should be woken if the event
\r
2405 does not occur. This may overflow but this doesn't matter, the
\r
2406 kernel will manage it correctly. */
\r
2407 xTimeToWake = xTickCount + xTicksToWait;
\r
2408 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2411 #else /* INCLUDE_vTaskSuspend */
\r
2413 /* Calculate the time at which the task should be woken if the event does
\r
2414 not occur. This may overflow but this doesn't matter, the kernel
\r
2415 will manage it correctly. */
\r
2416 xTimeToWake = xTickCount + xTicksToWait;
\r
2417 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2419 #endif /* INCLUDE_vTaskSuspend */
\r
2421 /*-----------------------------------------------------------*/
\r
2423 #if configUSE_TIMERS == 1
\r
2425 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2427 TickType_t xTimeToWake;
\r
2429 configASSERT( pxEventList );
\r
2431 /* This function should not be called by application code hence the
\r
2432 'Restricted' in its name. It is not part of the public API. It is
\r
2433 designed for use by kernel code, and has special calling requirements -
\r
2434 it should be called with the scheduler suspended. */
\r
2437 /* Place the event list item of the TCB in the appropriate event list.
\r
2438 In this case it is assume that this is the only task that is going to
\r
2439 be waiting on this event list, so the faster vListInsertEnd() function
\r
2440 can be used in place of vListInsert. */
\r
2441 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2443 /* We must remove this task from the ready list before adding it to the
\r
2444 blocked list as the same list item is used for both lists. This
\r
2445 function is called with the scheduler locked so interrupts will not
\r
2446 access the lists at the same time. */
\r
2447 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2449 /* The current task must be in a ready list, so there is no need to
\r
2450 check, and the port reset macro can be called directly. */
\r
2451 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2455 mtCOVERAGE_TEST_MARKER();
\r
2458 /* If vTaskSuspend() is available then the suspended task list is also
\r
2459 available and a task that is blocking indefinitely can enter the
\r
2460 suspended state (it is not really suspended as it will re-enter the
\r
2461 Ready state when the event it is waiting indefinitely for occurs).
\r
2462 Blocking indefinitely is useful when using tickless idle mode as when
\r
2463 all tasks are blocked indefinitely all timers can be turned off. */
\r
2464 #if( INCLUDE_vTaskSuspend == 1 )
\r
2466 if( xWaitIndefinitely == pdTRUE )
\r
2468 /* Add the task to the suspended task list instead of a delayed
\r
2469 task list to ensure the task is not woken by a timing event. It
\r
2470 will block indefinitely. */
\r
2471 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2475 /* Calculate the time at which the task should be woken if the
\r
2476 event does not occur. This may overflow but this doesn't
\r
2478 xTimeToWake = xTickCount + xTicksToWait;
\r
2479 traceTASK_DELAY_UNTIL();
\r
2480 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2485 /* Calculate the time at which the task should be woken if the event
\r
2486 does not occur. This may overflow but this doesn't matter. */
\r
2487 xTimeToWake = xTickCount + xTicksToWait;
\r
2488 traceTASK_DELAY_UNTIL();
\r
2489 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2491 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2493 ( void ) xWaitIndefinitely;
\r
2498 #endif /* configUSE_TIMERS */
\r
2499 /*-----------------------------------------------------------*/
\r
2501 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2503 TCB_t *pxUnblockedTCB;
\r
2504 BaseType_t xReturn;
\r
2506 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2507 called from a critical section within an ISR. */
\r
2509 /* The event list is sorted in priority order, so the first in the list can
\r
2510 be removed as it is known to be the highest priority. Remove the TCB from
\r
2511 the delayed list, and add it to the ready list.
\r
2513 If an event is for a queue that is locked then this function will never
\r
2514 get called - the lock count on the queue will get modified instead. This
\r
2515 means exclusive access to the event list is guaranteed here.
\r
2517 This function assumes that a check has already been made to ensure that
\r
2518 pxEventList is not empty. */
\r
2519 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2520 configASSERT( pxUnblockedTCB );
\r
2521 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2523 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2525 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2526 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2530 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2531 pending until the scheduler is resumed. */
\r
2532 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2535 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2537 /* Return true if the task removed from the event list has a higher
\r
2538 priority than the calling task. This allows the calling task to know if
\r
2539 it should force a context switch now. */
\r
2542 /* Mark that a yield is pending in case the user is not using the
\r
2543 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2544 xYieldPending = pdTRUE;
\r
2548 xReturn = pdFALSE;
\r
2551 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2553 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2554 might be set to the blocked task's time out time. If the task is
\r
2555 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2556 normally left unchanged, because it is automatically reset to a new
\r
2557 value when the tick count equals xNextTaskUnblockTime. However if
\r
2558 tickless idling is used it might be more important to enter sleep mode
\r
2559 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2560 ensure it is updated at the earliest possible time. */
\r
2561 prvResetNextTaskUnblockTime();
\r
2567 /*-----------------------------------------------------------*/
\r
2569 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2571 TCB_t *pxUnblockedTCB;
\r
2572 BaseType_t xReturn;
\r
2574 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2575 the event flags implementation. */
\r
2576 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2578 /* Store the new item value in the event list. */
\r
2579 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2581 /* Remove the event list form the event flag. Interrupts do not access
\r
2583 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2584 configASSERT( pxUnblockedTCB );
\r
2585 ( void ) uxListRemove( pxEventListItem );
\r
2587 /* Remove the task from the delayed list and add it to the ready list. The
\r
2588 scheduler is suspended so interrupts will not be accessing the ready
\r
2590 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2591 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2593 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2595 /* Return true if the task removed from the event list has
\r
2596 a higher priority than the calling task. This allows
\r
2597 the calling task to know if it should force a context
\r
2601 /* Mark that a yield is pending in case the user is not using the
\r
2602 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2603 xYieldPending = pdTRUE;
\r
2607 xReturn = pdFALSE;
\r
2612 /*-----------------------------------------------------------*/
\r
2614 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2616 configASSERT( pxTimeOut );
\r
2617 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2618 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2620 /*-----------------------------------------------------------*/
\r
2622 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2624 BaseType_t xReturn;
\r
2626 configASSERT( pxTimeOut );
\r
2627 configASSERT( pxTicksToWait );
\r
2629 taskENTER_CRITICAL();
\r
2631 /* Minor optimisation. The tick count cannot change in this block. */
\r
2632 const TickType_t xConstTickCount = xTickCount;
\r
2634 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2635 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2636 the maximum block time then the task should block indefinitely, and
\r
2637 therefore never time out. */
\r
2638 if( *pxTicksToWait == portMAX_DELAY )
\r
2640 xReturn = pdFALSE;
\r
2642 else /* We are not blocking indefinitely, perform the checks below. */
\r
2645 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2647 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2648 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2649 It must have wrapped all the way around and gone past us again. This
\r
2650 passed since vTaskSetTimeout() was called. */
\r
2653 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2655 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2656 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2657 vTaskSetTimeOutState( pxTimeOut );
\r
2658 xReturn = pdFALSE;
\r
2665 taskEXIT_CRITICAL();
\r
2669 /*-----------------------------------------------------------*/
\r
2671 void vTaskMissedYield( void )
\r
2673 xYieldPending = pdTRUE;
\r
2675 /*-----------------------------------------------------------*/
\r
2677 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2679 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2681 UBaseType_t uxReturn;
\r
2684 if( xTask != NULL )
\r
2686 pxTCB = ( TCB_t * ) xTask;
\r
2687 uxReturn = pxTCB->uxTaskNumber;
\r
2697 #endif /* configUSE_TRACE_FACILITY */
\r
2698 /*-----------------------------------------------------------*/
\r
2700 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2702 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2706 if( xTask != NULL )
\r
2708 pxTCB = ( TCB_t * ) xTask;
\r
2709 pxTCB->uxTaskNumber = uxHandle;
\r
2713 #endif /* configUSE_TRACE_FACILITY */
\r
2716 * -----------------------------------------------------------
\r
2718 * ----------------------------------------------------------
\r
2720 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2721 * language extensions. The equivalent prototype for this function is:
\r
2723 * void prvIdleTask( void *pvParameters );
\r
2726 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2728 /* Stop warnings. */
\r
2729 ( void ) pvParameters;
\r
2733 /* See if any tasks have been deleted. */
\r
2734 prvCheckTasksWaitingTermination();
\r
2736 #if ( configUSE_PREEMPTION == 0 )
\r
2738 /* If we are not using preemption we keep forcing a task switch to
\r
2739 see if any other task has become available. If we are using
\r
2740 preemption we don't need to do this as any task becoming available
\r
2741 will automatically get the processor anyway. */
\r
2744 #endif /* configUSE_PREEMPTION */
\r
2746 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2748 /* When using preemption tasks of equal priority will be
\r
2749 timesliced. If a task that is sharing the idle priority is ready
\r
2750 to run then the idle task should yield before the end of the
\r
2753 A critical region is not required here as we are just reading from
\r
2754 the list, and an occasional incorrect value will not matter. If
\r
2755 the ready list at the idle priority contains more than one task
\r
2756 then a task other than the idle task is ready to execute. */
\r
2757 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2763 mtCOVERAGE_TEST_MARKER();
\r
2766 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2768 #if ( configUSE_IDLE_HOOK == 1 )
\r
2770 extern void vApplicationIdleHook( void );
\r
2772 /* Call the user defined function from within the idle task. This
\r
2773 allows the application designer to add background functionality
\r
2774 without the overhead of a separate task.
\r
2775 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2776 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2777 vApplicationIdleHook();
\r
2779 #endif /* configUSE_IDLE_HOOK */
\r
2781 /* This conditional compilation should use inequality to 0, not equality
\r
2782 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2783 user defined low power mode implementations require
\r
2784 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2785 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2787 TickType_t xExpectedIdleTime;
\r
2789 /* It is not desirable to suspend then resume the scheduler on
\r
2790 each iteration of the idle task. Therefore, a preliminary
\r
2791 test of the expected idle time is performed without the
\r
2792 scheduler suspended. The result here is not necessarily
\r
2794 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2796 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2798 vTaskSuspendAll();
\r
2800 /* Now the scheduler is suspended, the expected idle
\r
2801 time can be sampled again, and this time its value can
\r
2803 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2804 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2806 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2808 traceLOW_POWER_IDLE_BEGIN();
\r
2809 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2810 traceLOW_POWER_IDLE_END();
\r
2814 mtCOVERAGE_TEST_MARKER();
\r
2817 ( void ) xTaskResumeAll();
\r
2821 mtCOVERAGE_TEST_MARKER();
\r
2824 #endif /* configUSE_TICKLESS_IDLE */
\r
2827 /*-----------------------------------------------------------*/
\r
2829 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2831 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2833 /* The idle task exists in addition to the application tasks. */
\r
2834 const UBaseType_t uxNonApplicationTasks = 1;
\r
2835 eSleepModeStatus eReturn = eStandardSleep;
\r
2837 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2839 /* A task was made ready while the scheduler was suspended. */
\r
2840 eReturn = eAbortSleep;
\r
2842 else if( xYieldPending != pdFALSE )
\r
2844 /* A yield was pended while the scheduler was suspended. */
\r
2845 eReturn = eAbortSleep;
\r
2849 /* If all the tasks are in the suspended list (which might mean they
\r
2850 have an infinite block time rather than actually being suspended)
\r
2851 then it is safe to turn all clocks off and just wait for external
\r
2853 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2855 eReturn = eNoTasksWaitingTimeout;
\r
2859 mtCOVERAGE_TEST_MARKER();
\r
2866 #endif /* configUSE_TICKLESS_IDLE */
\r
2867 /*-----------------------------------------------------------*/
\r
2869 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2873 /* Store the task name in the TCB. */
\r
2874 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2876 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2878 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2879 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2880 string is not accessible (extremely unlikely). */
\r
2881 if( pcName[ x ] == 0x00 )
\r
2887 mtCOVERAGE_TEST_MARKER();
\r
2891 /* Ensure the name string is terminated in the case that the string length
\r
2892 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2893 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2895 /* This is used as an array index so must ensure it's not too large. First
\r
2896 remove the privilege bit if one is present. */
\r
2897 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2899 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2903 mtCOVERAGE_TEST_MARKER();
\r
2906 pxTCB->uxPriority = uxPriority;
\r
2907 #if ( configUSE_MUTEXES == 1 )
\r
2909 pxTCB->uxBasePriority = uxPriority;
\r
2910 pxTCB->uxMutexesHeld = 0;
\r
2912 #endif /* configUSE_MUTEXES */
\r
2914 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2915 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2917 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2918 back to the containing TCB from a generic item in a list. */
\r
2919 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2921 /* Event lists are always in priority order. */
\r
2922 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2923 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2925 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2927 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2929 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2931 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2933 pxTCB->pxTaskTag = NULL;
\r
2935 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2937 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2939 pxTCB->ulRunTimeCounter = 0UL;
\r
2941 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2943 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2945 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2947 #else /* portUSING_MPU_WRAPPERS */
\r
2949 ( void ) xRegions;
\r
2950 ( void ) usStackDepth;
\r
2952 #endif /* portUSING_MPU_WRAPPERS */
\r
2954 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2956 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
2958 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
2963 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2965 pxTCB->ulNotifiedValue = 0;
\r
2966 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2970 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2972 /* Initialise this task's Newlib reent structure. */
\r
2973 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2975 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2977 /*-----------------------------------------------------------*/
\r
2979 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2981 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
2985 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
2987 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
2988 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
2992 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
2993 /*-----------------------------------------------------------*/
\r
2995 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
2997 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
2999 void *pvReturn = NULL;
\r
3002 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3004 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3005 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3015 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3016 /*-----------------------------------------------------------*/
\r
3018 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3020 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3024 /* If null is passed in here then we are modifying the MPU settings of
\r
3025 the calling task. */
\r
3026 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3028 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3031 #endif /* portUSING_MPU_WRAPPERS */
\r
3032 /*-----------------------------------------------------------*/
\r
3034 static void prvInitialiseTaskLists( void )
\r
3036 UBaseType_t uxPriority;
\r
3038 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3040 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3043 vListInitialise( &xDelayedTaskList1 );
\r
3044 vListInitialise( &xDelayedTaskList2 );
\r
3045 vListInitialise( &xPendingReadyList );
\r
3047 #if ( INCLUDE_vTaskDelete == 1 )
\r
3049 vListInitialise( &xTasksWaitingTermination );
\r
3051 #endif /* INCLUDE_vTaskDelete */
\r
3053 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3055 vListInitialise( &xSuspendedTaskList );
\r
3057 #endif /* INCLUDE_vTaskSuspend */
\r
3059 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3061 pxDelayedTaskList = &xDelayedTaskList1;
\r
3062 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3064 /*-----------------------------------------------------------*/
\r
3066 static void prvCheckTasksWaitingTermination( void )
\r
3068 #if ( INCLUDE_vTaskDelete == 1 )
\r
3070 BaseType_t xListIsEmpty;
\r
3072 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3073 too often in the idle task. */
\r
3074 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
3076 vTaskSuspendAll();
\r
3078 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3080 ( void ) xTaskResumeAll();
\r
3082 if( xListIsEmpty == pdFALSE )
\r
3086 taskENTER_CRITICAL();
\r
3088 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3089 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3090 --uxCurrentNumberOfTasks;
\r
3093 taskEXIT_CRITICAL();
\r
3095 prvDeleteTCB( pxTCB );
\r
3099 mtCOVERAGE_TEST_MARKER();
\r
3103 #endif /* vTaskDelete */
\r
3105 /*-----------------------------------------------------------*/
\r
3107 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3109 /* The list item will be inserted in wake time order. */
\r
3110 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3112 if( xTimeToWake < xTickCount )
\r
3114 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3115 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3119 /* The wake time has not overflowed, so the current block list is used. */
\r
3120 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3122 /* If the task entering the blocked state was placed at the head of the
\r
3123 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3125 if( xTimeToWake < xNextTaskUnblockTime )
\r
3127 xNextTaskUnblockTime = xTimeToWake;
\r
3131 mtCOVERAGE_TEST_MARKER();
\r
3135 /*-----------------------------------------------------------*/
\r
3137 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3141 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3142 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3143 the TCB then the stack. */
\r
3144 #if( portSTACK_GROWTH > 0 )
\r
3146 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3147 the implementation of the port malloc function. */
\r
3148 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3150 if( pxNewTCB != NULL )
\r
3152 /* Allocate space for the stack used by the task being created.
\r
3153 The base of the stack memory stored in the TCB so the task can
\r
3154 be deleted later if required. */
\r
3155 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3157 if( pxNewTCB->pxStack == NULL )
\r
3159 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3160 vPortFree( pxNewTCB );
\r
3165 #else /* portSTACK_GROWTH */
\r
3167 StackType_t *pxStack;
\r
3169 /* Allocate space for the stack used by the task being created. */
\r
3170 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3172 if( pxStack != NULL )
\r
3174 /* Allocate space for the TCB. Where the memory comes from depends
\r
3175 on the implementation of the port malloc function. */
\r
3176 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3178 if( pxNewTCB != NULL )
\r
3180 /* Store the stack location in the TCB. */
\r
3181 pxNewTCB->pxStack = pxStack;
\r
3185 /* The stack cannot be used as the TCB was not created. Free it
\r
3187 if( puxStackBuffer == NULL )
\r
3189 vPortFree( pxStack );
\r
3198 #endif /* portSTACK_GROWTH */
\r
3200 if( pxNewTCB != NULL )
\r
3202 /* Avoid dependency on memset() if it is not required. */
\r
3203 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3205 /* Just to help debugging. */
\r
3206 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3208 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3213 /*-----------------------------------------------------------*/
\r
3215 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3217 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3219 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3220 UBaseType_t uxTask = 0;
\r
3222 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3224 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3226 /* Populate an TaskStatus_t structure within the
\r
3227 pxTaskStatusArray array for each task that is referenced from
\r
3228 pxList. See the definition of TaskStatus_t in task.h for the
\r
3229 meaning of each TaskStatus_t structure member. */
\r
3232 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3234 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3235 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3236 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3237 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3238 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3240 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3242 /* If the task is in the suspended list then there is a chance
\r
3243 it is actually just blocked indefinitely - so really it should
\r
3244 be reported as being in the Blocked state. */
\r
3245 if( eState == eSuspended )
\r
3247 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3249 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3253 #endif /* INCLUDE_vTaskSuspend */
\r
3255 #if ( configUSE_MUTEXES == 1 )
\r
3257 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3261 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3265 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3267 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3271 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3275 #if ( portSTACK_GROWTH > 0 )
\r
3277 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3281 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3287 } while( pxNextTCB != pxFirstTCB );
\r
3291 mtCOVERAGE_TEST_MARKER();
\r
3297 #endif /* configUSE_TRACE_FACILITY */
\r
3298 /*-----------------------------------------------------------*/
\r
3300 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3302 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3304 uint32_t ulCount = 0U;
\r
3306 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3308 pucStackByte -= portSTACK_GROWTH;
\r
3312 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3314 return ( uint16_t ) ulCount;
\r
3317 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3318 /*-----------------------------------------------------------*/
\r
3320 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3322 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3325 uint8_t *pucEndOfStack;
\r
3326 UBaseType_t uxReturn;
\r
3328 pxTCB = prvGetTCBFromHandle( xTask );
\r
3330 #if portSTACK_GROWTH < 0
\r
3332 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3336 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3340 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3345 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3346 /*-----------------------------------------------------------*/
\r
3348 #if ( INCLUDE_vTaskDelete == 1 )
\r
3350 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3352 /* This call is required specifically for the TriCore port. It must be
\r
3353 above the vPortFree() calls. The call is also used by ports/demos that
\r
3354 want to allocate and clean RAM statically. */
\r
3355 portCLEAN_UP_TCB( pxTCB );
\r
3357 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3358 to the task to free any memory allocated at the application level. */
\r
3359 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3361 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3363 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3365 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3367 /* Only free the stack if it was allocated dynamically in the first
\r
3369 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3371 vPortFreeAligned( pxTCB->pxStack );
\r
3376 vPortFreeAligned( pxTCB->pxStack );
\r
3380 vPortFree( pxTCB );
\r
3383 #endif /* INCLUDE_vTaskDelete */
\r
3384 /*-----------------------------------------------------------*/
\r
3386 static void prvResetNextTaskUnblockTime( void )
\r
3390 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3392 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3393 the maximum possible value so it is extremely unlikely that the
\r
3394 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3395 there is an item in the delayed list. */
\r
3396 xNextTaskUnblockTime = portMAX_DELAY;
\r
3400 /* The new current delayed list is not empty, get the value of
\r
3401 the item at the head of the delayed list. This is the time at
\r
3402 which the task at the head of the delayed list should be removed
\r
3403 from the Blocked state. */
\r
3404 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3405 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3408 /*-----------------------------------------------------------*/
\r
3410 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3412 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3414 TaskHandle_t xReturn;
\r
3416 /* A critical section is not required as this is not called from
\r
3417 an interrupt and the current TCB will always be the same for any
\r
3418 individual execution thread. */
\r
3419 xReturn = pxCurrentTCB;
\r
3424 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3425 /*-----------------------------------------------------------*/
\r
3427 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3429 BaseType_t xTaskGetSchedulerState( void )
\r
3431 BaseType_t xReturn;
\r
3433 if( xSchedulerRunning == pdFALSE )
\r
3435 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3439 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3441 xReturn = taskSCHEDULER_RUNNING;
\r
3445 xReturn = taskSCHEDULER_SUSPENDED;
\r
3452 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3453 /*-----------------------------------------------------------*/
\r
3455 #if ( configUSE_MUTEXES == 1 )
\r
3457 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3459 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3461 /* If the mutex was given back by an interrupt while the queue was
\r
3462 locked then the mutex holder might now be NULL. */
\r
3463 if( pxMutexHolder != NULL )
\r
3465 /* If the holder of the mutex has a priority below the priority of
\r
3466 the task attempting to obtain the mutex then it will temporarily
\r
3467 inherit the priority of the task attempting to obtain the mutex. */
\r
3468 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3470 /* Adjust the mutex holder state to account for its new
\r
3471 priority. Only reset the event list item value if the value is
\r
3472 not being used for anything else. */
\r
3473 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3475 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3479 mtCOVERAGE_TEST_MARKER();
\r
3482 /* If the task being modified is in the ready state it will need
\r
3483 to be moved into a new list. */
\r
3484 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3486 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3488 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3492 mtCOVERAGE_TEST_MARKER();
\r
3495 /* Inherit the priority before being moved into the new list. */
\r
3496 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3497 prvAddTaskToReadyList( pxTCB );
\r
3501 /* Just inherit the priority. */
\r
3502 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3505 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3509 mtCOVERAGE_TEST_MARKER();
\r
3514 mtCOVERAGE_TEST_MARKER();
\r
3518 #endif /* configUSE_MUTEXES */
\r
3519 /*-----------------------------------------------------------*/
\r
3521 #if ( configUSE_MUTEXES == 1 )
\r
3523 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3525 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3526 BaseType_t xReturn = pdFALSE;
\r
3528 if( pxMutexHolder != NULL )
\r
3530 /* A task can only have an inherited priority if it holds the mutex.
\r
3531 If the mutex is held by a task then it cannot be given from an
\r
3532 interrupt, and if a mutex is given by the holding task then it must
\r
3533 be the running state task. */
\r
3534 configASSERT( pxTCB == pxCurrentTCB );
\r
3536 configASSERT( pxTCB->uxMutexesHeld );
\r
3537 ( pxTCB->uxMutexesHeld )--;
\r
3539 /* Has the holder of the mutex inherited the priority of another
\r
3541 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3543 /* Only disinherit if no other mutexes are held. */
\r
3544 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3546 /* A task can only have an inherited priority if it holds
\r
3547 the mutex. If the mutex is held by a task then it cannot be
\r
3548 given from an interrupt, and if a mutex is given by the
\r
3549 holding task then it must be the running state task. Remove
\r
3550 the holding task from the ready list. */
\r
3551 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3553 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3557 mtCOVERAGE_TEST_MARKER();
\r
3560 /* Disinherit the priority before adding the task into the
\r
3561 new ready list. */
\r
3562 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3563 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3565 /* Reset the event list item value. It cannot be in use for
\r
3566 any other purpose if this task is running, and it must be
\r
3567 running to give back the mutex. */
\r
3568 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
3569 prvAddTaskToReadyList( pxTCB );
\r
3571 /* Return true to indicate that a context switch is required.
\r
3572 This is only actually required in the corner case whereby
\r
3573 multiple mutexes were held and the mutexes were given back
\r
3574 in an order different to that in which they were taken.
\r
3575 If a context switch did not occur when the first mutex was
\r
3576 returned, even if a task was waiting on it, then a context
\r
3577 switch should occur when the last mutex is returned whether
\r
3578 a task is waiting on it or not. */
\r
3583 mtCOVERAGE_TEST_MARKER();
\r
3588 mtCOVERAGE_TEST_MARKER();
\r
3593 mtCOVERAGE_TEST_MARKER();
\r
3599 #endif /* configUSE_MUTEXES */
\r
3600 /*-----------------------------------------------------------*/
\r
3602 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3604 void vTaskEnterCritical( void )
\r
3606 portDISABLE_INTERRUPTS();
\r
3608 if( xSchedulerRunning != pdFALSE )
\r
3610 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3612 /* This is not the interrupt safe version of the enter critical
\r
3613 function so assert() if it is being called from an interrupt
\r
3614 context. Only API functions that end in "FromISR" can be used in an
\r
3615 interrupt. Only assert if the critical nesting count is 1 to
\r
3616 protect against recursive calls if the assert function also uses a
\r
3617 critical section. */
\r
3618 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3620 portASSERT_IF_IN_ISR();
\r
3625 mtCOVERAGE_TEST_MARKER();
\r
3629 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3630 /*-----------------------------------------------------------*/
\r
3632 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3634 void vTaskExitCritical( void )
\r
3636 if( xSchedulerRunning != pdFALSE )
\r
3638 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3640 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3642 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3644 portENABLE_INTERRUPTS();
\r
3648 mtCOVERAGE_TEST_MARKER();
\r
3653 mtCOVERAGE_TEST_MARKER();
\r
3658 mtCOVERAGE_TEST_MARKER();
\r
3662 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3663 /*-----------------------------------------------------------*/
\r
3665 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3667 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3671 /* Start by copying the entire string. */
\r
3672 strcpy( pcBuffer, pcTaskName );
\r
3674 /* Pad the end of the string with spaces to ensure columns line up when
\r
3676 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3678 pcBuffer[ x ] = ' ';
\r
3682 pcBuffer[ x ] = 0x00;
\r
3684 /* Return the new end of string. */
\r
3685 return &( pcBuffer[ x ] );
\r
3688 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3689 /*-----------------------------------------------------------*/
\r
3691 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3693 void vTaskList( char * pcWriteBuffer )
\r
3695 TaskStatus_t *pxTaskStatusArray;
\r
3696 volatile UBaseType_t uxArraySize, x;
\r
3702 * This function is provided for convenience only, and is used by many
\r
3703 * of the demo applications. Do not consider it to be part of the
\r
3706 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3707 * uxTaskGetSystemState() output into a human readable table that
\r
3708 * displays task names, states and stack usage.
\r
3710 * vTaskList() has a dependency on the sprintf() C library function that
\r
3711 * might bloat the code size, use a lot of stack, and provide different
\r
3712 * results on different platforms. An alternative, tiny, third party,
\r
3713 * and limited functionality implementation of sprintf() is provided in
\r
3714 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3715 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3716 * snprintf() implementation!).
\r
3718 * It is recommended that production systems call uxTaskGetSystemState()
\r
3719 * directly to get access to raw stats data, rather than indirectly
\r
3720 * through a call to vTaskList().
\r
3724 /* Make sure the write buffer does not contain a string. */
\r
3725 *pcWriteBuffer = 0x00;
\r
3727 /* Take a snapshot of the number of tasks in case it changes while this
\r
3728 function is executing. */
\r
3729 uxArraySize = uxCurrentNumberOfTasks;
\r
3731 /* Allocate an array index for each task. */
\r
3732 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3734 if( pxTaskStatusArray != NULL )
\r
3736 /* Generate the (binary) data. */
\r
3737 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3739 /* Create a human readable table from the binary data. */
\r
3740 for( x = 0; x < uxArraySize; x++ )
\r
3742 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3744 case eReady: cStatus = tskREADY_CHAR;
\r
3747 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3750 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3753 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3756 default: /* Should not get here, but it is included
\r
3757 to prevent static checking errors. */
\r
3762 /* Write the task name to the string, padding with spaces so it
\r
3763 can be printed in tabular form more easily. */
\r
3764 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3766 /* Write the rest of the string. */
\r
3767 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3768 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3771 /* Free the array again. */
\r
3772 vPortFree( pxTaskStatusArray );
\r
3776 mtCOVERAGE_TEST_MARKER();
\r
3780 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3781 /*----------------------------------------------------------*/
\r
3783 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3785 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3787 TaskStatus_t *pxTaskStatusArray;
\r
3788 volatile UBaseType_t uxArraySize, x;
\r
3789 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3791 #if( configUSE_TRACE_FACILITY != 1 )
\r
3793 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3800 * This function is provided for convenience only, and is used by many
\r
3801 * of the demo applications. Do not consider it to be part of the
\r
3804 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3805 * of the uxTaskGetSystemState() output into a human readable table that
\r
3806 * displays the amount of time each task has spent in the Running state
\r
3807 * in both absolute and percentage terms.
\r
3809 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3810 * function that might bloat the code size, use a lot of stack, and
\r
3811 * provide different results on different platforms. An alternative,
\r
3812 * tiny, third party, and limited functionality implementation of
\r
3813 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3814 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3815 * a full snprintf() implementation!).
\r
3817 * It is recommended that production systems call uxTaskGetSystemState()
\r
3818 * directly to get access to raw stats data, rather than indirectly
\r
3819 * through a call to vTaskGetRunTimeStats().
\r
3822 /* Make sure the write buffer does not contain a string. */
\r
3823 *pcWriteBuffer = 0x00;
\r
3825 /* Take a snapshot of the number of tasks in case it changes while this
\r
3826 function is executing. */
\r
3827 uxArraySize = uxCurrentNumberOfTasks;
\r
3829 /* Allocate an array index for each task. */
\r
3830 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3832 if( pxTaskStatusArray != NULL )
\r
3834 /* Generate the (binary) data. */
\r
3835 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3837 /* For percentage calculations. */
\r
3838 ulTotalTime /= 100UL;
\r
3840 /* Avoid divide by zero errors. */
\r
3841 if( ulTotalTime > 0 )
\r
3843 /* Create a human readable table from the binary data. */
\r
3844 for( x = 0; x < uxArraySize; x++ )
\r
3846 /* What percentage of the total run time has the task used?
\r
3847 This will always be rounded down to the nearest integer.
\r
3848 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3849 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3851 /* Write the task name to the string, padding with
\r
3852 spaces so it can be printed in tabular form more
\r
3854 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3856 if( ulStatsAsPercentage > 0UL )
\r
3858 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3860 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3864 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3865 printf() library can be used. */
\r
3866 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3872 /* If the percentage is zero here then the task has
\r
3873 consumed less than 1% of the total run time. */
\r
3874 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3876 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3880 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3881 printf() library can be used. */
\r
3882 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3887 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3892 mtCOVERAGE_TEST_MARKER();
\r
3895 /* Free the array again. */
\r
3896 vPortFree( pxTaskStatusArray );
\r
3900 mtCOVERAGE_TEST_MARKER();
\r
3904 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3905 /*-----------------------------------------------------------*/
\r
3907 TickType_t uxTaskResetEventItemValue( void )
\r
3909 TickType_t uxReturn;
\r
3911 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3913 /* Reset the event list item to its normal value - so it can be used with
\r
3914 queues and semaphores. */
\r
3915 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
3919 /*-----------------------------------------------------------*/
\r
3921 #if ( configUSE_MUTEXES == 1 )
\r
3923 void *pvTaskIncrementMutexHeldCount( void )
\r
3925 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3926 then pxCurrentTCB will be NULL. */
\r
3927 if( pxCurrentTCB != NULL )
\r
3929 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3932 return pxCurrentTCB;
\r
3935 #endif /* configUSE_MUTEXES */
\r
3936 /*-----------------------------------------------------------*/
\r
3938 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3940 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3942 TickType_t xTimeToWake;
\r
3943 uint32_t ulReturn;
\r
3945 taskENTER_CRITICAL();
\r
3947 /* Only block if the notification count is not already non-zero. */
\r
3948 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3950 /* Mark this task as waiting for a notification. */
\r
3951 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3953 if( xTicksToWait > ( TickType_t ) 0 )
\r
3955 /* The task is going to block. First it must be removed
\r
3956 from the ready list. */
\r
3957 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3959 /* The current task must be in a ready list, so there is
\r
3960 no need to check, and the port reset macro can be called
\r
3962 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3966 mtCOVERAGE_TEST_MARKER();
\r
3969 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3971 if( xTicksToWait == portMAX_DELAY )
\r
3973 /* Add the task to the suspended task list instead
\r
3974 of a delayed task list to ensure the task is not
\r
3975 woken by a timing event. It will block
\r
3977 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3981 /* Calculate the time at which the task should be
\r
3982 woken if no notification events occur. This may
\r
3983 overflow but this doesn't matter, the scheduler will
\r
3985 xTimeToWake = xTickCount + xTicksToWait;
\r
3986 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3989 #else /* INCLUDE_vTaskSuspend */
\r
3991 /* Calculate the time at which the task should be
\r
3992 woken if the event does not occur. This may
\r
3993 overflow but this doesn't matter, the scheduler will
\r
3995 xTimeToWake = xTickCount + xTicksToWait;
\r
3996 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3998 #endif /* INCLUDE_vTaskSuspend */
\r
4000 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4002 /* All ports are written to allow a yield in a critical
\r
4003 section (some will yield immediately, others wait until the
\r
4004 critical section exits) - but it is not something that
\r
4005 application code should ever do. */
\r
4006 portYIELD_WITHIN_API();
\r
4010 mtCOVERAGE_TEST_MARKER();
\r
4015 mtCOVERAGE_TEST_MARKER();
\r
4018 taskEXIT_CRITICAL();
\r
4020 taskENTER_CRITICAL();
\r
4022 traceTASK_NOTIFY_TAKE();
\r
4023 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4025 if( ulReturn != 0UL )
\r
4027 if( xClearCountOnExit != pdFALSE )
\r
4029 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4033 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4038 mtCOVERAGE_TEST_MARKER();
\r
4041 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4043 taskEXIT_CRITICAL();
\r
4048 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4049 /*-----------------------------------------------------------*/
\r
4051 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4053 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4055 TickType_t xTimeToWake;
\r
4056 BaseType_t xReturn;
\r
4058 taskENTER_CRITICAL();
\r
4060 /* Only block if a notification is not already pending. */
\r
4061 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4063 /* Clear bits in the task's notification value as bits may get
\r
4064 set by the notifying task or interrupt. This can be used to
\r
4065 clear the value to zero. */
\r
4066 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4068 /* Mark this task as waiting for a notification. */
\r
4069 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4071 if( xTicksToWait > ( TickType_t ) 0 )
\r
4073 /* The task is going to block. First it must be removed
\r
4074 from the ready list. */
\r
4075 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4077 /* The current task must be in a ready list, so there is
\r
4078 no need to check, and the port reset macro can be called
\r
4080 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4084 mtCOVERAGE_TEST_MARKER();
\r
4087 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4089 if( xTicksToWait == portMAX_DELAY )
\r
4091 /* Add the task to the suspended task list instead
\r
4092 of a delayed task list to ensure the task is not
\r
4093 woken by a timing event. It will block
\r
4095 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4099 /* Calculate the time at which the task should be
\r
4100 woken if no notification events occur. This may
\r
4101 overflow but this doesn't matter, the scheduler will
\r
4103 xTimeToWake = xTickCount + xTicksToWait;
\r
4104 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4107 #else /* INCLUDE_vTaskSuspend */
\r
4109 /* Calculate the time at which the task should be
\r
4110 woken if the event does not occur. This may
\r
4111 overflow but this doesn't matter, the scheduler will
\r
4113 xTimeToWake = xTickCount + xTicksToWait;
\r
4114 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4116 #endif /* INCLUDE_vTaskSuspend */
\r
4118 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4120 /* All ports are written to allow a yield in a critical
\r
4121 section (some will yield immediately, others wait until the
\r
4122 critical section exits) - but it is not something that
\r
4123 application code should ever do. */
\r
4124 portYIELD_WITHIN_API();
\r
4128 mtCOVERAGE_TEST_MARKER();
\r
4133 mtCOVERAGE_TEST_MARKER();
\r
4136 taskEXIT_CRITICAL();
\r
4138 taskENTER_CRITICAL();
\r
4140 traceTASK_NOTIFY_WAIT();
\r
4142 if( pulNotificationValue != NULL )
\r
4144 /* Output the current notification value, which may or may not
\r
4146 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4149 /* If eNotifyValue is set then either the task never entered the
\r
4150 blocked state (because a notification was already pending) or the
\r
4151 task unblocked because of a notification. Otherwise the task
\r
4152 unblocked because of a timeout. */
\r
4153 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4155 /* A notification was not received. */
\r
4156 xReturn = pdFALSE;
\r
4160 /* A notification was already pending or a notification was
\r
4161 received while the task was waiting. */
\r
4162 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4166 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4168 taskEXIT_CRITICAL();
\r
4173 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4174 /*-----------------------------------------------------------*/
\r
4176 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4178 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4181 eNotifyValue eOriginalNotifyState;
\r
4182 BaseType_t xReturn = pdPASS;
\r
4184 configASSERT( xTaskToNotify );
\r
4185 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4187 taskENTER_CRITICAL();
\r
4189 if( pulPreviousNotificationValue != NULL )
\r
4191 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4194 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4196 pxTCB->eNotifyState = eNotified;
\r
4201 pxTCB->ulNotifiedValue |= ulValue;
\r
4205 ( pxTCB->ulNotifiedValue )++;
\r
4208 case eSetValueWithOverwrite :
\r
4209 pxTCB->ulNotifiedValue = ulValue;
\r
4212 case eSetValueWithoutOverwrite :
\r
4213 if( eOriginalNotifyState != eNotified )
\r
4215 pxTCB->ulNotifiedValue = ulValue;
\r
4219 /* The value could not be written to the task. */
\r
4225 /* The task is being notified without its notify value being
\r
4230 traceTASK_NOTIFY();
\r
4232 /* If the task is in the blocked state specifically to wait for a
\r
4233 notification then unblock it now. */
\r
4234 if( eOriginalNotifyState == eWaitingNotification )
\r
4236 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4237 prvAddTaskToReadyList( pxTCB );
\r
4239 /* The task should not have been on an event list. */
\r
4240 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4242 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4244 /* If a task is blocked waiting for a notification then
\r
4245 xNextTaskUnblockTime might be set to the blocked task's time
\r
4246 out time. If the task is unblocked for a reason other than
\r
4247 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4248 because it will automatically get reset to a new value when
\r
4249 the tick count equals xNextTaskUnblockTime. However if
\r
4250 tickless idling is used it might be more important to enter
\r
4251 sleep mode at the earliest possible time - so reset
\r
4252 xNextTaskUnblockTime here to ensure it is updated at the
\r
4253 earliest possible time. */
\r
4254 prvResetNextTaskUnblockTime();
\r
4258 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4260 /* The notified task has a priority above the currently
\r
4261 executing task so a yield is required. */
\r
4262 taskYIELD_IF_USING_PREEMPTION();
\r
4266 mtCOVERAGE_TEST_MARKER();
\r
4271 mtCOVERAGE_TEST_MARKER();
\r
4274 taskEXIT_CRITICAL();
\r
4279 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4280 /*-----------------------------------------------------------*/
\r
4282 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4284 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4287 eNotifyValue eOriginalNotifyState;
\r
4288 BaseType_t xReturn = pdPASS;
\r
4289 UBaseType_t uxSavedInterruptStatus;
\r
4291 configASSERT( xTaskToNotify );
\r
4293 /* RTOS ports that support interrupt nesting have the concept of a
\r
4294 maximum system call (or maximum API call) interrupt priority.
\r
4295 Interrupts that are above the maximum system call priority are keep
\r
4296 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4297 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4298 is defined in FreeRTOSConfig.h then
\r
4299 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4300 failure if a FreeRTOS API function is called from an interrupt that has
\r
4301 been assigned a priority above the configured maximum system call
\r
4302 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4303 from interrupts that have been assigned a priority at or (logically)
\r
4304 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4305 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4306 simple as possible. More information (albeit Cortex-M specific) is
\r
4307 provided on the following link:
\r
4308 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4309 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4311 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4313 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4315 if( pulPreviousNotificationValue != NULL )
\r
4317 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4320 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4321 pxTCB->eNotifyState = eNotified;
\r
4326 pxTCB->ulNotifiedValue |= ulValue;
\r
4330 ( pxTCB->ulNotifiedValue )++;
\r
4333 case eSetValueWithOverwrite :
\r
4334 pxTCB->ulNotifiedValue = ulValue;
\r
4337 case eSetValueWithoutOverwrite :
\r
4338 if( eOriginalNotifyState != eNotified )
\r
4340 pxTCB->ulNotifiedValue = ulValue;
\r
4344 /* The value could not be written to the task. */
\r
4350 /* The task is being notified without its notify value being
\r
4355 traceTASK_NOTIFY_FROM_ISR();
\r
4357 /* If the task is in the blocked state specifically to wait for a
\r
4358 notification then unblock it now. */
\r
4359 if( eOriginalNotifyState == eWaitingNotification )
\r
4361 /* The task should not have been on an event list. */
\r
4362 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4364 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4366 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4367 prvAddTaskToReadyList( pxTCB );
\r
4371 /* The delayed and ready lists cannot be accessed, so hold
\r
4372 this task pending until the scheduler is resumed. */
\r
4373 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4376 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4378 /* The notified task has a priority above the currently
\r
4379 executing task so a yield is required. */
\r
4380 if( pxHigherPriorityTaskWoken != NULL )
\r
4382 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4387 mtCOVERAGE_TEST_MARKER();
\r
4391 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4396 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4397 /*-----------------------------------------------------------*/
\r
4399 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4401 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4404 eNotifyValue eOriginalNotifyState;
\r
4405 UBaseType_t uxSavedInterruptStatus;
\r
4407 configASSERT( xTaskToNotify );
\r
4409 /* RTOS ports that support interrupt nesting have the concept of a
\r
4410 maximum system call (or maximum API call) interrupt priority.
\r
4411 Interrupts that are above the maximum system call priority are keep
\r
4412 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4413 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4414 is defined in FreeRTOSConfig.h then
\r
4415 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4416 failure if a FreeRTOS API function is called from an interrupt that has
\r
4417 been assigned a priority above the configured maximum system call
\r
4418 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4419 from interrupts that have been assigned a priority at or (logically)
\r
4420 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4421 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4422 simple as possible. More information (albeit Cortex-M specific) is
\r
4423 provided on the following link:
\r
4424 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4425 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4427 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4429 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4431 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4432 pxTCB->eNotifyState = eNotified;
\r
4434 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4436 ( pxTCB->ulNotifiedValue )++;
\r
4438 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4440 /* If the task is in the blocked state specifically to wait for a
\r
4441 notification then unblock it now. */
\r
4442 if( eOriginalNotifyState == eWaitingNotification )
\r
4444 /* The task should not have been on an event list. */
\r
4445 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4447 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4449 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4450 prvAddTaskToReadyList( pxTCB );
\r
4454 /* The delayed and ready lists cannot be accessed, so hold
\r
4455 this task pending until the scheduler is resumed. */
\r
4456 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4459 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4461 /* The notified task has a priority above the currently
\r
4462 executing task so a yield is required. */
\r
4463 if( pxHigherPriorityTaskWoken != NULL )
\r
4465 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4470 mtCOVERAGE_TEST_MARKER();
\r
4474 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4477 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4479 /*-----------------------------------------------------------*/
\r
4481 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4483 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4486 BaseType_t xReturn;
\r
4488 pxTCB = ( TCB_t * ) xTask;
\r
4490 /* If null is passed in here then it is the calling task that is having
\r
4491 its notification state cleared. */
\r
4492 pxTCB = prvGetTCBFromHandle( pxTCB );
\r
4494 taskENTER_CRITICAL();
\r
4496 if( pxTCB->eNotifyState == eNotified )
\r
4498 pxTCB->eNotifyState = eNotWaitingNotification;
\r
4506 taskEXIT_CRITICAL();
\r
4511 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4513 #ifdef FREERTOS_MODULE_TEST
\r
4514 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob