2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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44 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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45 header files above, but not in this file, in order to generate the correct
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46 privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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79 dynamically allocated RAM, in which case when any task is deleted it is known
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80 that both the task's stack and TCB need to be freed. Sometimes the
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81 FreeRTOSConfig.h settings only allow a task to be created using statically
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82 allocated RAM, in which case when any task is deleted it is known that neither
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83 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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84 settings allow a task to be created using either statically or dynamically
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85 allocated RAM, in which case a member of the TCB is used to record whether the
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86 stack and/or TCB were allocated statically or dynamically, so when a task is
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87 deleted the RAM that was allocated dynamically is freed again and no attempt is
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88 made to free the RAM that was allocated statically.
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89 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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90 task to be created using either statically or dynamically allocated RAM. Note
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91 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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92 a statically allocated stack and a dynamically allocated TCB.
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93 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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94 changed then the definition of StaticTask_t must also be updated. */
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95 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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96 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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97 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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98 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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100 /* If any of the following are set then task stacks are filled with a known
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101 value so the high water mark can be determined. If none of the following are
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102 set then don't fill the stack so there is no unnecessary dependency on memset. */
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103 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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104 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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106 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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110 * Macros used by vListTask to indicate which state a task is in.
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112 #define tskRUNNING_CHAR ( 'X' )
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113 #define tskBLOCKED_CHAR ( 'B' )
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114 #define tskREADY_CHAR ( 'R' )
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115 #define tskDELETED_CHAR ( 'D' )
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116 #define tskSUSPENDED_CHAR ( 'S' )
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119 * Some kernel aware debuggers require the data the debugger needs access to be
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120 * global, rather than file scope.
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122 #ifdef portREMOVE_STATIC_QUALIFIER
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126 /* The name allocated to the Idle task. This can be overridden by defining
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127 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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128 #ifndef configIDLE_TASK_NAME
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129 #define configIDLE_TASK_NAME "IDLE"
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132 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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134 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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135 performed in a generic way that is not optimised to any particular
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136 microcontroller architecture. */
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138 /* uxTopReadyPriority holds the priority of the highest priority ready
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140 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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142 if( ( uxPriority ) > uxTopReadyPriority ) \
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144 uxTopReadyPriority = ( uxPriority ); \
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146 } /* taskRECORD_READY_PRIORITY */
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148 /*-----------------------------------------------------------*/
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150 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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152 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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154 /* Find the highest priority queue that contains ready tasks. */ \
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155 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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157 configASSERT( uxTopPriority ); \
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161 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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162 the same priority get an equal share of the processor time. */ \
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163 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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164 uxTopReadyPriority = uxTopPriority; \
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165 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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167 /*-----------------------------------------------------------*/
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169 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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170 they are only required when a port optimised method of task selection is
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172 #define taskRESET_READY_PRIORITY( uxPriority )
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173 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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175 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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177 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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178 performed in a way that is tailored to the particular microcontroller
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179 architecture being used. */
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181 /* A port optimised version is provided. Call the port defined macros. */
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182 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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184 /*-----------------------------------------------------------*/
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186 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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188 UBaseType_t uxTopPriority; \
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190 /* Find the highest priority list that contains ready tasks. */ \
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191 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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192 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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193 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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194 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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196 /*-----------------------------------------------------------*/
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198 /* A port optimised version is provided, call it only if the TCB being reset
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199 is being referenced from a ready list. If it is referenced from a delayed
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200 or suspended list then it won't be in a ready list. */
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201 #define taskRESET_READY_PRIORITY( uxPriority ) \
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203 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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205 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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209 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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211 /*-----------------------------------------------------------*/
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213 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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214 count overflows. */
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215 #define taskSWITCH_DELAYED_LISTS() \
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219 /* The delayed tasks list should be empty when the lists are switched. */ \
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220 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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222 pxTemp = pxDelayedTaskList; \
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223 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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224 pxOverflowDelayedTaskList = pxTemp; \
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225 xNumOfOverflows++; \
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226 prvResetNextTaskUnblockTime(); \
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229 /*-----------------------------------------------------------*/
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232 * Place the task represented by pxTCB into the appropriate ready list for
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233 * the task. It is inserted at the end of the list.
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235 #define prvAddTaskToReadyList( pxTCB ) \
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236 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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237 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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238 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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239 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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240 /*-----------------------------------------------------------*/
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243 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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244 * where NULL is used to indicate that the handle of the currently executing
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245 * task should be used in place of the parameter. This macro simply checks to
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246 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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248 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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250 /* The item value of the event list item is normally used to hold the priority
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251 of the task to which it belongs (coded to allow it to be held in reverse
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252 priority order). However, it is occasionally borrowed for other purposes. It
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253 is important its value is not updated due to a task priority change while it is
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254 being used for another purpose. The following bit definition is used to inform
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255 the scheduler that the value should not be changed - in which case it is the
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256 responsibility of whichever module is using the value to ensure it gets set back
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257 to its original value when it is released. */
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258 #if( configUSE_16_BIT_TICKS == 1 )
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259 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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261 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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265 * Task control block. A task control block (TCB) is allocated for each task,
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266 * and stores task state information, including a pointer to the task's context
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267 * (the task's run time environment, including register values)
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269 typedef struct tskTaskControlBlock
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271 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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273 #if ( portUSING_MPU_WRAPPERS == 1 )
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274 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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277 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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278 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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279 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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280 StackType_t *pxStack; /*< Points to the start of the stack. */
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281 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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283 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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284 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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287 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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288 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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291 #if ( configUSE_TRACE_FACILITY == 1 )
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292 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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293 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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296 #if ( configUSE_MUTEXES == 1 )
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297 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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298 UBaseType_t uxMutexesHeld;
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301 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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302 TaskHookFunction_t pxTaskTag;
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305 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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306 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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309 #if( configGENERATE_RUN_TIME_STATS == 1 )
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310 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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313 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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314 /* Allocate a Newlib reent structure that is specific to this task.
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315 Note Newlib support has been included by popular demand, but is not
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316 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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317 responsible for resulting newlib operation. User must be familiar with
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318 newlib and must provide system-wide implementations of the necessary
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319 stubs. Be warned that (at the time of writing) the current newlib design
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320 implements a system-wide malloc() that must be provided with locks. */
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321 struct _reent xNewLib_reent;
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324 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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325 volatile uint32_t ulNotifiedValue;
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326 volatile uint8_t ucNotifyState;
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329 /* See the comments above the definition of
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330 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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331 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
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332 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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335 #if( INCLUDE_xTaskAbortDelay == 1 )
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336 uint8_t ucDelayAborted;
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341 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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342 below to enable the use of older kernel aware debuggers. */
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343 typedef tskTCB TCB_t;
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345 /*lint -save -e956 A manual analysis and inspection has been used to determine
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346 which static variables must be declared volatile. */
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348 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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350 /* Lists for ready and blocked tasks. --------------------*/
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351 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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352 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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353 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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354 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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355 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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356 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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358 #if( INCLUDE_vTaskDelete == 1 )
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360 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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361 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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365 #if ( INCLUDE_vTaskSuspend == 1 )
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367 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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371 /* Other file private variables. --------------------------------*/
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372 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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373 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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374 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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375 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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376 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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377 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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378 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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379 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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380 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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381 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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383 /* Context switches are held pending while the scheduler is suspended. Also,
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384 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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385 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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386 If an interrupt needs to unblock a task while the scheduler is suspended then it
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387 moves the task's event list item into the xPendingReadyList, ready for the
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388 kernel to move the task from the pending ready list into the real ready list
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389 when the scheduler is unsuspended. The pending ready list itself can only be
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390 accessed from a critical section. */
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391 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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393 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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395 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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396 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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402 /*-----------------------------------------------------------*/
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404 /* Callback function prototypes. --------------------------*/
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405 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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407 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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413 extern void vApplicationTickHook( void );
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417 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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419 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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423 /* File private functions. --------------------------------*/
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426 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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427 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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428 * is in any other state.
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430 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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434 #endif /* INCLUDE_vTaskSuspend */
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437 * Utility to ready all the lists used by the scheduler. This is called
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438 * automatically upon the creation of the first task.
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440 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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443 * The idle task, which as all tasks is implemented as a never ending loop.
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444 * The idle task is automatically created and added to the ready lists upon
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445 * creation of the first user task.
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447 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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448 * language extensions. The equivalent prototype for this function is:
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450 * void prvIdleTask( void *pvParameters );
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453 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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456 * Utility to free all memory allocated by the scheduler to hold a TCB,
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457 * including the stack pointed to by the TCB.
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459 * This does not free memory allocated by the task itself (i.e. memory
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460 * allocated by calls to pvPortMalloc from within the tasks application code).
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462 #if ( INCLUDE_vTaskDelete == 1 )
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464 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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469 * Used only by the idle task. This checks to see if anything has been placed
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470 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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471 * and its TCB deleted.
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473 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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476 * The currently executing task is entering the Blocked state. Add the task to
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477 * either the current or the overflow delayed task list.
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479 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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482 * Fills an TaskStatus_t structure with information on each task that is
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483 * referenced from the pxList list (which may be a ready list, a delayed list,
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484 * a suspended list, etc.).
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486 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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487 * NORMAL APPLICATION CODE.
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489 #if ( configUSE_TRACE_FACILITY == 1 )
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491 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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496 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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497 * the task if it is found, or NULL if the task is not found.
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499 #if ( INCLUDE_xTaskGetHandle == 1 )
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501 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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506 * When a task is created, the stack of the task is filled with a known value.
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507 * This function determines the 'high water mark' of the task stack by
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508 * determining how much of the stack remains at the original preset value.
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510 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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512 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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517 * Return the amount of time, in ticks, that will pass before the kernel will
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518 * next move a task from the Blocked state to the Running state.
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520 * This conditional compilation should use inequality to 0, not equality to 1.
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521 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
522 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
523 * set to a value other than 1.
\r
525 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
527 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
532 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
533 * will exit the Blocked state.
\r
535 static void prvResetNextTaskUnblockTime( void );
\r
537 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
540 * Helper function used to pad task names with spaces when printing out
\r
541 * human readable tables of task information.
\r
543 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
548 * Called after a Task_t structure has been allocated either statically or
\r
549 * dynamically to fill in the structure's members.
\r
551 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
552 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
553 const uint32_t ulStackDepth,
\r
554 void * const pvParameters,
\r
555 UBaseType_t uxPriority,
\r
556 TaskHandle_t * const pxCreatedTask,
\r
558 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
561 * Called after a new task has been created and initialised to place the task
\r
562 * under the control of the scheduler.
\r
564 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
567 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
568 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
569 * called by the function.
\r
571 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
573 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
577 /*-----------------------------------------------------------*/
\r
579 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
581 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
582 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
583 const uint32_t ulStackDepth,
\r
584 void * const pvParameters,
\r
585 UBaseType_t uxPriority,
\r
586 StackType_t * const puxStackBuffer,
\r
587 StaticTask_t * const pxTaskBuffer )
\r
590 TaskHandle_t xReturn;
\r
592 configASSERT( puxStackBuffer != NULL );
\r
593 configASSERT( pxTaskBuffer != NULL );
\r
595 #if( configASSERT_DEFINED == 1 )
\r
597 /* Sanity check that the size of the structure used to declare a
\r
598 variable of type StaticTask_t equals the size of the real task
\r
600 volatile size_t xSize = sizeof( StaticTask_t );
\r
601 configASSERT( xSize == sizeof( TCB_t ) );
\r
603 #endif /* configASSERT_DEFINED */
\r
606 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
608 /* The memory used for the task's TCB and stack are passed into this
\r
609 function - use them. */
\r
610 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
611 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
613 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
615 /* Tasks can be created statically or dynamically, so note this
\r
616 task was created statically in case the task is later deleted. */
\r
617 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
619 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
621 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
622 prvAddNewTaskToReadyList( pxNewTCB );
\r
632 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
633 /*-----------------------------------------------------------*/
\r
635 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
637 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
640 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
642 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
643 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
645 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
647 /* Allocate space for the TCB. Where the memory comes from depends
\r
648 on the implementation of the port malloc function and whether or
\r
649 not static allocation is being used. */
\r
650 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
652 /* Store the stack location in the TCB. */
\r
653 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
655 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
657 /* Tasks can be created statically or dynamically, so note this
\r
658 task was created statically in case the task is later deleted. */
\r
659 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
661 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
663 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
664 pxTaskDefinition->pcName,
\r
665 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
666 pxTaskDefinition->pvParameters,
\r
667 pxTaskDefinition->uxPriority,
\r
668 pxCreatedTask, pxNewTCB,
\r
669 pxTaskDefinition->xRegions );
\r
671 prvAddNewTaskToReadyList( pxNewTCB );
\r
678 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
679 /*-----------------------------------------------------------*/
\r
681 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
683 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
686 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
688 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
690 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
692 /* Allocate space for the TCB. Where the memory comes from depends
\r
693 on the implementation of the port malloc function and whether or
\r
694 not static allocation is being used. */
\r
695 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
697 if( pxNewTCB != NULL )
\r
699 /* Store the stack location in the TCB. */
\r
700 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
702 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
704 /* Tasks can be created statically or dynamically, so note
\r
705 this task had a statically allocated stack in case it is
\r
706 later deleted. The TCB was allocated dynamically. */
\r
707 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
711 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
712 pxTaskDefinition->pcName,
\r
713 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
714 pxTaskDefinition->pvParameters,
\r
715 pxTaskDefinition->uxPriority,
\r
716 pxCreatedTask, pxNewTCB,
\r
717 pxTaskDefinition->xRegions );
\r
719 prvAddNewTaskToReadyList( pxNewTCB );
\r
727 #endif /* portUSING_MPU_WRAPPERS */
\r
728 /*-----------------------------------------------------------*/
\r
730 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
732 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
733 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
734 const configSTACK_DEPTH_TYPE usStackDepth,
\r
735 void * const pvParameters,
\r
736 UBaseType_t uxPriority,
\r
737 TaskHandle_t * const pxCreatedTask )
\r
740 BaseType_t xReturn;
\r
742 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
743 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
744 the TCB then the stack. */
\r
745 #if( portSTACK_GROWTH > 0 )
\r
747 /* Allocate space for the TCB. Where the memory comes from depends on
\r
748 the implementation of the port malloc function and whether or not static
\r
749 allocation is being used. */
\r
750 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
752 if( pxNewTCB != NULL )
\r
754 /* Allocate space for the stack used by the task being created.
\r
755 The base of the stack memory stored in the TCB so the task can
\r
756 be deleted later if required. */
\r
757 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
759 if( pxNewTCB->pxStack == NULL )
\r
761 /* Could not allocate the stack. Delete the allocated TCB. */
\r
762 vPortFree( pxNewTCB );
\r
767 #else /* portSTACK_GROWTH */
\r
769 StackType_t *pxStack;
\r
771 /* Allocate space for the stack used by the task being created. */
\r
772 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
774 if( pxStack != NULL )
\r
776 /* Allocate space for the TCB. */
\r
777 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
779 if( pxNewTCB != NULL )
\r
781 /* Store the stack location in the TCB. */
\r
782 pxNewTCB->pxStack = pxStack;
\r
786 /* The stack cannot be used as the TCB was not created. Free
\r
788 vPortFree( pxStack );
\r
796 #endif /* portSTACK_GROWTH */
\r
798 if( pxNewTCB != NULL )
\r
800 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
802 /* Tasks can be created statically or dynamically, so note this
\r
803 task was created dynamically in case it is later deleted. */
\r
804 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
806 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
808 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
809 prvAddNewTaskToReadyList( pxNewTCB );
\r
814 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
820 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
821 /*-----------------------------------------------------------*/
\r
823 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
824 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
825 const uint32_t ulStackDepth,
\r
826 void * const pvParameters,
\r
827 UBaseType_t uxPriority,
\r
828 TaskHandle_t * const pxCreatedTask,
\r
830 const MemoryRegion_t * const xRegions )
\r
832 StackType_t *pxTopOfStack;
\r
835 #if( portUSING_MPU_WRAPPERS == 1 )
\r
836 /* Should the task be created in privileged mode? */
\r
837 BaseType_t xRunPrivileged;
\r
838 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
840 xRunPrivileged = pdTRUE;
\r
844 xRunPrivileged = pdFALSE;
\r
846 uxPriority &= ~portPRIVILEGE_BIT;
\r
847 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
849 /* Avoid dependency on memset() if it is not required. */
\r
850 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
852 /* Fill the stack with a known value to assist debugging. */
\r
853 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
855 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
857 /* Calculate the top of stack address. This depends on whether the stack
\r
858 grows from high memory to low (as per the 80x86) or vice versa.
\r
859 portSTACK_GROWTH is used to make the result positive or negative as required
\r
861 #if( portSTACK_GROWTH < 0 )
\r
863 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
864 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
866 /* Check the alignment of the calculated top of stack is correct. */
\r
867 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
869 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
871 /* Also record the stack's high address, which may assist
\r
873 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
875 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
877 #else /* portSTACK_GROWTH */
\r
879 pxTopOfStack = pxNewTCB->pxStack;
\r
881 /* Check the alignment of the stack buffer is correct. */
\r
882 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
884 /* The other extreme of the stack space is required if stack checking is
\r
886 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
888 #endif /* portSTACK_GROWTH */
\r
890 /* Store the task name in the TCB. */
\r
891 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
893 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
895 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
896 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
897 string is not accessible (extremely unlikely). */
\r
898 if( pcName[ x ] == 0x00 )
\r
904 mtCOVERAGE_TEST_MARKER();
\r
908 /* Ensure the name string is terminated in the case that the string length
\r
909 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
910 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
912 /* This is used as an array index so must ensure it's not too large. First
\r
913 remove the privilege bit if one is present. */
\r
914 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
916 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
920 mtCOVERAGE_TEST_MARKER();
\r
923 pxNewTCB->uxPriority = uxPriority;
\r
924 #if ( configUSE_MUTEXES == 1 )
\r
926 pxNewTCB->uxBasePriority = uxPriority;
\r
927 pxNewTCB->uxMutexesHeld = 0;
\r
929 #endif /* configUSE_MUTEXES */
\r
931 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
932 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
934 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
935 back to the containing TCB from a generic item in a list. */
\r
936 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
938 /* Event lists are always in priority order. */
\r
939 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
940 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
942 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
944 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
946 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
948 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
950 pxNewTCB->pxTaskTag = NULL;
\r
952 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
954 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
956 pxNewTCB->ulRunTimeCounter = 0UL;
\r
958 #endif /* configGENERATE_RUN_TIME_STATS */
\r
960 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
962 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
966 /* Avoid compiler warning about unreferenced parameter. */
\r
971 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
973 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
975 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
980 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
982 pxNewTCB->ulNotifiedValue = 0;
\r
983 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
987 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
989 /* Initialise this task's Newlib reent structure. */
\r
990 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
994 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
996 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1000 /* Initialize the TCB stack to look as if the task was already running,
\r
1001 but had been interrupted by the scheduler. The return address is set
\r
1002 to the start of the task function. Once the stack has been initialised
\r
1003 the top of stack variable is updated. */
\r
1004 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1006 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1008 #else /* portUSING_MPU_WRAPPERS */
\r
1010 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1012 #endif /* portUSING_MPU_WRAPPERS */
\r
1014 if( ( void * ) pxCreatedTask != NULL )
\r
1016 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1017 change the created task's priority, delete the created task, etc.*/
\r
1018 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1022 mtCOVERAGE_TEST_MARKER();
\r
1025 /*-----------------------------------------------------------*/
\r
1027 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1029 /* Ensure interrupts don't access the task lists while the lists are being
\r
1031 taskENTER_CRITICAL();
\r
1033 uxCurrentNumberOfTasks++;
\r
1034 if( pxCurrentTCB == NULL )
\r
1036 /* There are no other tasks, or all the other tasks are in
\r
1037 the suspended state - make this the current task. */
\r
1038 pxCurrentTCB = pxNewTCB;
\r
1040 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1042 /* This is the first task to be created so do the preliminary
\r
1043 initialisation required. We will not recover if this call
\r
1044 fails, but we will report the failure. */
\r
1045 prvInitialiseTaskLists();
\r
1049 mtCOVERAGE_TEST_MARKER();
\r
1054 /* If the scheduler is not already running, make this task the
\r
1055 current task if it is the highest priority task to be created
\r
1057 if( xSchedulerRunning == pdFALSE )
\r
1059 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1061 pxCurrentTCB = pxNewTCB;
\r
1065 mtCOVERAGE_TEST_MARKER();
\r
1070 mtCOVERAGE_TEST_MARKER();
\r
1076 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1078 /* Add a counter into the TCB for tracing only. */
\r
1079 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1081 #endif /* configUSE_TRACE_FACILITY */
\r
1082 traceTASK_CREATE( pxNewTCB );
\r
1084 prvAddTaskToReadyList( pxNewTCB );
\r
1086 portSETUP_TCB( pxNewTCB );
\r
1088 taskEXIT_CRITICAL();
\r
1090 if( xSchedulerRunning != pdFALSE )
\r
1092 /* If the created task is of a higher priority than the current task
\r
1093 then it should run now. */
\r
1094 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1096 taskYIELD_IF_USING_PREEMPTION();
\r
1100 mtCOVERAGE_TEST_MARKER();
\r
1105 mtCOVERAGE_TEST_MARKER();
\r
1108 /*-----------------------------------------------------------*/
\r
1110 #if ( INCLUDE_vTaskDelete == 1 )
\r
1112 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1116 taskENTER_CRITICAL();
\r
1118 /* If null is passed in here then it is the calling task that is
\r
1120 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1122 /* Remove task from the ready list. */
\r
1123 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1125 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1129 mtCOVERAGE_TEST_MARKER();
\r
1132 /* Is the task waiting on an event also? */
\r
1133 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1135 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1139 mtCOVERAGE_TEST_MARKER();
\r
1142 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1143 detect that the task lists need re-generating. This is done before
\r
1144 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1148 if( pxTCB == pxCurrentTCB )
\r
1150 /* A task is deleting itself. This cannot complete within the
\r
1151 task itself, as a context switch to another task is required.
\r
1152 Place the task in the termination list. The idle task will
\r
1153 check the termination list and free up any memory allocated by
\r
1154 the scheduler for the TCB and stack of the deleted task. */
\r
1155 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1157 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1158 there is a task that has been deleted and that it should therefore
\r
1159 check the xTasksWaitingTermination list. */
\r
1160 ++uxDeletedTasksWaitingCleanUp;
\r
1162 /* The pre-delete hook is primarily for the Windows simulator,
\r
1163 in which Windows specific clean up operations are performed,
\r
1164 after which it is not possible to yield away from this task -
\r
1165 hence xYieldPending is used to latch that a context switch is
\r
1167 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1171 --uxCurrentNumberOfTasks;
\r
1172 prvDeleteTCB( pxTCB );
\r
1174 /* Reset the next expected unblock time in case it referred to
\r
1175 the task that has just been deleted. */
\r
1176 prvResetNextTaskUnblockTime();
\r
1179 traceTASK_DELETE( pxTCB );
\r
1181 taskEXIT_CRITICAL();
\r
1183 /* Force a reschedule if it is the currently running task that has just
\r
1185 if( xSchedulerRunning != pdFALSE )
\r
1187 if( pxTCB == pxCurrentTCB )
\r
1189 configASSERT( uxSchedulerSuspended == 0 );
\r
1190 portYIELD_WITHIN_API();
\r
1194 mtCOVERAGE_TEST_MARKER();
\r
1199 #endif /* INCLUDE_vTaskDelete */
\r
1200 /*-----------------------------------------------------------*/
\r
1202 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1204 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1206 TickType_t xTimeToWake;
\r
1207 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1209 configASSERT( pxPreviousWakeTime );
\r
1210 configASSERT( ( xTimeIncrement > 0U ) );
\r
1211 configASSERT( uxSchedulerSuspended == 0 );
\r
1213 vTaskSuspendAll();
\r
1215 /* Minor optimisation. The tick count cannot change in this
\r
1217 const TickType_t xConstTickCount = xTickCount;
\r
1219 /* Generate the tick time at which the task wants to wake. */
\r
1220 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1222 if( xConstTickCount < *pxPreviousWakeTime )
\r
1224 /* The tick count has overflowed since this function was
\r
1225 lasted called. In this case the only time we should ever
\r
1226 actually delay is if the wake time has also overflowed,
\r
1227 and the wake time is greater than the tick time. When this
\r
1228 is the case it is as if neither time had overflowed. */
\r
1229 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1231 xShouldDelay = pdTRUE;
\r
1235 mtCOVERAGE_TEST_MARKER();
\r
1240 /* The tick time has not overflowed. In this case we will
\r
1241 delay if either the wake time has overflowed, and/or the
\r
1242 tick time is less than the wake time. */
\r
1243 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1245 xShouldDelay = pdTRUE;
\r
1249 mtCOVERAGE_TEST_MARKER();
\r
1253 /* Update the wake time ready for the next call. */
\r
1254 *pxPreviousWakeTime = xTimeToWake;
\r
1256 if( xShouldDelay != pdFALSE )
\r
1258 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1260 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1261 the time to wake, so subtract the current tick count. */
\r
1262 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1266 mtCOVERAGE_TEST_MARKER();
\r
1269 xAlreadyYielded = xTaskResumeAll();
\r
1271 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1272 have put ourselves to sleep. */
\r
1273 if( xAlreadyYielded == pdFALSE )
\r
1275 portYIELD_WITHIN_API();
\r
1279 mtCOVERAGE_TEST_MARKER();
\r
1283 #endif /* INCLUDE_vTaskDelayUntil */
\r
1284 /*-----------------------------------------------------------*/
\r
1286 #if ( INCLUDE_vTaskDelay == 1 )
\r
1288 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1290 BaseType_t xAlreadyYielded = pdFALSE;
\r
1292 /* A delay time of zero just forces a reschedule. */
\r
1293 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1295 configASSERT( uxSchedulerSuspended == 0 );
\r
1296 vTaskSuspendAll();
\r
1298 traceTASK_DELAY();
\r
1300 /* A task that is removed from the event list while the
\r
1301 scheduler is suspended will not get placed in the ready
\r
1302 list or removed from the blocked list until the scheduler
\r
1305 This task cannot be in an event list as it is the currently
\r
1306 executing task. */
\r
1307 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1309 xAlreadyYielded = xTaskResumeAll();
\r
1313 mtCOVERAGE_TEST_MARKER();
\r
1316 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1317 have put ourselves to sleep. */
\r
1318 if( xAlreadyYielded == pdFALSE )
\r
1320 portYIELD_WITHIN_API();
\r
1324 mtCOVERAGE_TEST_MARKER();
\r
1328 #endif /* INCLUDE_vTaskDelay */
\r
1329 /*-----------------------------------------------------------*/
\r
1331 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1333 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1335 eTaskState eReturn;
\r
1336 List_t *pxStateList;
\r
1337 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1339 configASSERT( pxTCB );
\r
1341 if( pxTCB == pxCurrentTCB )
\r
1343 /* The task calling this function is querying its own state. */
\r
1344 eReturn = eRunning;
\r
1348 taskENTER_CRITICAL();
\r
1350 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1352 taskEXIT_CRITICAL();
\r
1354 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1356 /* The task being queried is referenced from one of the Blocked
\r
1358 eReturn = eBlocked;
\r
1361 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1362 else if( pxStateList == &xSuspendedTaskList )
\r
1364 /* The task being queried is referenced from the suspended
\r
1365 list. Is it genuinely suspended or is it block
\r
1367 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1369 eReturn = eSuspended;
\r
1373 eReturn = eBlocked;
\r
1378 #if ( INCLUDE_vTaskDelete == 1 )
\r
1379 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1381 /* The task being queried is referenced from the deleted
\r
1382 tasks list, or it is not referenced from any lists at
\r
1384 eReturn = eDeleted;
\r
1388 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1390 /* If the task is not in any other state, it must be in the
\r
1391 Ready (including pending ready) state. */
\r
1397 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1399 #endif /* INCLUDE_eTaskGetState */
\r
1400 /*-----------------------------------------------------------*/
\r
1402 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1404 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1407 UBaseType_t uxReturn;
\r
1409 taskENTER_CRITICAL();
\r
1411 /* If null is passed in here then it is the priority of the that
\r
1412 called uxTaskPriorityGet() that is being queried. */
\r
1413 pxTCB = prvGetTCBFromHandle( xTask );
\r
1414 uxReturn = pxTCB->uxPriority;
\r
1416 taskEXIT_CRITICAL();
\r
1421 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1422 /*-----------------------------------------------------------*/
\r
1424 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1426 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1429 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1431 /* RTOS ports that support interrupt nesting have the concept of a
\r
1432 maximum system call (or maximum API call) interrupt priority.
\r
1433 Interrupts that are above the maximum system call priority are keep
\r
1434 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1435 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1436 is defined in FreeRTOSConfig.h then
\r
1437 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1438 failure if a FreeRTOS API function is called from an interrupt that has
\r
1439 been assigned a priority above the configured maximum system call
\r
1440 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1441 from interrupts that have been assigned a priority at or (logically)
\r
1442 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1443 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1444 simple as possible. More information (albeit Cortex-M specific) is
\r
1445 provided on the following link:
\r
1446 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1447 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1449 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1451 /* If null is passed in here then it is the priority of the calling
\r
1452 task that is being queried. */
\r
1453 pxTCB = prvGetTCBFromHandle( xTask );
\r
1454 uxReturn = pxTCB->uxPriority;
\r
1456 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1461 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1462 /*-----------------------------------------------------------*/
\r
1464 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1466 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1469 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1470 BaseType_t xYieldRequired = pdFALSE;
\r
1472 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1474 /* Ensure the new priority is valid. */
\r
1475 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1477 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1481 mtCOVERAGE_TEST_MARKER();
\r
1484 taskENTER_CRITICAL();
\r
1486 /* If null is passed in here then it is the priority of the calling
\r
1487 task that is being changed. */
\r
1488 pxTCB = prvGetTCBFromHandle( xTask );
\r
1490 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1492 #if ( configUSE_MUTEXES == 1 )
\r
1494 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1498 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1502 if( uxCurrentBasePriority != uxNewPriority )
\r
1504 /* The priority change may have readied a task of higher
\r
1505 priority than the calling task. */
\r
1506 if( uxNewPriority > uxCurrentBasePriority )
\r
1508 if( pxTCB != pxCurrentTCB )
\r
1510 /* The priority of a task other than the currently
\r
1511 running task is being raised. Is the priority being
\r
1512 raised above that of the running task? */
\r
1513 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1515 xYieldRequired = pdTRUE;
\r
1519 mtCOVERAGE_TEST_MARKER();
\r
1524 /* The priority of the running task is being raised,
\r
1525 but the running task must already be the highest
\r
1526 priority task able to run so no yield is required. */
\r
1529 else if( pxTCB == pxCurrentTCB )
\r
1531 /* Setting the priority of the running task down means
\r
1532 there may now be another task of higher priority that
\r
1533 is ready to execute. */
\r
1534 xYieldRequired = pdTRUE;
\r
1538 /* Setting the priority of any other task down does not
\r
1539 require a yield as the running task must be above the
\r
1540 new priority of the task being modified. */
\r
1543 /* Remember the ready list the task might be referenced from
\r
1544 before its uxPriority member is changed so the
\r
1545 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1546 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1548 #if ( configUSE_MUTEXES == 1 )
\r
1550 /* Only change the priority being used if the task is not
\r
1551 currently using an inherited priority. */
\r
1552 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1554 pxTCB->uxPriority = uxNewPriority;
\r
1558 mtCOVERAGE_TEST_MARKER();
\r
1561 /* The base priority gets set whatever. */
\r
1562 pxTCB->uxBasePriority = uxNewPriority;
\r
1566 pxTCB->uxPriority = uxNewPriority;
\r
1570 /* Only reset the event list item value if the value is not
\r
1571 being used for anything else. */
\r
1572 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1574 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
1578 mtCOVERAGE_TEST_MARKER();
\r
1581 /* If the task is in the blocked or suspended list we need do
\r
1582 nothing more than change its priority variable. However, if
\r
1583 the task is in a ready list it needs to be removed and placed
\r
1584 in the list appropriate to its new priority. */
\r
1585 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1587 /* The task is currently in its ready list - remove before
\r
1588 adding it to it's new ready list. As we are in a critical
\r
1589 section we can do this even if the scheduler is suspended. */
\r
1590 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1592 /* It is known that the task is in its ready list so
\r
1593 there is no need to check again and the port level
\r
1594 reset macro can be called directly. */
\r
1595 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1599 mtCOVERAGE_TEST_MARKER();
\r
1601 prvAddTaskToReadyList( pxTCB );
\r
1605 mtCOVERAGE_TEST_MARKER();
\r
1608 if( xYieldRequired != pdFALSE )
\r
1610 taskYIELD_IF_USING_PREEMPTION();
\r
1614 mtCOVERAGE_TEST_MARKER();
\r
1617 /* Remove compiler warning about unused variables when the port
\r
1618 optimised task selection is not being used. */
\r
1619 ( void ) uxPriorityUsedOnEntry;
\r
1622 taskEXIT_CRITICAL();
\r
1625 #endif /* INCLUDE_vTaskPrioritySet */
\r
1626 /*-----------------------------------------------------------*/
\r
1628 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1630 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1634 taskENTER_CRITICAL();
\r
1636 /* If null is passed in here then it is the running task that is
\r
1637 being suspended. */
\r
1638 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1640 traceTASK_SUSPEND( pxTCB );
\r
1642 /* Remove task from the ready/delayed list and place in the
\r
1643 suspended list. */
\r
1644 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1646 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1650 mtCOVERAGE_TEST_MARKER();
\r
1653 /* Is the task waiting on an event also? */
\r
1654 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1656 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1660 mtCOVERAGE_TEST_MARKER();
\r
1663 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1665 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1667 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1669 /* The task was blocked to wait for a notification, but is
\r
1670 now suspended, so no notification was received. */
\r
1671 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1676 taskEXIT_CRITICAL();
\r
1678 if( xSchedulerRunning != pdFALSE )
\r
1680 /* Reset the next expected unblock time in case it referred to the
\r
1681 task that is now in the Suspended state. */
\r
1682 taskENTER_CRITICAL();
\r
1684 prvResetNextTaskUnblockTime();
\r
1686 taskEXIT_CRITICAL();
\r
1690 mtCOVERAGE_TEST_MARKER();
\r
1693 if( pxTCB == pxCurrentTCB )
\r
1695 if( xSchedulerRunning != pdFALSE )
\r
1697 /* The current task has just been suspended. */
\r
1698 configASSERT( uxSchedulerSuspended == 0 );
\r
1699 portYIELD_WITHIN_API();
\r
1703 /* The scheduler is not running, but the task that was pointed
\r
1704 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1705 must be adjusted to point to a different task. */
\r
1706 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1708 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1709 NULL so when the next task is created pxCurrentTCB will
\r
1710 be set to point to it no matter what its relative priority
\r
1712 pxCurrentTCB = NULL;
\r
1716 vTaskSwitchContext();
\r
1722 mtCOVERAGE_TEST_MARKER();
\r
1726 #endif /* INCLUDE_vTaskSuspend */
\r
1727 /*-----------------------------------------------------------*/
\r
1729 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1731 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1733 BaseType_t xReturn = pdFALSE;
\r
1734 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1736 /* Accesses xPendingReadyList so must be called from a critical
\r
1739 /* It does not make sense to check if the calling task is suspended. */
\r
1740 configASSERT( xTask );
\r
1742 /* Is the task being resumed actually in the suspended list? */
\r
1743 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1745 /* Has the task already been resumed from within an ISR? */
\r
1746 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1748 /* Is it in the suspended list because it is in the Suspended
\r
1749 state, or because is is blocked with no timeout? */
\r
1750 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1756 mtCOVERAGE_TEST_MARKER();
\r
1761 mtCOVERAGE_TEST_MARKER();
\r
1766 mtCOVERAGE_TEST_MARKER();
\r
1770 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1772 #endif /* INCLUDE_vTaskSuspend */
\r
1773 /*-----------------------------------------------------------*/
\r
1775 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1777 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1779 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1781 /* It does not make sense to resume the calling task. */
\r
1782 configASSERT( xTaskToResume );
\r
1784 /* The parameter cannot be NULL as it is impossible to resume the
\r
1785 currently executing task. */
\r
1786 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1788 taskENTER_CRITICAL();
\r
1790 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1792 traceTASK_RESUME( pxTCB );
\r
1794 /* The ready list can be accessed even if the scheduler is
\r
1795 suspended because this is inside a critical section. */
\r
1796 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1797 prvAddTaskToReadyList( pxTCB );
\r
1799 /* A higher priority task may have just been resumed. */
\r
1800 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1802 /* This yield may not cause the task just resumed to run,
\r
1803 but will leave the lists in the correct state for the
\r
1805 taskYIELD_IF_USING_PREEMPTION();
\r
1809 mtCOVERAGE_TEST_MARKER();
\r
1814 mtCOVERAGE_TEST_MARKER();
\r
1817 taskEXIT_CRITICAL();
\r
1821 mtCOVERAGE_TEST_MARKER();
\r
1825 #endif /* INCLUDE_vTaskSuspend */
\r
1827 /*-----------------------------------------------------------*/
\r
1829 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1831 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1833 BaseType_t xYieldRequired = pdFALSE;
\r
1834 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1835 UBaseType_t uxSavedInterruptStatus;
\r
1837 configASSERT( xTaskToResume );
\r
1839 /* RTOS ports that support interrupt nesting have the concept of a
\r
1840 maximum system call (or maximum API call) interrupt priority.
\r
1841 Interrupts that are above the maximum system call priority are keep
\r
1842 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1843 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1844 is defined in FreeRTOSConfig.h then
\r
1845 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1846 failure if a FreeRTOS API function is called from an interrupt that has
\r
1847 been assigned a priority above the configured maximum system call
\r
1848 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1849 from interrupts that have been assigned a priority at or (logically)
\r
1850 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1851 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1852 simple as possible. More information (albeit Cortex-M specific) is
\r
1853 provided on the following link:
\r
1854 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1855 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1857 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1859 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1861 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1863 /* Check the ready lists can be accessed. */
\r
1864 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1866 /* Ready lists can be accessed so move the task from the
\r
1867 suspended list to the ready list directly. */
\r
1868 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1870 xYieldRequired = pdTRUE;
\r
1874 mtCOVERAGE_TEST_MARKER();
\r
1877 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1878 prvAddTaskToReadyList( pxTCB );
\r
1882 /* The delayed or ready lists cannot be accessed so the task
\r
1883 is held in the pending ready list until the scheduler is
\r
1885 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1890 mtCOVERAGE_TEST_MARKER();
\r
1893 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1895 return xYieldRequired;
\r
1898 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1899 /*-----------------------------------------------------------*/
\r
1901 void vTaskStartScheduler( void )
\r
1903 BaseType_t xReturn;
\r
1905 /* Add the idle task at the lowest priority. */
\r
1906 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1908 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1909 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1910 uint32_t ulIdleTaskStackSize;
\r
1912 /* The Idle task is created using user provided RAM - obtain the
\r
1913 address of the RAM then create the idle task. */
\r
1914 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1915 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1916 configIDLE_TASK_NAME,
\r
1917 ulIdleTaskStackSize,
\r
1918 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1919 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1920 pxIdleTaskStackBuffer,
\r
1921 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1923 if( xIdleTaskHandle != NULL )
\r
1934 /* The Idle task is being created using dynamically allocated RAM. */
\r
1935 xReturn = xTaskCreate( prvIdleTask,
\r
1936 configIDLE_TASK_NAME,
\r
1937 configMINIMAL_STACK_SIZE,
\r
1939 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1940 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1942 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1944 #if ( configUSE_TIMERS == 1 )
\r
1946 if( xReturn == pdPASS )
\r
1948 xReturn = xTimerCreateTimerTask();
\r
1952 mtCOVERAGE_TEST_MARKER();
\r
1955 #endif /* configUSE_TIMERS */
\r
1957 if( xReturn == pdPASS )
\r
1959 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1960 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1961 the only macro called by the function. */
\r
1962 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1964 freertos_tasks_c_additions_init();
\r
1968 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1969 before or during the call to xPortStartScheduler(). The stacks of
\r
1970 the created tasks contain a status word with interrupts switched on
\r
1971 so interrupts will automatically get re-enabled when the first task
\r
1973 portDISABLE_INTERRUPTS();
\r
1975 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1977 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1978 structure specific to the task that will run first. */
\r
1979 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1981 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1983 xNextTaskUnblockTime = portMAX_DELAY;
\r
1984 xSchedulerRunning = pdTRUE;
\r
1985 xTickCount = ( TickType_t ) 0U;
\r
1987 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1988 macro must be defined to configure the timer/counter used to generate
\r
1989 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
1990 is set to 0 and the following line fails to build then ensure you do not
\r
1991 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
1992 FreeRTOSConfig.h file. */
\r
1993 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1995 /* Setting up the timer tick is hardware specific and thus in the
\r
1996 portable interface. */
\r
1997 if( xPortStartScheduler() != pdFALSE )
\r
1999 /* Should not reach here as if the scheduler is running the
\r
2000 function will not return. */
\r
2004 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2009 /* This line will only be reached if the kernel could not be started,
\r
2010 because there was not enough FreeRTOS heap to create the idle task
\r
2011 or the timer task. */
\r
2012 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2015 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2016 meaning xIdleTaskHandle is not used anywhere else. */
\r
2017 ( void ) xIdleTaskHandle;
\r
2019 /*-----------------------------------------------------------*/
\r
2021 void vTaskEndScheduler( void )
\r
2023 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2024 routine so the original ISRs can be restored if necessary. The port
\r
2025 layer must ensure interrupts enable bit is left in the correct state. */
\r
2026 portDISABLE_INTERRUPTS();
\r
2027 xSchedulerRunning = pdFALSE;
\r
2028 vPortEndScheduler();
\r
2030 /*----------------------------------------------------------*/
\r
2032 void vTaskSuspendAll( void )
\r
2034 /* A critical section is not required as the variable is of type
\r
2035 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2036 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2037 http://goo.gl/wu4acr */
\r
2038 ++uxSchedulerSuspended;
\r
2040 /*----------------------------------------------------------*/
\r
2042 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2044 static TickType_t prvGetExpectedIdleTime( void )
\r
2046 TickType_t xReturn;
\r
2047 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2049 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2050 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2051 task that are in the Ready state, even though the idle task is
\r
2053 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2055 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2057 uxHigherPriorityReadyTasks = pdTRUE;
\r
2062 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2064 /* When port optimised task selection is used the uxTopReadyPriority
\r
2065 variable is used as a bit map. If bits other than the least
\r
2066 significant bit are set then there are tasks that have a priority
\r
2067 above the idle priority that are in the Ready state. This takes
\r
2068 care of the case where the co-operative scheduler is in use. */
\r
2069 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2071 uxHigherPriorityReadyTasks = pdTRUE;
\r
2076 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2080 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2082 /* There are other idle priority tasks in the ready state. If
\r
2083 time slicing is used then the very next tick interrupt must be
\r
2087 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2089 /* There are tasks in the Ready state that have a priority above the
\r
2090 idle priority. This path can only be reached if
\r
2091 configUSE_PREEMPTION is 0. */
\r
2096 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2102 #endif /* configUSE_TICKLESS_IDLE */
\r
2103 /*----------------------------------------------------------*/
\r
2105 BaseType_t xTaskResumeAll( void )
\r
2107 TCB_t *pxTCB = NULL;
\r
2108 BaseType_t xAlreadyYielded = pdFALSE;
\r
2110 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2111 previous call to vTaskSuspendAll(). */
\r
2112 configASSERT( uxSchedulerSuspended );
\r
2114 /* It is possible that an ISR caused a task to be removed from an event
\r
2115 list while the scheduler was suspended. If this was the case then the
\r
2116 removed task will have been added to the xPendingReadyList. Once the
\r
2117 scheduler has been resumed it is safe to move all the pending ready
\r
2118 tasks from this list into their appropriate ready list. */
\r
2119 taskENTER_CRITICAL();
\r
2121 --uxSchedulerSuspended;
\r
2123 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2125 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2127 /* Move any readied tasks from the pending list into the
\r
2128 appropriate ready list. */
\r
2129 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2131 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
2132 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2133 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2134 prvAddTaskToReadyList( pxTCB );
\r
2136 /* If the moved task has a priority higher than the current
\r
2137 task then a yield must be performed. */
\r
2138 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2140 xYieldPending = pdTRUE;
\r
2144 mtCOVERAGE_TEST_MARKER();
\r
2148 if( pxTCB != NULL )
\r
2150 /* A task was unblocked while the scheduler was suspended,
\r
2151 which may have prevented the next unblock time from being
\r
2152 re-calculated, in which case re-calculate it now. Mainly
\r
2153 important for low power tickless implementations, where
\r
2154 this can prevent an unnecessary exit from low power
\r
2156 prvResetNextTaskUnblockTime();
\r
2159 /* If any ticks occurred while the scheduler was suspended then
\r
2160 they should be processed now. This ensures the tick count does
\r
2161 not slip, and that any delayed tasks are resumed at the correct
\r
2164 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2166 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2170 if( xTaskIncrementTick() != pdFALSE )
\r
2172 xYieldPending = pdTRUE;
\r
2176 mtCOVERAGE_TEST_MARKER();
\r
2179 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2181 uxPendedTicks = 0;
\r
2185 mtCOVERAGE_TEST_MARKER();
\r
2189 if( xYieldPending != pdFALSE )
\r
2191 #if( configUSE_PREEMPTION != 0 )
\r
2193 xAlreadyYielded = pdTRUE;
\r
2196 taskYIELD_IF_USING_PREEMPTION();
\r
2200 mtCOVERAGE_TEST_MARKER();
\r
2206 mtCOVERAGE_TEST_MARKER();
\r
2209 taskEXIT_CRITICAL();
\r
2211 return xAlreadyYielded;
\r
2213 /*-----------------------------------------------------------*/
\r
2215 TickType_t xTaskGetTickCount( void )
\r
2217 TickType_t xTicks;
\r
2219 /* Critical section required if running on a 16 bit processor. */
\r
2220 portTICK_TYPE_ENTER_CRITICAL();
\r
2222 xTicks = xTickCount;
\r
2224 portTICK_TYPE_EXIT_CRITICAL();
\r
2228 /*-----------------------------------------------------------*/
\r
2230 TickType_t xTaskGetTickCountFromISR( void )
\r
2232 TickType_t xReturn;
\r
2233 UBaseType_t uxSavedInterruptStatus;
\r
2235 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2236 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2237 above the maximum system call priority are kept permanently enabled, even
\r
2238 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2239 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2240 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2241 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2242 assigned a priority above the configured maximum system call priority.
\r
2243 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2244 that have been assigned a priority at or (logically) below the maximum
\r
2245 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2246 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2247 More information (albeit Cortex-M specific) is provided on the following
\r
2248 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2249 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2251 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2253 xReturn = xTickCount;
\r
2255 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2259 /*-----------------------------------------------------------*/
\r
2261 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2263 /* A critical section is not required because the variables are of type
\r
2265 return uxCurrentNumberOfTasks;
\r
2267 /*-----------------------------------------------------------*/
\r
2269 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2273 /* If null is passed in here then the name of the calling task is being
\r
2275 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2276 configASSERT( pxTCB );
\r
2277 return &( pxTCB->pcTaskName[ 0 ] );
\r
2279 /*-----------------------------------------------------------*/
\r
2281 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2283 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2285 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2289 /* This function is called with the scheduler suspended. */
\r
2291 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2293 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2297 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2299 /* Check each character in the name looking for a match or
\r
2301 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2303 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2305 if( cNextChar != pcNameToQuery[ x ] )
\r
2307 /* Characters didn't match. */
\r
2310 else if( cNextChar == 0x00 )
\r
2312 /* Both strings terminated, a match must have been
\r
2314 pxReturn = pxNextTCB;
\r
2319 mtCOVERAGE_TEST_MARKER();
\r
2323 if( pxReturn != NULL )
\r
2325 /* The handle has been found. */
\r
2329 } while( pxNextTCB != pxFirstTCB );
\r
2333 mtCOVERAGE_TEST_MARKER();
\r
2339 #endif /* INCLUDE_xTaskGetHandle */
\r
2340 /*-----------------------------------------------------------*/
\r
2342 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2344 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2346 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2349 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2350 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2352 vTaskSuspendAll();
\r
2354 /* Search the ready lists. */
\r
2358 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2360 if( pxTCB != NULL )
\r
2362 /* Found the handle. */
\r
2366 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2368 /* Search the delayed lists. */
\r
2369 if( pxTCB == NULL )
\r
2371 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2374 if( pxTCB == NULL )
\r
2376 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2379 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2381 if( pxTCB == NULL )
\r
2383 /* Search the suspended list. */
\r
2384 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2389 #if( INCLUDE_vTaskDelete == 1 )
\r
2391 if( pxTCB == NULL )
\r
2393 /* Search the deleted list. */
\r
2394 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2399 ( void ) xTaskResumeAll();
\r
2401 return ( TaskHandle_t ) pxTCB;
\r
2404 #endif /* INCLUDE_xTaskGetHandle */
\r
2405 /*-----------------------------------------------------------*/
\r
2407 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2409 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2411 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2413 vTaskSuspendAll();
\r
2415 /* Is there a space in the array for each task in the system? */
\r
2416 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2418 /* Fill in an TaskStatus_t structure with information on each
\r
2419 task in the Ready state. */
\r
2423 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2425 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2427 /* Fill in an TaskStatus_t structure with information on each
\r
2428 task in the Blocked state. */
\r
2429 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2430 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2432 #if( INCLUDE_vTaskDelete == 1 )
\r
2434 /* Fill in an TaskStatus_t structure with information on
\r
2435 each task that has been deleted but not yet cleaned up. */
\r
2436 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2440 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2442 /* Fill in an TaskStatus_t structure with information on
\r
2443 each task in the Suspended state. */
\r
2444 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2448 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2450 if( pulTotalRunTime != NULL )
\r
2452 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2453 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2455 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2461 if( pulTotalRunTime != NULL )
\r
2463 *pulTotalRunTime = 0;
\r
2470 mtCOVERAGE_TEST_MARKER();
\r
2473 ( void ) xTaskResumeAll();
\r
2478 #endif /* configUSE_TRACE_FACILITY */
\r
2479 /*----------------------------------------------------------*/
\r
2481 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2483 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2485 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2486 started, then xIdleTaskHandle will be NULL. */
\r
2487 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2488 return xIdleTaskHandle;
\r
2491 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2492 /*----------------------------------------------------------*/
\r
2494 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2495 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2496 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2498 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2500 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2502 /* Correct the tick count value after a period during which the tick
\r
2503 was suppressed. Note this does *not* call the tick hook function for
\r
2504 each stepped tick. */
\r
2505 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2506 xTickCount += xTicksToJump;
\r
2507 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2510 #endif /* configUSE_TICKLESS_IDLE */
\r
2511 /*----------------------------------------------------------*/
\r
2513 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2515 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2517 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2518 BaseType_t xReturn;
\r
2520 configASSERT( pxTCB );
\r
2522 vTaskSuspendAll();
\r
2524 /* A task can only be prematurely removed from the Blocked state if
\r
2525 it is actually in the Blocked state. */
\r
2526 if( eTaskGetState( xTask ) == eBlocked )
\r
2530 /* Remove the reference to the task from the blocked list. An
\r
2531 interrupt won't touch the xStateListItem because the
\r
2532 scheduler is suspended. */
\r
2533 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2535 /* Is the task waiting on an event also? If so remove it from
\r
2536 the event list too. Interrupts can touch the event list item,
\r
2537 even though the scheduler is suspended, so a critical section
\r
2539 taskENTER_CRITICAL();
\r
2541 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2543 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2544 pxTCB->ucDelayAborted = pdTRUE;
\r
2548 mtCOVERAGE_TEST_MARKER();
\r
2551 taskEXIT_CRITICAL();
\r
2553 /* Place the unblocked task into the appropriate ready list. */
\r
2554 prvAddTaskToReadyList( pxTCB );
\r
2556 /* A task being unblocked cannot cause an immediate context
\r
2557 switch if preemption is turned off. */
\r
2558 #if ( configUSE_PREEMPTION == 1 )
\r
2560 /* Preemption is on, but a context switch should only be
\r
2561 performed if the unblocked task has a priority that is
\r
2562 equal to or higher than the currently executing task. */
\r
2563 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2565 /* Pend the yield to be performed when the scheduler
\r
2566 is unsuspended. */
\r
2567 xYieldPending = pdTRUE;
\r
2571 mtCOVERAGE_TEST_MARKER();
\r
2574 #endif /* configUSE_PREEMPTION */
\r
2581 ( void ) xTaskResumeAll();
\r
2586 #endif /* INCLUDE_xTaskAbortDelay */
\r
2587 /*----------------------------------------------------------*/
\r
2589 BaseType_t xTaskIncrementTick( void )
\r
2592 TickType_t xItemValue;
\r
2593 BaseType_t xSwitchRequired = pdFALSE;
\r
2595 /* Called by the portable layer each time a tick interrupt occurs.
\r
2596 Increments the tick then checks to see if the new tick value will cause any
\r
2597 tasks to be unblocked. */
\r
2598 traceTASK_INCREMENT_TICK( xTickCount );
\r
2599 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2601 /* Minor optimisation. The tick count cannot change in this
\r
2603 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2605 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2606 delayed lists if it wraps to 0. */
\r
2607 xTickCount = xConstTickCount;
\r
2609 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2611 taskSWITCH_DELAYED_LISTS();
\r
2615 mtCOVERAGE_TEST_MARKER();
\r
2618 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2619 the queue in the order of their wake time - meaning once one task
\r
2620 has been found whose block time has not expired there is no need to
\r
2621 look any further down the list. */
\r
2622 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2626 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2628 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2629 to the maximum possible value so it is extremely
\r
2631 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2632 next time through. */
\r
2633 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2638 /* The delayed list is not empty, get the value of the
\r
2639 item at the head of the delayed list. This is the time
\r
2640 at which the task at the head of the delayed list must
\r
2641 be removed from the Blocked state. */
\r
2642 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2643 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2645 if( xConstTickCount < xItemValue )
\r
2647 /* It is not time to unblock this item yet, but the
\r
2648 item value is the time at which the task at the head
\r
2649 of the blocked list must be removed from the Blocked
\r
2650 state - so record the item value in
\r
2651 xNextTaskUnblockTime. */
\r
2652 xNextTaskUnblockTime = xItemValue;
\r
2657 mtCOVERAGE_TEST_MARKER();
\r
2660 /* It is time to remove the item from the Blocked state. */
\r
2661 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2663 /* Is the task waiting on an event also? If so remove
\r
2664 it from the event list. */
\r
2665 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2667 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2671 mtCOVERAGE_TEST_MARKER();
\r
2674 /* Place the unblocked task into the appropriate ready
\r
2676 prvAddTaskToReadyList( pxTCB );
\r
2678 /* A task being unblocked cannot cause an immediate
\r
2679 context switch if preemption is turned off. */
\r
2680 #if ( configUSE_PREEMPTION == 1 )
\r
2682 /* Preemption is on, but a context switch should
\r
2683 only be performed if the unblocked task has a
\r
2684 priority that is equal to or higher than the
\r
2685 currently executing task. */
\r
2686 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2688 xSwitchRequired = pdTRUE;
\r
2692 mtCOVERAGE_TEST_MARKER();
\r
2695 #endif /* configUSE_PREEMPTION */
\r
2700 /* Tasks of equal priority to the currently running task will share
\r
2701 processing time (time slice) if preemption is on, and the application
\r
2702 writer has not explicitly turned time slicing off. */
\r
2703 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2705 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2707 xSwitchRequired = pdTRUE;
\r
2711 mtCOVERAGE_TEST_MARKER();
\r
2714 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2716 #if ( configUSE_TICK_HOOK == 1 )
\r
2718 /* Guard against the tick hook being called when the pended tick
\r
2719 count is being unwound (when the scheduler is being unlocked). */
\r
2720 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2722 vApplicationTickHook();
\r
2726 mtCOVERAGE_TEST_MARKER();
\r
2729 #endif /* configUSE_TICK_HOOK */
\r
2735 /* The tick hook gets called at regular intervals, even if the
\r
2736 scheduler is locked. */
\r
2737 #if ( configUSE_TICK_HOOK == 1 )
\r
2739 vApplicationTickHook();
\r
2744 #if ( configUSE_PREEMPTION == 1 )
\r
2746 if( xYieldPending != pdFALSE )
\r
2748 xSwitchRequired = pdTRUE;
\r
2752 mtCOVERAGE_TEST_MARKER();
\r
2755 #endif /* configUSE_PREEMPTION */
\r
2757 return xSwitchRequired;
\r
2759 /*-----------------------------------------------------------*/
\r
2761 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2763 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2767 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2769 if( xTask == NULL )
\r
2771 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2775 xTCB = ( TCB_t * ) xTask;
\r
2778 /* Save the hook function in the TCB. A critical section is required as
\r
2779 the value can be accessed from an interrupt. */
\r
2780 taskENTER_CRITICAL();
\r
2781 xTCB->pxTaskTag = pxHookFunction;
\r
2782 taskEXIT_CRITICAL();
\r
2785 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2786 /*-----------------------------------------------------------*/
\r
2788 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2790 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2793 TaskHookFunction_t xReturn;
\r
2795 /* If xTask is NULL then we are setting our own task hook. */
\r
2796 if( xTask == NULL )
\r
2798 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2802 xTCB = ( TCB_t * ) xTask;
\r
2805 /* Save the hook function in the TCB. A critical section is required as
\r
2806 the value can be accessed from an interrupt. */
\r
2807 taskENTER_CRITICAL();
\r
2809 xReturn = xTCB->pxTaskTag;
\r
2811 taskEXIT_CRITICAL();
\r
2816 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2817 /*-----------------------------------------------------------*/
\r
2819 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2821 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2824 BaseType_t xReturn;
\r
2826 /* If xTask is NULL then we are calling our own task hook. */
\r
2827 if( xTask == NULL )
\r
2829 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2833 xTCB = ( TCB_t * ) xTask;
\r
2836 if( xTCB->pxTaskTag != NULL )
\r
2838 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2848 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2849 /*-----------------------------------------------------------*/
\r
2851 void vTaskSwitchContext( void )
\r
2853 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2855 /* The scheduler is currently suspended - do not allow a context
\r
2857 xYieldPending = pdTRUE;
\r
2861 xYieldPending = pdFALSE;
\r
2862 traceTASK_SWITCHED_OUT();
\r
2864 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2866 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2867 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2869 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2872 /* Add the amount of time the task has been running to the
\r
2873 accumulated time so far. The time the task started running was
\r
2874 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2875 protection here so count values are only valid until the timer
\r
2876 overflows. The guard against negative values is to protect
\r
2877 against suspect run time stat counter implementations - which
\r
2878 are provided by the application, not the kernel. */
\r
2879 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2881 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2885 mtCOVERAGE_TEST_MARKER();
\r
2887 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2889 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2891 /* Check for stack overflow, if configured. */
\r
2892 taskCHECK_FOR_STACK_OVERFLOW();
\r
2894 /* Select a new task to run using either the generic C or port
\r
2895 optimised asm code. */
\r
2896 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2897 traceTASK_SWITCHED_IN();
\r
2899 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2901 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2902 structure specific to this task. */
\r
2903 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2905 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2908 /*-----------------------------------------------------------*/
\r
2910 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2912 configASSERT( pxEventList );
\r
2914 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2915 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2917 /* Place the event list item of the TCB in the appropriate event list.
\r
2918 This is placed in the list in priority order so the highest priority task
\r
2919 is the first to be woken by the event. The queue that contains the event
\r
2920 list is locked, preventing simultaneous access from interrupts. */
\r
2921 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2923 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2925 /*-----------------------------------------------------------*/
\r
2927 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2929 configASSERT( pxEventList );
\r
2931 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2932 the event groups implementation. */
\r
2933 configASSERT( uxSchedulerSuspended != 0 );
\r
2935 /* Store the item value in the event list item. It is safe to access the
\r
2936 event list item here as interrupts won't access the event list item of a
\r
2937 task that is not in the Blocked state. */
\r
2938 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2940 /* Place the event list item of the TCB at the end of the appropriate event
\r
2941 list. It is safe to access the event list here because it is part of an
\r
2942 event group implementation - and interrupts don't access event groups
\r
2943 directly (instead they access them indirectly by pending function calls to
\r
2944 the task level). */
\r
2945 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2947 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2949 /*-----------------------------------------------------------*/
\r
2951 #if( configUSE_TIMERS == 1 )
\r
2953 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2955 configASSERT( pxEventList );
\r
2957 /* This function should not be called by application code hence the
\r
2958 'Restricted' in its name. It is not part of the public API. It is
\r
2959 designed for use by kernel code, and has special calling requirements -
\r
2960 it should be called with the scheduler suspended. */
\r
2963 /* Place the event list item of the TCB in the appropriate event list.
\r
2964 In this case it is assume that this is the only task that is going to
\r
2965 be waiting on this event list, so the faster vListInsertEnd() function
\r
2966 can be used in place of vListInsert. */
\r
2967 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2969 /* If the task should block indefinitely then set the block time to a
\r
2970 value that will be recognised as an indefinite delay inside the
\r
2971 prvAddCurrentTaskToDelayedList() function. */
\r
2972 if( xWaitIndefinitely != pdFALSE )
\r
2974 xTicksToWait = portMAX_DELAY;
\r
2977 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2978 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2981 #endif /* configUSE_TIMERS */
\r
2982 /*-----------------------------------------------------------*/
\r
2984 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2986 TCB_t *pxUnblockedTCB;
\r
2987 BaseType_t xReturn;
\r
2989 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2990 called from a critical section within an ISR. */
\r
2992 /* The event list is sorted in priority order, so the first in the list can
\r
2993 be removed as it is known to be the highest priority. Remove the TCB from
\r
2994 the delayed list, and add it to the ready list.
\r
2996 If an event is for a queue that is locked then this function will never
\r
2997 get called - the lock count on the queue will get modified instead. This
\r
2998 means exclusive access to the event list is guaranteed here.
\r
3000 This function assumes that a check has already been made to ensure that
\r
3001 pxEventList is not empty. */
\r
3002 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
3003 configASSERT( pxUnblockedTCB );
\r
3004 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3006 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3008 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3009 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3013 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3014 pending until the scheduler is resumed. */
\r
3015 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3018 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3020 /* Return true if the task removed from the event list has a higher
\r
3021 priority than the calling task. This allows the calling task to know if
\r
3022 it should force a context switch now. */
\r
3025 /* Mark that a yield is pending in case the user is not using the
\r
3026 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3027 xYieldPending = pdTRUE;
\r
3031 xReturn = pdFALSE;
\r
3034 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3036 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3037 might be set to the blocked task's time out time. If the task is
\r
3038 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3039 normally left unchanged, because it is automatically reset to a new
\r
3040 value when the tick count equals xNextTaskUnblockTime. However if
\r
3041 tickless idling is used it might be more important to enter sleep mode
\r
3042 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3043 ensure it is updated at the earliest possible time. */
\r
3044 prvResetNextTaskUnblockTime();
\r
3050 /*-----------------------------------------------------------*/
\r
3052 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3054 TCB_t *pxUnblockedTCB;
\r
3056 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3057 the event flags implementation. */
\r
3058 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3060 /* Store the new item value in the event list. */
\r
3061 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3063 /* Remove the event list form the event flag. Interrupts do not access
\r
3065 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
3066 configASSERT( pxUnblockedTCB );
\r
3067 ( void ) uxListRemove( pxEventListItem );
\r
3069 /* Remove the task from the delayed list and add it to the ready list. The
\r
3070 scheduler is suspended so interrupts will not be accessing the ready
\r
3072 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3073 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3075 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3077 /* The unblocked task has a priority above that of the calling task, so
\r
3078 a context switch is required. This function is called with the
\r
3079 scheduler suspended so xYieldPending is set so the context switch
\r
3080 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3081 xYieldPending = pdTRUE;
\r
3084 /*-----------------------------------------------------------*/
\r
3086 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3088 configASSERT( pxTimeOut );
\r
3089 taskENTER_CRITICAL();
\r
3091 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3092 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3094 taskEXIT_CRITICAL();
\r
3096 /*-----------------------------------------------------------*/
\r
3098 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3100 /* For internal use only as it does not use a critical section. */
\r
3101 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3102 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3104 /*-----------------------------------------------------------*/
\r
3106 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3108 BaseType_t xReturn;
\r
3110 configASSERT( pxTimeOut );
\r
3111 configASSERT( pxTicksToWait );
\r
3113 taskENTER_CRITICAL();
\r
3115 /* Minor optimisation. The tick count cannot change in this block. */
\r
3116 const TickType_t xConstTickCount = xTickCount;
\r
3117 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3119 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3120 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
3122 /* The delay was aborted, which is not the same as a time out,
\r
3123 but has the same result. */
\r
3124 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3130 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3131 if( *pxTicksToWait == portMAX_DELAY )
\r
3133 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3134 specified is the maximum block time then the task should block
\r
3135 indefinitely, and therefore never time out. */
\r
3136 xReturn = pdFALSE;
\r
3141 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3143 /* The tick count is greater than the time at which
\r
3144 vTaskSetTimeout() was called, but has also overflowed since
\r
3145 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3146 around and gone past again. This passed since vTaskSetTimeout()
\r
3150 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3152 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3153 *pxTicksToWait -= xElapsedTime;
\r
3154 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3155 xReturn = pdFALSE;
\r
3159 *pxTicksToWait = 0;
\r
3163 taskEXIT_CRITICAL();
\r
3167 /*-----------------------------------------------------------*/
\r
3169 void vTaskMissedYield( void )
\r
3171 xYieldPending = pdTRUE;
\r
3173 /*-----------------------------------------------------------*/
\r
3175 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3177 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3179 UBaseType_t uxReturn;
\r
3182 if( xTask != NULL )
\r
3184 pxTCB = ( TCB_t * ) xTask;
\r
3185 uxReturn = pxTCB->uxTaskNumber;
\r
3195 #endif /* configUSE_TRACE_FACILITY */
\r
3196 /*-----------------------------------------------------------*/
\r
3198 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3200 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3204 if( xTask != NULL )
\r
3206 pxTCB = ( TCB_t * ) xTask;
\r
3207 pxTCB->uxTaskNumber = uxHandle;
\r
3211 #endif /* configUSE_TRACE_FACILITY */
\r
3214 * -----------------------------------------------------------
\r
3216 * ----------------------------------------------------------
\r
3218 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3219 * language extensions. The equivalent prototype for this function is:
\r
3221 * void prvIdleTask( void *pvParameters );
\r
3224 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3226 /* Stop warnings. */
\r
3227 ( void ) pvParameters;
\r
3229 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3230 SCHEDULER IS STARTED. **/
\r
3232 /* In case a task that has a secure context deletes itself, in which case
\r
3233 the idle task is responsible for deleting the task's secure context, if
\r
3235 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3239 /* See if any tasks have deleted themselves - if so then the idle task
\r
3240 is responsible for freeing the deleted task's TCB and stack. */
\r
3241 prvCheckTasksWaitingTermination();
\r
3243 #if ( configUSE_PREEMPTION == 0 )
\r
3245 /* If we are not using preemption we keep forcing a task switch to
\r
3246 see if any other task has become available. If we are using
\r
3247 preemption we don't need to do this as any task becoming available
\r
3248 will automatically get the processor anyway. */
\r
3251 #endif /* configUSE_PREEMPTION */
\r
3253 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3255 /* When using preemption tasks of equal priority will be
\r
3256 timesliced. If a task that is sharing the idle priority is ready
\r
3257 to run then the idle task should yield before the end of the
\r
3260 A critical region is not required here as we are just reading from
\r
3261 the list, and an occasional incorrect value will not matter. If
\r
3262 the ready list at the idle priority contains more than one task
\r
3263 then a task other than the idle task is ready to execute. */
\r
3264 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3270 mtCOVERAGE_TEST_MARKER();
\r
3273 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3275 #if ( configUSE_IDLE_HOOK == 1 )
\r
3277 extern void vApplicationIdleHook( void );
\r
3279 /* Call the user defined function from within the idle task. This
\r
3280 allows the application designer to add background functionality
\r
3281 without the overhead of a separate task.
\r
3282 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3283 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3284 vApplicationIdleHook();
\r
3286 #endif /* configUSE_IDLE_HOOK */
\r
3288 /* This conditional compilation should use inequality to 0, not equality
\r
3289 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3290 user defined low power mode implementations require
\r
3291 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3292 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3294 TickType_t xExpectedIdleTime;
\r
3296 /* It is not desirable to suspend then resume the scheduler on
\r
3297 each iteration of the idle task. Therefore, a preliminary
\r
3298 test of the expected idle time is performed without the
\r
3299 scheduler suspended. The result here is not necessarily
\r
3301 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3303 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3305 vTaskSuspendAll();
\r
3307 /* Now the scheduler is suspended, the expected idle
\r
3308 time can be sampled again, and this time its value can
\r
3310 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3311 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3313 /* Define the following macro to set xExpectedIdleTime to 0
\r
3314 if the application does not want
\r
3315 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3316 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3318 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3320 traceLOW_POWER_IDLE_BEGIN();
\r
3321 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3322 traceLOW_POWER_IDLE_END();
\r
3326 mtCOVERAGE_TEST_MARKER();
\r
3329 ( void ) xTaskResumeAll();
\r
3333 mtCOVERAGE_TEST_MARKER();
\r
3336 #endif /* configUSE_TICKLESS_IDLE */
\r
3339 /*-----------------------------------------------------------*/
\r
3341 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3343 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3345 /* The idle task exists in addition to the application tasks. */
\r
3346 const UBaseType_t uxNonApplicationTasks = 1;
\r
3347 eSleepModeStatus eReturn = eStandardSleep;
\r
3349 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3351 /* A task was made ready while the scheduler was suspended. */
\r
3352 eReturn = eAbortSleep;
\r
3354 else if( xYieldPending != pdFALSE )
\r
3356 /* A yield was pended while the scheduler was suspended. */
\r
3357 eReturn = eAbortSleep;
\r
3361 /* If all the tasks are in the suspended list (which might mean they
\r
3362 have an infinite block time rather than actually being suspended)
\r
3363 then it is safe to turn all clocks off and just wait for external
\r
3365 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3367 eReturn = eNoTasksWaitingTimeout;
\r
3371 mtCOVERAGE_TEST_MARKER();
\r
3378 #endif /* configUSE_TICKLESS_IDLE */
\r
3379 /*-----------------------------------------------------------*/
\r
3381 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3383 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3387 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3389 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3390 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3394 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3395 /*-----------------------------------------------------------*/
\r
3397 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3399 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3401 void *pvReturn = NULL;
\r
3404 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3406 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3407 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3417 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3418 /*-----------------------------------------------------------*/
\r
3420 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3422 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3426 /* If null is passed in here then we are modifying the MPU settings of
\r
3427 the calling task. */
\r
3428 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3430 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3433 #endif /* portUSING_MPU_WRAPPERS */
\r
3434 /*-----------------------------------------------------------*/
\r
3436 static void prvInitialiseTaskLists( void )
\r
3438 UBaseType_t uxPriority;
\r
3440 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3442 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3445 vListInitialise( &xDelayedTaskList1 );
\r
3446 vListInitialise( &xDelayedTaskList2 );
\r
3447 vListInitialise( &xPendingReadyList );
\r
3449 #if ( INCLUDE_vTaskDelete == 1 )
\r
3451 vListInitialise( &xTasksWaitingTermination );
\r
3453 #endif /* INCLUDE_vTaskDelete */
\r
3455 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3457 vListInitialise( &xSuspendedTaskList );
\r
3459 #endif /* INCLUDE_vTaskSuspend */
\r
3461 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3463 pxDelayedTaskList = &xDelayedTaskList1;
\r
3464 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3466 /*-----------------------------------------------------------*/
\r
3468 static void prvCheckTasksWaitingTermination( void )
\r
3471 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3473 #if ( INCLUDE_vTaskDelete == 1 )
\r
3477 /* uxDeletedTasksWaitingCleanUp is used to prevent vTaskSuspendAll()
\r
3478 being called too often in the idle task. */
\r
3479 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3481 taskENTER_CRITICAL();
\r
3483 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3484 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3485 --uxCurrentNumberOfTasks;
\r
3486 --uxDeletedTasksWaitingCleanUp;
\r
3488 taskEXIT_CRITICAL();
\r
3490 prvDeleteTCB( pxTCB );
\r
3493 #endif /* INCLUDE_vTaskDelete */
\r
3495 /*-----------------------------------------------------------*/
\r
3497 #if( configUSE_TRACE_FACILITY == 1 )
\r
3499 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3503 /* xTask is NULL then get the state of the calling task. */
\r
3504 pxTCB = prvGetTCBFromHandle( xTask );
\r
3506 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3507 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3508 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3509 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3510 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3512 #if ( configUSE_MUTEXES == 1 )
\r
3514 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3518 pxTaskStatus->uxBasePriority = 0;
\r
3522 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3524 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3528 pxTaskStatus->ulRunTimeCounter = 0;
\r
3532 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3533 value of eState passed into this function is eInvalid - otherwise the
\r
3534 state is just set to whatever is passed in. */
\r
3535 if( eState != eInvalid )
\r
3537 if( pxTCB == pxCurrentTCB )
\r
3539 pxTaskStatus->eCurrentState = eRunning;
\r
3543 pxTaskStatus->eCurrentState = eState;
\r
3545 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3547 /* If the task is in the suspended list then there is a
\r
3548 chance it is actually just blocked indefinitely - so really
\r
3549 it should be reported as being in the Blocked state. */
\r
3550 if( eState == eSuspended )
\r
3552 vTaskSuspendAll();
\r
3554 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3556 pxTaskStatus->eCurrentState = eBlocked;
\r
3559 ( void ) xTaskResumeAll();
\r
3562 #endif /* INCLUDE_vTaskSuspend */
\r
3567 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3570 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3571 parameter is provided to allow it to be skipped. */
\r
3572 if( xGetFreeStackSpace != pdFALSE )
\r
3574 #if ( portSTACK_GROWTH > 0 )
\r
3576 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3580 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3586 pxTaskStatus->usStackHighWaterMark = 0;
\r
3590 #endif /* configUSE_TRACE_FACILITY */
\r
3591 /*-----------------------------------------------------------*/
\r
3593 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3595 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3597 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3598 UBaseType_t uxTask = 0;
\r
3600 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3602 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3604 /* Populate an TaskStatus_t structure within the
\r
3605 pxTaskStatusArray array for each task that is referenced from
\r
3606 pxList. See the definition of TaskStatus_t in task.h for the
\r
3607 meaning of each TaskStatus_t structure member. */
\r
3610 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3611 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3613 } while( pxNextTCB != pxFirstTCB );
\r
3617 mtCOVERAGE_TEST_MARKER();
\r
3623 #endif /* configUSE_TRACE_FACILITY */
\r
3624 /*-----------------------------------------------------------*/
\r
3626 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3628 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3630 uint32_t ulCount = 0U;
\r
3632 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3634 pucStackByte -= portSTACK_GROWTH;
\r
3638 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3640 return ( uint16_t ) ulCount;
\r
3643 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3644 /*-----------------------------------------------------------*/
\r
3646 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3648 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3651 uint8_t *pucEndOfStack;
\r
3652 UBaseType_t uxReturn;
\r
3654 pxTCB = prvGetTCBFromHandle( xTask );
\r
3656 #if portSTACK_GROWTH < 0
\r
3658 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3662 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3666 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3671 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3672 /*-----------------------------------------------------------*/
\r
3674 #if ( INCLUDE_vTaskDelete == 1 )
\r
3676 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3678 /* This call is required specifically for the TriCore port. It must be
\r
3679 above the vPortFree() calls. The call is also used by ports/demos that
\r
3680 want to allocate and clean RAM statically. */
\r
3681 portCLEAN_UP_TCB( pxTCB );
\r
3683 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3684 to the task to free any memory allocated at the application level. */
\r
3685 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3687 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3689 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3691 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3693 /* The task can only have been allocated dynamically - free both
\r
3694 the stack and TCB. */
\r
3695 vPortFree( pxTCB->pxStack );
\r
3696 vPortFree( pxTCB );
\r
3698 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
3700 /* The task could have been allocated statically or dynamically, so
\r
3701 check what was statically allocated before trying to free the
\r
3703 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3705 /* Both the stack and TCB were allocated dynamically, so both
\r
3707 vPortFree( pxTCB->pxStack );
\r
3708 vPortFree( pxTCB );
\r
3710 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3712 /* Only the stack was statically allocated, so the TCB is the
\r
3713 only memory that must be freed. */
\r
3714 vPortFree( pxTCB );
\r
3718 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3719 nothing needs to be freed. */
\r
3720 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3721 mtCOVERAGE_TEST_MARKER();
\r
3724 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3727 #endif /* INCLUDE_vTaskDelete */
\r
3728 /*-----------------------------------------------------------*/
\r
3730 static void prvResetNextTaskUnblockTime( void )
\r
3734 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3736 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3737 the maximum possible value so it is extremely unlikely that the
\r
3738 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3739 there is an item in the delayed list. */
\r
3740 xNextTaskUnblockTime = portMAX_DELAY;
\r
3744 /* The new current delayed list is not empty, get the value of
\r
3745 the item at the head of the delayed list. This is the time at
\r
3746 which the task at the head of the delayed list should be removed
\r
3747 from the Blocked state. */
\r
3748 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3749 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3752 /*-----------------------------------------------------------*/
\r
3754 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3756 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3758 TaskHandle_t xReturn;
\r
3760 /* A critical section is not required as this is not called from
\r
3761 an interrupt and the current TCB will always be the same for any
\r
3762 individual execution thread. */
\r
3763 xReturn = pxCurrentTCB;
\r
3768 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3769 /*-----------------------------------------------------------*/
\r
3771 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3773 BaseType_t xTaskGetSchedulerState( void )
\r
3775 BaseType_t xReturn;
\r
3777 if( xSchedulerRunning == pdFALSE )
\r
3779 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3783 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3785 xReturn = taskSCHEDULER_RUNNING;
\r
3789 xReturn = taskSCHEDULER_SUSPENDED;
\r
3796 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3797 /*-----------------------------------------------------------*/
\r
3799 #if ( configUSE_MUTEXES == 1 )
\r
3801 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3803 TCB_t * const pxMutexHolderTCB = ( TCB_t * ) pxMutexHolder;
\r
3804 BaseType_t xReturn = pdFALSE;
\r
3806 /* If the mutex was given back by an interrupt while the queue was
\r
3807 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3808 needed as interrupts can no longer use mutexes? */
\r
3809 if( pxMutexHolder != NULL )
\r
3811 /* If the holder of the mutex has a priority below the priority of
\r
3812 the task attempting to obtain the mutex then it will temporarily
\r
3813 inherit the priority of the task attempting to obtain the mutex. */
\r
3814 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3816 /* Adjust the mutex holder state to account for its new
\r
3817 priority. Only reset the event list item value if the value is
\r
3818 not being used for anything else. */
\r
3819 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3821 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3825 mtCOVERAGE_TEST_MARKER();
\r
3828 /* If the task being modified is in the ready state it will need
\r
3829 to be moved into a new list. */
\r
3830 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3832 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3834 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3838 mtCOVERAGE_TEST_MARKER();
\r
3841 /* Inherit the priority before being moved into the new list. */
\r
3842 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3843 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3847 /* Just inherit the priority. */
\r
3848 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3851 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3853 /* Inheritance occurred. */
\r
3858 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3860 /* The base priority of the mutex holder is lower than the
\r
3861 priority of the task attempting to take the mutex, but the
\r
3862 current priority of the mutex holder is not lower than the
\r
3863 priority of the task attempting to take the mutex.
\r
3864 Therefore the mutex holder must have already inherited a
\r
3865 priority, but inheritance would have occurred if that had
\r
3866 not been the case. */
\r
3871 mtCOVERAGE_TEST_MARKER();
\r
3877 mtCOVERAGE_TEST_MARKER();
\r
3883 #endif /* configUSE_MUTEXES */
\r
3884 /*-----------------------------------------------------------*/
\r
3886 #if ( configUSE_MUTEXES == 1 )
\r
3888 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3890 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3891 BaseType_t xReturn = pdFALSE;
\r
3893 if( pxMutexHolder != NULL )
\r
3895 /* A task can only have an inherited priority if it holds the mutex.
\r
3896 If the mutex is held by a task then it cannot be given from an
\r
3897 interrupt, and if a mutex is given by the holding task then it must
\r
3898 be the running state task. */
\r
3899 configASSERT( pxTCB == pxCurrentTCB );
\r
3900 configASSERT( pxTCB->uxMutexesHeld );
\r
3901 ( pxTCB->uxMutexesHeld )--;
\r
3903 /* Has the holder of the mutex inherited the priority of another
\r
3905 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3907 /* Only disinherit if no other mutexes are held. */
\r
3908 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3910 /* A task can only have an inherited priority if it holds
\r
3911 the mutex. If the mutex is held by a task then it cannot be
\r
3912 given from an interrupt, and if a mutex is given by the
\r
3913 holding task then it must be the running state task. Remove
\r
3914 the holding task from the ready list. */
\r
3915 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3917 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3921 mtCOVERAGE_TEST_MARKER();
\r
3924 /* Disinherit the priority before adding the task into the
\r
3925 new ready list. */
\r
3926 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3927 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3929 /* Reset the event list item value. It cannot be in use for
\r
3930 any other purpose if this task is running, and it must be
\r
3931 running to give back the mutex. */
\r
3932 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
3933 prvAddTaskToReadyList( pxTCB );
\r
3935 /* Return true to indicate that a context switch is required.
\r
3936 This is only actually required in the corner case whereby
\r
3937 multiple mutexes were held and the mutexes were given back
\r
3938 in an order different to that in which they were taken.
\r
3939 If a context switch did not occur when the first mutex was
\r
3940 returned, even if a task was waiting on it, then a context
\r
3941 switch should occur when the last mutex is returned whether
\r
3942 a task is waiting on it or not. */
\r
3947 mtCOVERAGE_TEST_MARKER();
\r
3952 mtCOVERAGE_TEST_MARKER();
\r
3957 mtCOVERAGE_TEST_MARKER();
\r
3963 #endif /* configUSE_MUTEXES */
\r
3964 /*-----------------------------------------------------------*/
\r
3966 #if ( configUSE_MUTEXES == 1 )
\r
3968 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
3970 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3971 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
3972 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
3974 if( pxMutexHolder != NULL )
\r
3976 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
3978 configASSERT( pxTCB->uxMutexesHeld );
\r
3980 /* Determine the priority to which the priority of the task that
\r
3981 holds the mutex should be set. This will be the greater of the
\r
3982 holding task's base priority and the priority of the highest
\r
3983 priority task that is waiting to obtain the mutex. */
\r
3984 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
3986 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
3990 uxPriorityToUse = pxTCB->uxBasePriority;
\r
3993 /* Does the priority need to change? */
\r
3994 if( pxTCB->uxPriority != uxPriorityToUse )
\r
3996 /* Only disinherit if no other mutexes are held. This is a
\r
3997 simplification in the priority inheritance implementation. If
\r
3998 the task that holds the mutex is also holding other mutexes then
\r
3999 the other mutexes may have caused the priority inheritance. */
\r
4000 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4002 /* If a task has timed out because it already holds the
\r
4003 mutex it was trying to obtain then it cannot of inherited
\r
4004 its own priority. */
\r
4005 configASSERT( pxTCB != pxCurrentTCB );
\r
4007 /* Disinherit the priority, remembering the previous
\r
4008 priority to facilitate determining the subject task's
\r
4010 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4011 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4012 pxTCB->uxPriority = uxPriorityToUse;
\r
4014 /* Only reset the event list item value if the value is not
\r
4015 being used for anything else. */
\r
4016 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4018 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4022 mtCOVERAGE_TEST_MARKER();
\r
4025 /* If the running task is not the task that holds the mutex
\r
4026 then the task that holds the mutex could be in either the
\r
4027 Ready, Blocked or Suspended states. Only remove the task
\r
4028 from its current state list if it is in the Ready state as
\r
4029 the task's priority is going to change and there is one
\r
4030 Ready list per priority. */
\r
4031 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4033 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4035 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4039 mtCOVERAGE_TEST_MARKER();
\r
4042 prvAddTaskToReadyList( pxTCB );
\r
4046 mtCOVERAGE_TEST_MARKER();
\r
4051 mtCOVERAGE_TEST_MARKER();
\r
4056 mtCOVERAGE_TEST_MARKER();
\r
4061 mtCOVERAGE_TEST_MARKER();
\r
4065 #endif /* configUSE_MUTEXES */
\r
4066 /*-----------------------------------------------------------*/
\r
4068 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4070 void vTaskEnterCritical( void )
\r
4072 portDISABLE_INTERRUPTS();
\r
4074 if( xSchedulerRunning != pdFALSE )
\r
4076 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4078 /* This is not the interrupt safe version of the enter critical
\r
4079 function so assert() if it is being called from an interrupt
\r
4080 context. Only API functions that end in "FromISR" can be used in an
\r
4081 interrupt. Only assert if the critical nesting count is 1 to
\r
4082 protect against recursive calls if the assert function also uses a
\r
4083 critical section. */
\r
4084 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4086 portASSERT_IF_IN_ISR();
\r
4091 mtCOVERAGE_TEST_MARKER();
\r
4095 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4096 /*-----------------------------------------------------------*/
\r
4098 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4100 void vTaskExitCritical( void )
\r
4102 if( xSchedulerRunning != pdFALSE )
\r
4104 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4106 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4108 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4110 portENABLE_INTERRUPTS();
\r
4114 mtCOVERAGE_TEST_MARKER();
\r
4119 mtCOVERAGE_TEST_MARKER();
\r
4124 mtCOVERAGE_TEST_MARKER();
\r
4128 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4129 /*-----------------------------------------------------------*/
\r
4131 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4133 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4137 /* Start by copying the entire string. */
\r
4138 strcpy( pcBuffer, pcTaskName );
\r
4140 /* Pad the end of the string with spaces to ensure columns line up when
\r
4142 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4144 pcBuffer[ x ] = ' ';
\r
4148 pcBuffer[ x ] = 0x00;
\r
4150 /* Return the new end of string. */
\r
4151 return &( pcBuffer[ x ] );
\r
4154 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4155 /*-----------------------------------------------------------*/
\r
4157 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4159 void vTaskList( char * pcWriteBuffer )
\r
4161 TaskStatus_t *pxTaskStatusArray;
\r
4162 volatile UBaseType_t uxArraySize, x;
\r
4168 * This function is provided for convenience only, and is used by many
\r
4169 * of the demo applications. Do not consider it to be part of the
\r
4172 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4173 * uxTaskGetSystemState() output into a human readable table that
\r
4174 * displays task names, states and stack usage.
\r
4176 * vTaskList() has a dependency on the sprintf() C library function that
\r
4177 * might bloat the code size, use a lot of stack, and provide different
\r
4178 * results on different platforms. An alternative, tiny, third party,
\r
4179 * and limited functionality implementation of sprintf() is provided in
\r
4180 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4181 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4182 * snprintf() implementation!).
\r
4184 * It is recommended that production systems call uxTaskGetSystemState()
\r
4185 * directly to get access to raw stats data, rather than indirectly
\r
4186 * through a call to vTaskList().
\r
4190 /* Make sure the write buffer does not contain a string. */
\r
4191 *pcWriteBuffer = 0x00;
\r
4193 /* Take a snapshot of the number of tasks in case it changes while this
\r
4194 function is executing. */
\r
4195 uxArraySize = uxCurrentNumberOfTasks;
\r
4197 /* Allocate an array index for each task. NOTE! if
\r
4198 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4199 equate to NULL. */
\r
4200 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4202 if( pxTaskStatusArray != NULL )
\r
4204 /* Generate the (binary) data. */
\r
4205 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4207 /* Create a human readable table from the binary data. */
\r
4208 for( x = 0; x < uxArraySize; x++ )
\r
4210 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4212 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4215 case eReady: cStatus = tskREADY_CHAR;
\r
4218 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4221 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4224 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4227 default: /* Should not get here, but it is included
\r
4228 to prevent static checking errors. */
\r
4233 /* Write the task name to the string, padding with spaces so it
\r
4234 can be printed in tabular form more easily. */
\r
4235 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4237 /* Write the rest of the string. */
\r
4238 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
4239 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4242 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4243 is 0 then vPortFree() will be #defined to nothing. */
\r
4244 vPortFree( pxTaskStatusArray );
\r
4248 mtCOVERAGE_TEST_MARKER();
\r
4252 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4253 /*----------------------------------------------------------*/
\r
4255 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4257 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4259 TaskStatus_t *pxTaskStatusArray;
\r
4260 volatile UBaseType_t uxArraySize, x;
\r
4261 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4263 #if( configUSE_TRACE_FACILITY != 1 )
\r
4265 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4272 * This function is provided for convenience only, and is used by many
\r
4273 * of the demo applications. Do not consider it to be part of the
\r
4276 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4277 * of the uxTaskGetSystemState() output into a human readable table that
\r
4278 * displays the amount of time each task has spent in the Running state
\r
4279 * in both absolute and percentage terms.
\r
4281 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4282 * function that might bloat the code size, use a lot of stack, and
\r
4283 * provide different results on different platforms. An alternative,
\r
4284 * tiny, third party, and limited functionality implementation of
\r
4285 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4286 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4287 * a full snprintf() implementation!).
\r
4289 * It is recommended that production systems call uxTaskGetSystemState()
\r
4290 * directly to get access to raw stats data, rather than indirectly
\r
4291 * through a call to vTaskGetRunTimeStats().
\r
4294 /* Make sure the write buffer does not contain a string. */
\r
4295 *pcWriteBuffer = 0x00;
\r
4297 /* Take a snapshot of the number of tasks in case it changes while this
\r
4298 function is executing. */
\r
4299 uxArraySize = uxCurrentNumberOfTasks;
\r
4301 /* Allocate an array index for each task. NOTE! If
\r
4302 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4303 equate to NULL. */
\r
4304 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4306 if( pxTaskStatusArray != NULL )
\r
4308 /* Generate the (binary) data. */
\r
4309 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4311 /* For percentage calculations. */
\r
4312 ulTotalTime /= 100UL;
\r
4314 /* Avoid divide by zero errors. */
\r
4315 if( ulTotalTime > 0 )
\r
4317 /* Create a human readable table from the binary data. */
\r
4318 for( x = 0; x < uxArraySize; x++ )
\r
4320 /* What percentage of the total run time has the task used?
\r
4321 This will always be rounded down to the nearest integer.
\r
4322 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4323 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4325 /* Write the task name to the string, padding with
\r
4326 spaces so it can be printed in tabular form more
\r
4328 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4330 if( ulStatsAsPercentage > 0UL )
\r
4332 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4334 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4338 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4339 printf() library can be used. */
\r
4340 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4346 /* If the percentage is zero here then the task has
\r
4347 consumed less than 1% of the total run time. */
\r
4348 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4350 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4354 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4355 printf() library can be used. */
\r
4356 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4361 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4366 mtCOVERAGE_TEST_MARKER();
\r
4369 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4370 is 0 then vPortFree() will be #defined to nothing. */
\r
4371 vPortFree( pxTaskStatusArray );
\r
4375 mtCOVERAGE_TEST_MARKER();
\r
4379 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4380 /*-----------------------------------------------------------*/
\r
4382 TickType_t uxTaskResetEventItemValue( void )
\r
4384 TickType_t uxReturn;
\r
4386 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4388 /* Reset the event list item to its normal value - so it can be used with
\r
4389 queues and semaphores. */
\r
4390 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
4394 /*-----------------------------------------------------------*/
\r
4396 #if ( configUSE_MUTEXES == 1 )
\r
4398 void *pvTaskIncrementMutexHeldCount( void )
\r
4400 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4401 then pxCurrentTCB will be NULL. */
\r
4402 if( pxCurrentTCB != NULL )
\r
4404 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4407 return pxCurrentTCB;
\r
4410 #endif /* configUSE_MUTEXES */
\r
4411 /*-----------------------------------------------------------*/
\r
4413 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4415 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4417 uint32_t ulReturn;
\r
4419 taskENTER_CRITICAL();
\r
4421 /* Only block if the notification count is not already non-zero. */
\r
4422 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4424 /* Mark this task as waiting for a notification. */
\r
4425 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4427 if( xTicksToWait > ( TickType_t ) 0 )
\r
4429 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4430 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4432 /* All ports are written to allow a yield in a critical
\r
4433 section (some will yield immediately, others wait until the
\r
4434 critical section exits) - but it is not something that
\r
4435 application code should ever do. */
\r
4436 portYIELD_WITHIN_API();
\r
4440 mtCOVERAGE_TEST_MARKER();
\r
4445 mtCOVERAGE_TEST_MARKER();
\r
4448 taskEXIT_CRITICAL();
\r
4450 taskENTER_CRITICAL();
\r
4452 traceTASK_NOTIFY_TAKE();
\r
4453 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4455 if( ulReturn != 0UL )
\r
4457 if( xClearCountOnExit != pdFALSE )
\r
4459 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4463 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4468 mtCOVERAGE_TEST_MARKER();
\r
4471 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4473 taskEXIT_CRITICAL();
\r
4478 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4479 /*-----------------------------------------------------------*/
\r
4481 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4483 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4485 BaseType_t xReturn;
\r
4487 taskENTER_CRITICAL();
\r
4489 /* Only block if a notification is not already pending. */
\r
4490 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4492 /* Clear bits in the task's notification value as bits may get
\r
4493 set by the notifying task or interrupt. This can be used to
\r
4494 clear the value to zero. */
\r
4495 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4497 /* Mark this task as waiting for a notification. */
\r
4498 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4500 if( xTicksToWait > ( TickType_t ) 0 )
\r
4502 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4503 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4505 /* All ports are written to allow a yield in a critical
\r
4506 section (some will yield immediately, others wait until the
\r
4507 critical section exits) - but it is not something that
\r
4508 application code should ever do. */
\r
4509 portYIELD_WITHIN_API();
\r
4513 mtCOVERAGE_TEST_MARKER();
\r
4518 mtCOVERAGE_TEST_MARKER();
\r
4521 taskEXIT_CRITICAL();
\r
4523 taskENTER_CRITICAL();
\r
4525 traceTASK_NOTIFY_WAIT();
\r
4527 if( pulNotificationValue != NULL )
\r
4529 /* Output the current notification value, which may or may not
\r
4531 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4534 /* If ucNotifyValue is set then either the task never entered the
\r
4535 blocked state (because a notification was already pending) or the
\r
4536 task unblocked because of a notification. Otherwise the task
\r
4537 unblocked because of a timeout. */
\r
4538 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4540 /* A notification was not received. */
\r
4541 xReturn = pdFALSE;
\r
4545 /* A notification was already pending or a notification was
\r
4546 received while the task was waiting. */
\r
4547 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4551 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4553 taskEXIT_CRITICAL();
\r
4558 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4559 /*-----------------------------------------------------------*/
\r
4561 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4563 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4566 BaseType_t xReturn = pdPASS;
\r
4567 uint8_t ucOriginalNotifyState;
\r
4569 configASSERT( xTaskToNotify );
\r
4570 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4572 taskENTER_CRITICAL();
\r
4574 if( pulPreviousNotificationValue != NULL )
\r
4576 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4579 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4581 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4586 pxTCB->ulNotifiedValue |= ulValue;
\r
4590 ( pxTCB->ulNotifiedValue )++;
\r
4593 case eSetValueWithOverwrite :
\r
4594 pxTCB->ulNotifiedValue = ulValue;
\r
4597 case eSetValueWithoutOverwrite :
\r
4598 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4600 pxTCB->ulNotifiedValue = ulValue;
\r
4604 /* The value could not be written to the task. */
\r
4610 /* The task is being notified without its notify value being
\r
4615 traceTASK_NOTIFY();
\r
4617 /* If the task is in the blocked state specifically to wait for a
\r
4618 notification then unblock it now. */
\r
4619 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4621 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4622 prvAddTaskToReadyList( pxTCB );
\r
4624 /* The task should not have been on an event list. */
\r
4625 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4627 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4629 /* If a task is blocked waiting for a notification then
\r
4630 xNextTaskUnblockTime might be set to the blocked task's time
\r
4631 out time. If the task is unblocked for a reason other than
\r
4632 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4633 because it will automatically get reset to a new value when
\r
4634 the tick count equals xNextTaskUnblockTime. However if
\r
4635 tickless idling is used it might be more important to enter
\r
4636 sleep mode at the earliest possible time - so reset
\r
4637 xNextTaskUnblockTime here to ensure it is updated at the
\r
4638 earliest possible time. */
\r
4639 prvResetNextTaskUnblockTime();
\r
4643 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4645 /* The notified task has a priority above the currently
\r
4646 executing task so a yield is required. */
\r
4647 taskYIELD_IF_USING_PREEMPTION();
\r
4651 mtCOVERAGE_TEST_MARKER();
\r
4656 mtCOVERAGE_TEST_MARKER();
\r
4659 taskEXIT_CRITICAL();
\r
4664 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4665 /*-----------------------------------------------------------*/
\r
4667 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4669 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4672 uint8_t ucOriginalNotifyState;
\r
4673 BaseType_t xReturn = pdPASS;
\r
4674 UBaseType_t uxSavedInterruptStatus;
\r
4676 configASSERT( xTaskToNotify );
\r
4678 /* RTOS ports that support interrupt nesting have the concept of a
\r
4679 maximum system call (or maximum API call) interrupt priority.
\r
4680 Interrupts that are above the maximum system call priority are keep
\r
4681 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4682 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4683 is defined in FreeRTOSConfig.h then
\r
4684 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4685 failure if a FreeRTOS API function is called from an interrupt that has
\r
4686 been assigned a priority above the configured maximum system call
\r
4687 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4688 from interrupts that have been assigned a priority at or (logically)
\r
4689 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4690 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4691 simple as possible. More information (albeit Cortex-M specific) is
\r
4692 provided on the following link:
\r
4693 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4694 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4696 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4698 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4700 if( pulPreviousNotificationValue != NULL )
\r
4702 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4705 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4706 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4711 pxTCB->ulNotifiedValue |= ulValue;
\r
4715 ( pxTCB->ulNotifiedValue )++;
\r
4718 case eSetValueWithOverwrite :
\r
4719 pxTCB->ulNotifiedValue = ulValue;
\r
4722 case eSetValueWithoutOverwrite :
\r
4723 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4725 pxTCB->ulNotifiedValue = ulValue;
\r
4729 /* The value could not be written to the task. */
\r
4735 /* The task is being notified without its notify value being
\r
4740 traceTASK_NOTIFY_FROM_ISR();
\r
4742 /* If the task is in the blocked state specifically to wait for a
\r
4743 notification then unblock it now. */
\r
4744 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4746 /* The task should not have been on an event list. */
\r
4747 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4749 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4751 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4752 prvAddTaskToReadyList( pxTCB );
\r
4756 /* The delayed and ready lists cannot be accessed, so hold
\r
4757 this task pending until the scheduler is resumed. */
\r
4758 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4761 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4763 /* The notified task has a priority above the currently
\r
4764 executing task so a yield is required. */
\r
4765 if( pxHigherPriorityTaskWoken != NULL )
\r
4767 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4771 /* Mark that a yield is pending in case the user is not
\r
4772 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4773 safe FreeRTOS function. */
\r
4774 xYieldPending = pdTRUE;
\r
4779 mtCOVERAGE_TEST_MARKER();
\r
4783 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4788 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4789 /*-----------------------------------------------------------*/
\r
4791 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4793 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4796 uint8_t ucOriginalNotifyState;
\r
4797 UBaseType_t uxSavedInterruptStatus;
\r
4799 configASSERT( xTaskToNotify );
\r
4801 /* RTOS ports that support interrupt nesting have the concept of a
\r
4802 maximum system call (or maximum API call) interrupt priority.
\r
4803 Interrupts that are above the maximum system call priority are keep
\r
4804 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4805 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4806 is defined in FreeRTOSConfig.h then
\r
4807 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4808 failure if a FreeRTOS API function is called from an interrupt that has
\r
4809 been assigned a priority above the configured maximum system call
\r
4810 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4811 from interrupts that have been assigned a priority at or (logically)
\r
4812 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4813 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4814 simple as possible. More information (albeit Cortex-M specific) is
\r
4815 provided on the following link:
\r
4816 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4817 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4819 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4821 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4823 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4824 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4826 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4828 ( pxTCB->ulNotifiedValue )++;
\r
4830 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4832 /* If the task is in the blocked state specifically to wait for a
\r
4833 notification then unblock it now. */
\r
4834 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4836 /* The task should not have been on an event list. */
\r
4837 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4839 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4841 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4842 prvAddTaskToReadyList( pxTCB );
\r
4846 /* The delayed and ready lists cannot be accessed, so hold
\r
4847 this task pending until the scheduler is resumed. */
\r
4848 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4851 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4853 /* The notified task has a priority above the currently
\r
4854 executing task so a yield is required. */
\r
4855 if( pxHigherPriorityTaskWoken != NULL )
\r
4857 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4861 /* Mark that a yield is pending in case the user is not
\r
4862 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4863 safe FreeRTOS function. */
\r
4864 xYieldPending = pdTRUE;
\r
4869 mtCOVERAGE_TEST_MARKER();
\r
4873 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4876 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4878 /*-----------------------------------------------------------*/
\r
4880 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4882 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4885 BaseType_t xReturn;
\r
4887 /* If null is passed in here then it is the calling task that is having
\r
4888 its notification state cleared. */
\r
4889 pxTCB = prvGetTCBFromHandle( xTask );
\r
4891 taskENTER_CRITICAL();
\r
4893 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4895 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4903 taskEXIT_CRITICAL();
\r
4908 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4909 /*-----------------------------------------------------------*/
\r
4912 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4914 TickType_t xTimeToWake;
\r
4915 const TickType_t xConstTickCount = xTickCount;
\r
4917 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4919 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4920 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4921 when the task leaves the Blocked state. */
\r
4922 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4926 /* Remove the task from the ready list before adding it to the blocked list
\r
4927 as the same list item is used for both lists. */
\r
4928 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4930 /* The current task must be in a ready list, so there is no need to
\r
4931 check, and the port reset macro can be called directly. */
\r
4932 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4936 mtCOVERAGE_TEST_MARKER();
\r
4939 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4941 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4943 /* Add the task to the suspended task list instead of a delayed task
\r
4944 list to ensure it is not woken by a timing event. It will block
\r
4946 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4950 /* Calculate the time at which the task should be woken if the event
\r
4951 does not occur. This may overflow but this doesn't matter, the
\r
4952 kernel will manage it correctly. */
\r
4953 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4955 /* The list item will be inserted in wake time order. */
\r
4956 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4958 if( xTimeToWake < xConstTickCount )
\r
4960 /* Wake time has overflowed. Place this item in the overflow
\r
4962 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4966 /* The wake time has not overflowed, so the current block list
\r
4968 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4970 /* If the task entering the blocked state was placed at the
\r
4971 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4972 needs to be updated too. */
\r
4973 if( xTimeToWake < xNextTaskUnblockTime )
\r
4975 xNextTaskUnblockTime = xTimeToWake;
\r
4979 mtCOVERAGE_TEST_MARKER();
\r
4984 #else /* INCLUDE_vTaskSuspend */
\r
4986 /* Calculate the time at which the task should be woken if the event
\r
4987 does not occur. This may overflow but this doesn't matter, the kernel
\r
4988 will manage it correctly. */
\r
4989 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4991 /* The list item will be inserted in wake time order. */
\r
4992 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4994 if( xTimeToWake < xConstTickCount )
\r
4996 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4997 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5001 /* The wake time has not overflowed, so the current block list is used. */
\r
5002 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5004 /* If the task entering the blocked state was placed at the head of the
\r
5005 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5007 if( xTimeToWake < xNextTaskUnblockTime )
\r
5009 xNextTaskUnblockTime = xTimeToWake;
\r
5013 mtCOVERAGE_TEST_MARKER();
\r
5017 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5018 ( void ) xCanBlockIndefinitely;
\r
5020 #endif /* INCLUDE_vTaskSuspend */
\r
5023 /* Code below here allows additional code to be inserted into this source file,
\r
5024 especially where access to file scope functions and data is needed (for example
\r
5025 when performing module tests). */
\r
5027 #ifdef FREERTOS_MODULE_TEST
\r
5028 #include "tasks_test_access_functions.h"
\r
5032 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5034 #include "freertos_tasks_c_additions.h"
\r
5036 static void freertos_tasks_c_additions_init( void )
\r
5038 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5039 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob