2 * FreeRTOS Kernel V10.2.1
\r
3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software.
\r
15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
22 * http://www.FreeRTOS.org
\r
23 * http://aws.amazon.com/freertos
\r
25 * 1 tab == 4 spaces!
\r
28 /* Standard includes. */
\r
32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
33 all the API functions to use the MPU wrappers. That should only be done when
\r
34 task.h is included from an application file. */
\r
35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
37 /* FreeRTOS includes. */
\r
38 #include "FreeRTOS.h"
\r
41 #include "stack_macros.h"
\r
43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
\r
44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
\r
45 for the header files above, but not in this file, in order to generate the
\r
46 correct privileged Vs unprivileged linkage and placement. */
\r
47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
\r
49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
\r
50 functions but without including stdio.h here. */
\r
51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
\r
52 /* At the bottom of this file are two optional functions that can be used
\r
53 to generate human readable text from the raw data generated by the
\r
54 uxTaskGetSystemState() function. Note the formatting functions are provided
\r
55 for convenience only, and are NOT considered part of the kernel. */
\r
57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
\r
59 #if( configUSE_PREEMPTION == 0 )
\r
60 /* If the cooperative scheduler is being used then a yield should not be
\r
61 performed just because a higher priority task has been woken. */
\r
62 #define taskYIELD_IF_USING_PREEMPTION()
\r
64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
\r
67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
\r
68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
\r
69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
\r
70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
\r
73 * The value used to fill the stack of a task when the task is created. This
\r
74 * is used purely for checking the high water mark for tasks.
\r
76 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
78 /* Bits used to recored how a task's stack and TCB were allocated. */
\r
79 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
\r
80 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
\r
81 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
\r
83 /* If any of the following are set then task stacks are filled with a known
\r
84 value so the high water mark can be determined. If none of the following are
\r
85 set then don't fill the stack so there is no unnecessary dependency on memset. */
\r
86 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
87 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
\r
89 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
\r
93 * Macros used by vListTask to indicate which state a task is in.
\r
95 #define tskRUNNING_CHAR ( 'X' )
\r
96 #define tskBLOCKED_CHAR ( 'B' )
\r
97 #define tskREADY_CHAR ( 'R' )
\r
98 #define tskDELETED_CHAR ( 'D' )
\r
99 #define tskSUSPENDED_CHAR ( 'S' )
\r
102 * Some kernel aware debuggers require the data the debugger needs access to be
\r
103 * global, rather than file scope.
\r
105 #ifdef portREMOVE_STATIC_QUALIFIER
\r
109 /* The name allocated to the Idle task. This can be overridden by defining
\r
110 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
\r
111 #ifndef configIDLE_TASK_NAME
\r
112 #define configIDLE_TASK_NAME "IDLE"
\r
115 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
117 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
118 performed in a generic way that is not optimised to any particular
\r
119 microcontroller architecture. */
\r
121 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
123 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
125 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
127 uxTopReadyPriority = ( uxPriority ); \
\r
129 } /* taskRECORD_READY_PRIORITY */
\r
131 /*-----------------------------------------------------------*/
\r
133 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
135 UBaseType_t uxTopPriority = uxTopReadyPriority; \
\r
137 /* Find the highest priority queue that contains ready tasks. */ \
\r
138 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
\r
140 configASSERT( uxTopPriority ); \
\r
144 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
145 the same priority get an equal share of the processor time. */ \
\r
146 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
147 uxTopReadyPriority = uxTopPriority; \
\r
148 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
150 /*-----------------------------------------------------------*/
\r
152 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
153 they are only required when a port optimised method of task selection is
\r
155 #define taskRESET_READY_PRIORITY( uxPriority )
\r
156 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
158 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
160 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
161 performed in a way that is tailored to the particular microcontroller
\r
162 architecture being used. */
\r
164 /* A port optimised version is provided. Call the port defined macros. */
\r
165 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
167 /*-----------------------------------------------------------*/
\r
169 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
171 UBaseType_t uxTopPriority; \
\r
173 /* Find the highest priority list that contains ready tasks. */ \
\r
174 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
175 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
176 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
177 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
179 /*-----------------------------------------------------------*/
\r
181 /* A port optimised version is provided, call it only if the TCB being reset
\r
182 is being referenced from a ready list. If it is referenced from a delayed
\r
183 or suspended list then it won't be in a ready list. */
\r
184 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
186 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
\r
188 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
192 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
194 /*-----------------------------------------------------------*/
\r
196 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
\r
197 count overflows. */
\r
198 #define taskSWITCH_DELAYED_LISTS() \
\r
202 /* The delayed tasks list should be empty when the lists are switched. */ \
\r
203 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\r
205 pxTemp = pxDelayedTaskList; \
\r
206 pxDelayedTaskList = pxOverflowDelayedTaskList; \
\r
207 pxOverflowDelayedTaskList = pxTemp; \
\r
208 xNumOfOverflows++; \
\r
209 prvResetNextTaskUnblockTime(); \
\r
212 /*-----------------------------------------------------------*/
\r
215 * Place the task represented by pxTCB into the appropriate ready list for
\r
216 * the task. It is inserted at the end of the list.
\r
218 #define prvAddTaskToReadyList( pxTCB ) \
\r
219 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
\r
220 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
221 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
\r
222 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
\r
223 /*-----------------------------------------------------------*/
\r
226 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
\r
227 * where NULL is used to indicate that the handle of the currently executing
\r
228 * task should be used in place of the parameter. This macro simply checks to
\r
229 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
231 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
\r
233 /* The item value of the event list item is normally used to hold the priority
\r
234 of the task to which it belongs (coded to allow it to be held in reverse
\r
235 priority order). However, it is occasionally borrowed for other purposes. It
\r
236 is important its value is not updated due to a task priority change while it is
\r
237 being used for another purpose. The following bit definition is used to inform
\r
238 the scheduler that the value should not be changed - in which case it is the
\r
239 responsibility of whichever module is using the value to ensure it gets set back
\r
240 to its original value when it is released. */
\r
241 #if( configUSE_16_BIT_TICKS == 1 )
\r
242 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
\r
244 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
\r
248 * Task control block. A task control block (TCB) is allocated for each task,
\r
249 * and stores task state information, including a pointer to the task's context
\r
250 * (the task's run time environment, including register values)
\r
252 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
\r
254 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
\r
256 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
257 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
\r
260 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
\r
261 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
\r
262 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
263 StackType_t *pxStack; /*< Points to the start of the stack. */
\r
264 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
266 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
\r
267 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
\r
270 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
271 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
274 #if ( configUSE_TRACE_FACILITY == 1 )
\r
275 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
\r
276 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
279 #if ( configUSE_MUTEXES == 1 )
\r
280 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
281 UBaseType_t uxMutexesHeld;
\r
284 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
285 TaskHookFunction_t pxTaskTag;
\r
288 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
\r
289 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
\r
292 #if( configGENERATE_RUN_TIME_STATS == 1 )
\r
293 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
296 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
297 /* Allocate a Newlib reent structure that is specific to this task.
\r
298 Note Newlib support has been included by popular demand, but is not
\r
299 used by the FreeRTOS maintainers themselves. FreeRTOS is not
\r
300 responsible for resulting newlib operation. User must be familiar with
\r
301 newlib and must provide system-wide implementations of the necessary
\r
302 stubs. Be warned that (at the time of writing) the current newlib design
\r
303 implements a system-wide malloc() that must be provided with locks. */
\r
304 struct _reent xNewLib_reent;
\r
307 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
308 volatile uint32_t ulNotifiedValue;
\r
309 volatile uint8_t ucNotifyState;
\r
312 /* See the comments in FreeRTOS.h with the definition of
\r
313 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
\r
314 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
315 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
\r
318 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
319 uint8_t ucDelayAborted;
\r
322 #if( configUSE_POSIX_ERRNO == 1 )
\r
328 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
\r
329 below to enable the use of older kernel aware debuggers. */
\r
330 typedef tskTCB TCB_t;
\r
332 /*lint -save -e956 A manual analysis and inspection has been used to determine
\r
333 which static variables must be declared volatile. */
\r
334 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
\r
336 /* Lists for ready and blocked tasks. --------------------
\r
337 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
\r
338 doing so breaks some kernel aware debuggers and debuggers that rely on removing
\r
339 the static qualifier. */
\r
340 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
\r
341 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
\r
342 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
343 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
\r
344 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
\r
345 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
\r
347 #if( INCLUDE_vTaskDelete == 1 )
\r
349 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
\r
350 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
\r
354 #if ( INCLUDE_vTaskSuspend == 1 )
\r
356 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
360 /* Global POSIX errno. Its value is changed upon context switching to match
\r
361 the errno of the currently running task. */
\r
362 #if ( configUSE_POSIX_ERRNO == 1 )
\r
363 int FreeRTOS_errno = 0;
\r
366 /* Other file private variables. --------------------------------*/
\r
367 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
\r
368 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
369 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
\r
370 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
\r
371 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
\r
372 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
\r
373 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
\r
374 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
\r
375 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
\r
376 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
\r
378 /* Context switches are held pending while the scheduler is suspended. Also,
\r
379 interrupts must not manipulate the xStateListItem of a TCB, or any of the
\r
380 lists the xStateListItem can be referenced from, if the scheduler is suspended.
\r
381 If an interrupt needs to unblock a task while the scheduler is suspended then it
\r
382 moves the task's event list item into the xPendingReadyList, ready for the
\r
383 kernel to move the task from the pending ready list into the real ready list
\r
384 when the scheduler is unsuspended. The pending ready list itself can only be
\r
385 accessed from a critical section. */
\r
386 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
\r
388 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
390 /* Do not move these variables to function scope as doing so prevents the
\r
391 code working with debuggers that need to remove the static qualifier. */
\r
392 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
393 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
399 /*-----------------------------------------------------------*/
\r
401 /* Callback function prototypes. --------------------------*/
\r
402 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
\r
404 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
\r
408 #if( configUSE_TICK_HOOK > 0 )
\r
410 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
\r
414 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
416 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
\r
420 /* File private functions. --------------------------------*/
\r
423 * Utility task that simply returns pdTRUE if the task referenced by xTask is
\r
424 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
\r
425 * is in any other state.
\r
427 #if ( INCLUDE_vTaskSuspend == 1 )
\r
429 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
\r
431 #endif /* INCLUDE_vTaskSuspend */
\r
434 * Utility to ready all the lists used by the scheduler. This is called
\r
435 * automatically upon the creation of the first task.
\r
437 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
440 * The idle task, which as all tasks is implemented as a never ending loop.
\r
441 * The idle task is automatically created and added to the ready lists upon
\r
442 * creation of the first user task.
\r
444 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
445 * language extensions. The equivalent prototype for this function is:
\r
447 * void prvIdleTask( void *pvParameters );
\r
450 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
453 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
454 * including the stack pointed to by the TCB.
\r
456 * This does not free memory allocated by the task itself (i.e. memory
\r
457 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
459 #if ( INCLUDE_vTaskDelete == 1 )
\r
461 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
\r
466 * Used only by the idle task. This checks to see if anything has been placed
\r
467 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
468 * and its TCB deleted.
\r
470 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
473 * The currently executing task is entering the Blocked state. Add the task to
\r
474 * either the current or the overflow delayed task list.
\r
476 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
\r
479 * Fills an TaskStatus_t structure with information on each task that is
\r
480 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
481 * a suspended list, etc.).
\r
483 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
484 * NORMAL APPLICATION CODE.
\r
486 #if ( configUSE_TRACE_FACILITY == 1 )
\r
488 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
493 * Searches pxList for a task with name pcNameToQuery - returning a handle to
\r
494 * the task if it is found, or NULL if the task is not found.
\r
496 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
498 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
503 * When a task is created, the stack of the task is filled with a known value.
\r
504 * This function determines the 'high water mark' of the task stack by
\r
505 * determining how much of the stack remains at the original preset value.
\r
507 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
509 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
514 * Return the amount of time, in ticks, that will pass before the kernel will
\r
515 * next move a task from the Blocked state to the Running state.
\r
517 * This conditional compilation should use inequality to 0, not equality to 1.
\r
518 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
519 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
520 * set to a value other than 1.
\r
522 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
524 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
529 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
530 * will exit the Blocked state.
\r
532 static void prvResetNextTaskUnblockTime( void );
\r
534 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
537 * Helper function used to pad task names with spaces when printing out
\r
538 * human readable tables of task information.
\r
540 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
545 * Called after a Task_t structure has been allocated either statically or
\r
546 * dynamically to fill in the structure's members.
\r
548 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
549 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
550 const uint32_t ulStackDepth,
\r
551 void * const pvParameters,
\r
552 UBaseType_t uxPriority,
\r
553 TaskHandle_t * const pxCreatedTask,
\r
555 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
558 * Called after a new task has been created and initialised to place the task
\r
559 * under the control of the scheduler.
\r
561 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
564 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
565 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
566 * called by the function.
\r
568 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
570 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
574 /*-----------------------------------------------------------*/
\r
576 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
578 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
579 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
580 const uint32_t ulStackDepth,
\r
581 void * const pvParameters,
\r
582 UBaseType_t uxPriority,
\r
583 StackType_t * const puxStackBuffer,
\r
584 StaticTask_t * const pxTaskBuffer )
\r
587 TaskHandle_t xReturn;
\r
589 configASSERT( puxStackBuffer != NULL );
\r
590 configASSERT( pxTaskBuffer != NULL );
\r
592 #if( configASSERT_DEFINED == 1 )
\r
594 /* Sanity check that the size of the structure used to declare a
\r
595 variable of type StaticTask_t equals the size of the real task
\r
597 volatile size_t xSize = sizeof( StaticTask_t );
\r
598 configASSERT( xSize == sizeof( TCB_t ) );
\r
599 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
601 #endif /* configASSERT_DEFINED */
\r
604 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
606 /* The memory used for the task's TCB and stack are passed into this
\r
607 function - use them. */
\r
608 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
609 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
611 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
613 /* Tasks can be created statically or dynamically, so note this
\r
614 task was created statically in case the task is later deleted. */
\r
615 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
617 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
619 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
620 prvAddNewTaskToReadyList( pxNewTCB );
\r
630 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
631 /*-----------------------------------------------------------*/
\r
633 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
635 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
638 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
640 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
641 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
643 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
645 /* Allocate space for the TCB. Where the memory comes from depends
\r
646 on the implementation of the port malloc function and whether or
\r
647 not static allocation is being used. */
\r
648 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
650 /* Store the stack location in the TCB. */
\r
651 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
653 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
655 /* Tasks can be created statically or dynamically, so note this
\r
656 task was created statically in case the task is later deleted. */
\r
657 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
659 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
661 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
662 pxTaskDefinition->pcName,
\r
663 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
664 pxTaskDefinition->pvParameters,
\r
665 pxTaskDefinition->uxPriority,
\r
666 pxCreatedTask, pxNewTCB,
\r
667 pxTaskDefinition->xRegions );
\r
669 prvAddNewTaskToReadyList( pxNewTCB );
\r
676 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
677 /*-----------------------------------------------------------*/
\r
679 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
681 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
684 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
686 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
688 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
690 /* Allocate space for the TCB. Where the memory comes from depends
\r
691 on the implementation of the port malloc function and whether or
\r
692 not static allocation is being used. */
\r
693 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
695 if( pxNewTCB != NULL )
\r
697 /* Store the stack location in the TCB. */
\r
698 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
700 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
702 /* Tasks can be created statically or dynamically, so note
\r
703 this task had a statically allocated stack in case it is
\r
704 later deleted. The TCB was allocated dynamically. */
\r
705 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
707 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
709 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
710 pxTaskDefinition->pcName,
\r
711 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
712 pxTaskDefinition->pvParameters,
\r
713 pxTaskDefinition->uxPriority,
\r
714 pxCreatedTask, pxNewTCB,
\r
715 pxTaskDefinition->xRegions );
\r
717 prvAddNewTaskToReadyList( pxNewTCB );
\r
725 #endif /* portUSING_MPU_WRAPPERS */
\r
726 /*-----------------------------------------------------------*/
\r
728 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
730 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
731 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
732 const configSTACK_DEPTH_TYPE usStackDepth,
\r
733 void * const pvParameters,
\r
734 UBaseType_t uxPriority,
\r
735 TaskHandle_t * const pxCreatedTask )
\r
738 BaseType_t xReturn;
\r
740 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
741 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
742 the TCB then the stack. */
\r
743 #if( portSTACK_GROWTH > 0 )
\r
745 /* Allocate space for the TCB. Where the memory comes from depends on
\r
746 the implementation of the port malloc function and whether or not static
\r
747 allocation is being used. */
\r
748 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
750 if( pxNewTCB != NULL )
\r
752 /* Allocate space for the stack used by the task being created.
\r
753 The base of the stack memory stored in the TCB so the task can
\r
754 be deleted later if required. */
\r
755 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
757 if( pxNewTCB->pxStack == NULL )
\r
759 /* Could not allocate the stack. Delete the allocated TCB. */
\r
760 vPortFree( pxNewTCB );
\r
765 #else /* portSTACK_GROWTH */
\r
767 StackType_t *pxStack;
\r
769 /* Allocate space for the stack used by the task being created. */
\r
770 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
772 if( pxStack != NULL )
\r
774 /* Allocate space for the TCB. */
\r
775 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
777 if( pxNewTCB != NULL )
\r
779 /* Store the stack location in the TCB. */
\r
780 pxNewTCB->pxStack = pxStack;
\r
784 /* The stack cannot be used as the TCB was not created. Free
\r
786 vPortFree( pxStack );
\r
794 #endif /* portSTACK_GROWTH */
\r
796 if( pxNewTCB != NULL )
\r
798 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
800 /* Tasks can be created statically or dynamically, so note this
\r
801 task was created dynamically in case it is later deleted. */
\r
802 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
804 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
806 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
807 prvAddNewTaskToReadyList( pxNewTCB );
\r
812 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
818 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
819 /*-----------------------------------------------------------*/
\r
821 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
822 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
823 const uint32_t ulStackDepth,
\r
824 void * const pvParameters,
\r
825 UBaseType_t uxPriority,
\r
826 TaskHandle_t * const pxCreatedTask,
\r
828 const MemoryRegion_t * const xRegions )
\r
830 StackType_t *pxTopOfStack;
\r
833 #if( portUSING_MPU_WRAPPERS == 1 )
\r
834 /* Should the task be created in privileged mode? */
\r
835 BaseType_t xRunPrivileged;
\r
836 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
838 xRunPrivileged = pdTRUE;
\r
842 xRunPrivileged = pdFALSE;
\r
844 uxPriority &= ~portPRIVILEGE_BIT;
\r
845 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
847 /* Avoid dependency on memset() if it is not required. */
\r
848 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
850 /* Fill the stack with a known value to assist debugging. */
\r
851 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
853 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
855 /* Calculate the top of stack address. This depends on whether the stack
\r
856 grows from high memory to low (as per the 80x86) or vice versa.
\r
857 portSTACK_GROWTH is used to make the result positive or negative as required
\r
859 #if( portSTACK_GROWTH < 0 )
\r
861 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
862 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
864 /* Check the alignment of the calculated top of stack is correct. */
\r
865 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
867 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
869 /* Also record the stack's high address, which may assist
\r
871 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
873 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
875 #else /* portSTACK_GROWTH */
\r
877 pxTopOfStack = pxNewTCB->pxStack;
\r
879 /* Check the alignment of the stack buffer is correct. */
\r
880 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
882 /* The other extreme of the stack space is required if stack checking is
\r
884 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
886 #endif /* portSTACK_GROWTH */
\r
888 /* Store the task name in the TCB. */
\r
889 if( pcName != NULL )
\r
891 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
893 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
895 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
896 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
897 string is not accessible (extremely unlikely). */
\r
898 if( pcName[ x ] == ( char ) 0x00 )
\r
904 mtCOVERAGE_TEST_MARKER();
\r
908 /* Ensure the name string is terminated in the case that the string length
\r
909 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
910 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
914 /* The task has not been given a name, so just ensure there is a NULL
\r
915 terminator when it is read out. */
\r
916 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
919 /* This is used as an array index so must ensure it's not too large. First
\r
920 remove the privilege bit if one is present. */
\r
921 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
923 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
927 mtCOVERAGE_TEST_MARKER();
\r
930 pxNewTCB->uxPriority = uxPriority;
\r
931 #if ( configUSE_MUTEXES == 1 )
\r
933 pxNewTCB->uxBasePriority = uxPriority;
\r
934 pxNewTCB->uxMutexesHeld = 0;
\r
936 #endif /* configUSE_MUTEXES */
\r
938 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
939 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
941 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
942 back to the containing TCB from a generic item in a list. */
\r
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
945 /* Event lists are always in priority order. */
\r
946 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
947 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
949 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
951 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
953 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
955 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
957 pxNewTCB->pxTaskTag = NULL;
\r
959 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
961 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
963 pxNewTCB->ulRunTimeCounter = 0UL;
\r
965 #endif /* configGENERATE_RUN_TIME_STATS */
\r
967 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
969 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
973 /* Avoid compiler warning about unreferenced parameter. */
\r
978 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
980 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
982 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
987 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
989 pxNewTCB->ulNotifiedValue = 0;
\r
990 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
994 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
996 /* Initialise this task's Newlib reent structure. */
\r
997 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1001 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1003 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1007 /* Initialize the TCB stack to look as if the task was already running,
\r
1008 but had been interrupted by the scheduler. The return address is set
\r
1009 to the start of the task function. Once the stack has been initialised
\r
1010 the top of stack variable is updated. */
\r
1011 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1013 /* If the port has capability to detect stack overflow,
\r
1014 pass the stack end address to the stack initialization
\r
1015 function as well. */
\r
1016 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1018 #if( portSTACK_GROWTH < 0 )
\r
1020 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1022 #else /* portSTACK_GROWTH */
\r
1024 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1026 #endif /* portSTACK_GROWTH */
\r
1028 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1030 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1032 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1034 #else /* portUSING_MPU_WRAPPERS */
\r
1036 /* If the port has capability to detect stack overflow,
\r
1037 pass the stack end address to the stack initialization
\r
1038 function as well. */
\r
1039 #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1041 #if( portSTACK_GROWTH < 0 )
\r
1043 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1045 #else /* portSTACK_GROWTH */
\r
1047 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1049 #endif /* portSTACK_GROWTH */
\r
1051 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1053 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1055 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1057 #endif /* portUSING_MPU_WRAPPERS */
\r
1059 if( pxCreatedTask != NULL )
\r
1061 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1062 change the created task's priority, delete the created task, etc.*/
\r
1063 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1067 mtCOVERAGE_TEST_MARKER();
\r
1070 /*-----------------------------------------------------------*/
\r
1072 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1074 /* Ensure interrupts don't access the task lists while the lists are being
\r
1076 taskENTER_CRITICAL();
\r
1078 uxCurrentNumberOfTasks++;
\r
1079 if( pxCurrentTCB == NULL )
\r
1081 /* There are no other tasks, or all the other tasks are in
\r
1082 the suspended state - make this the current task. */
\r
1083 pxCurrentTCB = pxNewTCB;
\r
1085 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1087 /* This is the first task to be created so do the preliminary
\r
1088 initialisation required. We will not recover if this call
\r
1089 fails, but we will report the failure. */
\r
1090 prvInitialiseTaskLists();
\r
1094 mtCOVERAGE_TEST_MARKER();
\r
1099 /* If the scheduler is not already running, make this task the
\r
1100 current task if it is the highest priority task to be created
\r
1102 if( xSchedulerRunning == pdFALSE )
\r
1104 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1106 pxCurrentTCB = pxNewTCB;
\r
1110 mtCOVERAGE_TEST_MARKER();
\r
1115 mtCOVERAGE_TEST_MARKER();
\r
1121 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1123 /* Add a counter into the TCB for tracing only. */
\r
1124 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1126 #endif /* configUSE_TRACE_FACILITY */
\r
1127 traceTASK_CREATE( pxNewTCB );
\r
1129 prvAddTaskToReadyList( pxNewTCB );
\r
1131 portSETUP_TCB( pxNewTCB );
\r
1133 taskEXIT_CRITICAL();
\r
1135 if( xSchedulerRunning != pdFALSE )
\r
1137 /* If the created task is of a higher priority than the current task
\r
1138 then it should run now. */
\r
1139 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1141 taskYIELD_IF_USING_PREEMPTION();
\r
1145 mtCOVERAGE_TEST_MARKER();
\r
1150 mtCOVERAGE_TEST_MARKER();
\r
1153 /*-----------------------------------------------------------*/
\r
1155 #if ( INCLUDE_vTaskDelete == 1 )
\r
1157 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1161 taskENTER_CRITICAL();
\r
1163 /* If null is passed in here then it is the calling task that is
\r
1165 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1167 /* Remove task from the ready/delayed list. */
\r
1168 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1170 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1174 mtCOVERAGE_TEST_MARKER();
\r
1177 /* Is the task waiting on an event also? */
\r
1178 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1180 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1184 mtCOVERAGE_TEST_MARKER();
\r
1187 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1188 detect that the task lists need re-generating. This is done before
\r
1189 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1193 if( pxTCB == pxCurrentTCB )
\r
1195 /* A task is deleting itself. This cannot complete within the
\r
1196 task itself, as a context switch to another task is required.
\r
1197 Place the task in the termination list. The idle task will
\r
1198 check the termination list and free up any memory allocated by
\r
1199 the scheduler for the TCB and stack of the deleted task. */
\r
1200 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1202 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1203 there is a task that has been deleted and that it should therefore
\r
1204 check the xTasksWaitingTermination list. */
\r
1205 ++uxDeletedTasksWaitingCleanUp;
\r
1207 /* The pre-delete hook is primarily for the Windows simulator,
\r
1208 in which Windows specific clean up operations are performed,
\r
1209 after which it is not possible to yield away from this task -
\r
1210 hence xYieldPending is used to latch that a context switch is
\r
1212 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1216 --uxCurrentNumberOfTasks;
\r
1217 prvDeleteTCB( pxTCB );
\r
1219 /* Reset the next expected unblock time in case it referred to
\r
1220 the task that has just been deleted. */
\r
1221 prvResetNextTaskUnblockTime();
\r
1224 traceTASK_DELETE( pxTCB );
\r
1226 taskEXIT_CRITICAL();
\r
1228 /* Force a reschedule if it is the currently running task that has just
\r
1230 if( xSchedulerRunning != pdFALSE )
\r
1232 if( pxTCB == pxCurrentTCB )
\r
1234 configASSERT( uxSchedulerSuspended == 0 );
\r
1235 portYIELD_WITHIN_API();
\r
1239 mtCOVERAGE_TEST_MARKER();
\r
1244 #endif /* INCLUDE_vTaskDelete */
\r
1245 /*-----------------------------------------------------------*/
\r
1247 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1249 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1251 TickType_t xTimeToWake;
\r
1252 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1254 configASSERT( pxPreviousWakeTime );
\r
1255 configASSERT( ( xTimeIncrement > 0U ) );
\r
1256 configASSERT( uxSchedulerSuspended == 0 );
\r
1258 vTaskSuspendAll();
\r
1260 /* Minor optimisation. The tick count cannot change in this
\r
1262 const TickType_t xConstTickCount = xTickCount;
\r
1264 /* Generate the tick time at which the task wants to wake. */
\r
1265 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1267 if( xConstTickCount < *pxPreviousWakeTime )
\r
1269 /* The tick count has overflowed since this function was
\r
1270 lasted called. In this case the only time we should ever
\r
1271 actually delay is if the wake time has also overflowed,
\r
1272 and the wake time is greater than the tick time. When this
\r
1273 is the case it is as if neither time had overflowed. */
\r
1274 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1276 xShouldDelay = pdTRUE;
\r
1280 mtCOVERAGE_TEST_MARKER();
\r
1285 /* The tick time has not overflowed. In this case we will
\r
1286 delay if either the wake time has overflowed, and/or the
\r
1287 tick time is less than the wake time. */
\r
1288 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1290 xShouldDelay = pdTRUE;
\r
1294 mtCOVERAGE_TEST_MARKER();
\r
1298 /* Update the wake time ready for the next call. */
\r
1299 *pxPreviousWakeTime = xTimeToWake;
\r
1301 if( xShouldDelay != pdFALSE )
\r
1303 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1305 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1306 the time to wake, so subtract the current tick count. */
\r
1307 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1311 mtCOVERAGE_TEST_MARKER();
\r
1314 xAlreadyYielded = xTaskResumeAll();
\r
1316 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1317 have put ourselves to sleep. */
\r
1318 if( xAlreadyYielded == pdFALSE )
\r
1320 portYIELD_WITHIN_API();
\r
1324 mtCOVERAGE_TEST_MARKER();
\r
1328 #endif /* INCLUDE_vTaskDelayUntil */
\r
1329 /*-----------------------------------------------------------*/
\r
1331 #if ( INCLUDE_vTaskDelay == 1 )
\r
1333 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1335 BaseType_t xAlreadyYielded = pdFALSE;
\r
1337 /* A delay time of zero just forces a reschedule. */
\r
1338 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1340 configASSERT( uxSchedulerSuspended == 0 );
\r
1341 vTaskSuspendAll();
\r
1343 traceTASK_DELAY();
\r
1345 /* A task that is removed from the event list while the
\r
1346 scheduler is suspended will not get placed in the ready
\r
1347 list or removed from the blocked list until the scheduler
\r
1350 This task cannot be in an event list as it is the currently
\r
1351 executing task. */
\r
1352 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1354 xAlreadyYielded = xTaskResumeAll();
\r
1358 mtCOVERAGE_TEST_MARKER();
\r
1361 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1362 have put ourselves to sleep. */
\r
1363 if( xAlreadyYielded == pdFALSE )
\r
1365 portYIELD_WITHIN_API();
\r
1369 mtCOVERAGE_TEST_MARKER();
\r
1373 #endif /* INCLUDE_vTaskDelay */
\r
1374 /*-----------------------------------------------------------*/
\r
1376 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1378 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1380 eTaskState eReturn;
\r
1381 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1382 const TCB_t * const pxTCB = xTask;
\r
1384 configASSERT( pxTCB );
\r
1386 if( pxTCB == pxCurrentTCB )
\r
1388 /* The task calling this function is querying its own state. */
\r
1389 eReturn = eRunning;
\r
1393 taskENTER_CRITICAL();
\r
1395 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1396 pxDelayedList = pxDelayedTaskList;
\r
1397 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1399 taskEXIT_CRITICAL();
\r
1401 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1403 /* The task being queried is referenced from one of the Blocked
\r
1405 eReturn = eBlocked;
\r
1408 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1409 else if( pxStateList == &xSuspendedTaskList )
\r
1411 /* The task being queried is referenced from the suspended
\r
1412 list. Is it genuinely suspended or is it blocked
\r
1414 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1416 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1418 /* The task does not appear on the event list item of
\r
1419 and of the RTOS objects, but could still be in the
\r
1420 blocked state if it is waiting on its notification
\r
1421 rather than waiting on an object. */
\r
1422 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1424 eReturn = eBlocked;
\r
1428 eReturn = eSuspended;
\r
1433 eReturn = eSuspended;
\r
1439 eReturn = eBlocked;
\r
1444 #if ( INCLUDE_vTaskDelete == 1 )
\r
1445 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1447 /* The task being queried is referenced from the deleted
\r
1448 tasks list, or it is not referenced from any lists at
\r
1450 eReturn = eDeleted;
\r
1454 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1456 /* If the task is not in any other state, it must be in the
\r
1457 Ready (including pending ready) state. */
\r
1463 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1465 #endif /* INCLUDE_eTaskGetState */
\r
1466 /*-----------------------------------------------------------*/
\r
1468 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1470 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1472 TCB_t const *pxTCB;
\r
1473 UBaseType_t uxReturn;
\r
1475 taskENTER_CRITICAL();
\r
1477 /* If null is passed in here then it is the priority of the task
\r
1478 that called uxTaskPriorityGet() that is being queried. */
\r
1479 pxTCB = prvGetTCBFromHandle( xTask );
\r
1480 uxReturn = pxTCB->uxPriority;
\r
1482 taskEXIT_CRITICAL();
\r
1487 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1488 /*-----------------------------------------------------------*/
\r
1490 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1492 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1494 TCB_t const *pxTCB;
\r
1495 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1497 /* RTOS ports that support interrupt nesting have the concept of a
\r
1498 maximum system call (or maximum API call) interrupt priority.
\r
1499 Interrupts that are above the maximum system call priority are keep
\r
1500 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1501 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1502 is defined in FreeRTOSConfig.h then
\r
1503 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1504 failure if a FreeRTOS API function is called from an interrupt that has
\r
1505 been assigned a priority above the configured maximum system call
\r
1506 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1507 from interrupts that have been assigned a priority at or (logically)
\r
1508 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1509 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1510 simple as possible. More information (albeit Cortex-M specific) is
\r
1511 provided on the following link:
\r
1512 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1513 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1515 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1517 /* If null is passed in here then it is the priority of the calling
\r
1518 task that is being queried. */
\r
1519 pxTCB = prvGetTCBFromHandle( xTask );
\r
1520 uxReturn = pxTCB->uxPriority;
\r
1522 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1527 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1528 /*-----------------------------------------------------------*/
\r
1530 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1532 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1535 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1536 BaseType_t xYieldRequired = pdFALSE;
\r
1538 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1540 /* Ensure the new priority is valid. */
\r
1541 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1543 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1547 mtCOVERAGE_TEST_MARKER();
\r
1550 taskENTER_CRITICAL();
\r
1552 /* If null is passed in here then it is the priority of the calling
\r
1553 task that is being changed. */
\r
1554 pxTCB = prvGetTCBFromHandle( xTask );
\r
1556 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1558 #if ( configUSE_MUTEXES == 1 )
\r
1560 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1564 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1568 if( uxCurrentBasePriority != uxNewPriority )
\r
1570 /* The priority change may have readied a task of higher
\r
1571 priority than the calling task. */
\r
1572 if( uxNewPriority > uxCurrentBasePriority )
\r
1574 if( pxTCB != pxCurrentTCB )
\r
1576 /* The priority of a task other than the currently
\r
1577 running task is being raised. Is the priority being
\r
1578 raised above that of the running task? */
\r
1579 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1581 xYieldRequired = pdTRUE;
\r
1585 mtCOVERAGE_TEST_MARKER();
\r
1590 /* The priority of the running task is being raised,
\r
1591 but the running task must already be the highest
\r
1592 priority task able to run so no yield is required. */
\r
1595 else if( pxTCB == pxCurrentTCB )
\r
1597 /* Setting the priority of the running task down means
\r
1598 there may now be another task of higher priority that
\r
1599 is ready to execute. */
\r
1600 xYieldRequired = pdTRUE;
\r
1604 /* Setting the priority of any other task down does not
\r
1605 require a yield as the running task must be above the
\r
1606 new priority of the task being modified. */
\r
1609 /* Remember the ready list the task might be referenced from
\r
1610 before its uxPriority member is changed so the
\r
1611 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1612 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1614 #if ( configUSE_MUTEXES == 1 )
\r
1616 /* Only change the priority being used if the task is not
\r
1617 currently using an inherited priority. */
\r
1618 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1620 pxTCB->uxPriority = uxNewPriority;
\r
1624 mtCOVERAGE_TEST_MARKER();
\r
1627 /* The base priority gets set whatever. */
\r
1628 pxTCB->uxBasePriority = uxNewPriority;
\r
1632 pxTCB->uxPriority = uxNewPriority;
\r
1636 /* Only reset the event list item value if the value is not
\r
1637 being used for anything else. */
\r
1638 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1640 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1644 mtCOVERAGE_TEST_MARKER();
\r
1647 /* If the task is in the blocked or suspended list we need do
\r
1648 nothing more than change its priority variable. However, if
\r
1649 the task is in a ready list it needs to be removed and placed
\r
1650 in the list appropriate to its new priority. */
\r
1651 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1653 /* The task is currently in its ready list - remove before
\r
1654 adding it to it's new ready list. As we are in a critical
\r
1655 section we can do this even if the scheduler is suspended. */
\r
1656 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1658 /* It is known that the task is in its ready list so
\r
1659 there is no need to check again and the port level
\r
1660 reset macro can be called directly. */
\r
1661 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1665 mtCOVERAGE_TEST_MARKER();
\r
1667 prvAddTaskToReadyList( pxTCB );
\r
1671 mtCOVERAGE_TEST_MARKER();
\r
1674 if( xYieldRequired != pdFALSE )
\r
1676 taskYIELD_IF_USING_PREEMPTION();
\r
1680 mtCOVERAGE_TEST_MARKER();
\r
1683 /* Remove compiler warning about unused variables when the port
\r
1684 optimised task selection is not being used. */
\r
1685 ( void ) uxPriorityUsedOnEntry;
\r
1688 taskEXIT_CRITICAL();
\r
1691 #endif /* INCLUDE_vTaskPrioritySet */
\r
1692 /*-----------------------------------------------------------*/
\r
1694 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1696 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1700 taskENTER_CRITICAL();
\r
1702 /* If null is passed in here then it is the running task that is
\r
1703 being suspended. */
\r
1704 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1706 traceTASK_SUSPEND( pxTCB );
\r
1708 /* Remove task from the ready/delayed list and place in the
\r
1709 suspended list. */
\r
1710 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1712 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1716 mtCOVERAGE_TEST_MARKER();
\r
1719 /* Is the task waiting on an event also? */
\r
1720 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1722 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1726 mtCOVERAGE_TEST_MARKER();
\r
1729 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1731 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1733 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1735 /* The task was blocked to wait for a notification, but is
\r
1736 now suspended, so no notification was received. */
\r
1737 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1742 taskEXIT_CRITICAL();
\r
1744 if( xSchedulerRunning != pdFALSE )
\r
1746 /* Reset the next expected unblock time in case it referred to the
\r
1747 task that is now in the Suspended state. */
\r
1748 taskENTER_CRITICAL();
\r
1750 prvResetNextTaskUnblockTime();
\r
1752 taskEXIT_CRITICAL();
\r
1756 mtCOVERAGE_TEST_MARKER();
\r
1759 if( pxTCB == pxCurrentTCB )
\r
1761 if( xSchedulerRunning != pdFALSE )
\r
1763 /* The current task has just been suspended. */
\r
1764 configASSERT( uxSchedulerSuspended == 0 );
\r
1765 portYIELD_WITHIN_API();
\r
1769 /* The scheduler is not running, but the task that was pointed
\r
1770 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1771 must be adjusted to point to a different task. */
\r
1772 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1774 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1775 NULL so when the next task is created pxCurrentTCB will
\r
1776 be set to point to it no matter what its relative priority
\r
1778 pxCurrentTCB = NULL;
\r
1782 vTaskSwitchContext();
\r
1788 mtCOVERAGE_TEST_MARKER();
\r
1792 #endif /* INCLUDE_vTaskSuspend */
\r
1793 /*-----------------------------------------------------------*/
\r
1795 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1797 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1799 BaseType_t xReturn = pdFALSE;
\r
1800 const TCB_t * const pxTCB = xTask;
\r
1802 /* Accesses xPendingReadyList so must be called from a critical
\r
1805 /* It does not make sense to check if the calling task is suspended. */
\r
1806 configASSERT( xTask );
\r
1808 /* Is the task being resumed actually in the suspended list? */
\r
1809 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1811 /* Has the task already been resumed from within an ISR? */
\r
1812 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1814 /* Is it in the suspended list because it is in the Suspended
\r
1815 state, or because is is blocked with no timeout? */
\r
1816 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1822 mtCOVERAGE_TEST_MARKER();
\r
1827 mtCOVERAGE_TEST_MARKER();
\r
1832 mtCOVERAGE_TEST_MARKER();
\r
1836 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1838 #endif /* INCLUDE_vTaskSuspend */
\r
1839 /*-----------------------------------------------------------*/
\r
1841 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1843 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1845 TCB_t * const pxTCB = xTaskToResume;
\r
1847 /* It does not make sense to resume the calling task. */
\r
1848 configASSERT( xTaskToResume );
\r
1850 /* The parameter cannot be NULL as it is impossible to resume the
\r
1851 currently executing task. */
\r
1852 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1854 taskENTER_CRITICAL();
\r
1856 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1858 traceTASK_RESUME( pxTCB );
\r
1860 /* The ready list can be accessed even if the scheduler is
\r
1861 suspended because this is inside a critical section. */
\r
1862 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1863 prvAddTaskToReadyList( pxTCB );
\r
1865 /* A higher priority task may have just been resumed. */
\r
1866 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1868 /* This yield may not cause the task just resumed to run,
\r
1869 but will leave the lists in the correct state for the
\r
1871 taskYIELD_IF_USING_PREEMPTION();
\r
1875 mtCOVERAGE_TEST_MARKER();
\r
1880 mtCOVERAGE_TEST_MARKER();
\r
1883 taskEXIT_CRITICAL();
\r
1887 mtCOVERAGE_TEST_MARKER();
\r
1891 #endif /* INCLUDE_vTaskSuspend */
\r
1893 /*-----------------------------------------------------------*/
\r
1895 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1897 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1899 BaseType_t xYieldRequired = pdFALSE;
\r
1900 TCB_t * const pxTCB = xTaskToResume;
\r
1901 UBaseType_t uxSavedInterruptStatus;
\r
1903 configASSERT( xTaskToResume );
\r
1905 /* RTOS ports that support interrupt nesting have the concept of a
\r
1906 maximum system call (or maximum API call) interrupt priority.
\r
1907 Interrupts that are above the maximum system call priority are keep
\r
1908 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1909 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1910 is defined in FreeRTOSConfig.h then
\r
1911 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1912 failure if a FreeRTOS API function is called from an interrupt that has
\r
1913 been assigned a priority above the configured maximum system call
\r
1914 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1915 from interrupts that have been assigned a priority at or (logically)
\r
1916 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1917 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1918 simple as possible. More information (albeit Cortex-M specific) is
\r
1919 provided on the following link:
\r
1920 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1921 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1923 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1925 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1927 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1929 /* Check the ready lists can be accessed. */
\r
1930 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1932 /* Ready lists can be accessed so move the task from the
\r
1933 suspended list to the ready list directly. */
\r
1934 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1936 xYieldRequired = pdTRUE;
\r
1940 mtCOVERAGE_TEST_MARKER();
\r
1943 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1944 prvAddTaskToReadyList( pxTCB );
\r
1948 /* The delayed or ready lists cannot be accessed so the task
\r
1949 is held in the pending ready list until the scheduler is
\r
1951 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1956 mtCOVERAGE_TEST_MARKER();
\r
1959 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1961 return xYieldRequired;
\r
1964 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1965 /*-----------------------------------------------------------*/
\r
1967 void vTaskStartScheduler( void )
\r
1969 BaseType_t xReturn;
\r
1971 /* Add the idle task at the lowest priority. */
\r
1972 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1974 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1975 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1976 uint32_t ulIdleTaskStackSize;
\r
1978 /* The Idle task is created using user provided RAM - obtain the
\r
1979 address of the RAM then create the idle task. */
\r
1980 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1981 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1982 configIDLE_TASK_NAME,
\r
1983 ulIdleTaskStackSize,
\r
1984 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1985 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1986 pxIdleTaskStackBuffer,
\r
1987 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1989 if( xIdleTaskHandle != NULL )
\r
2000 /* The Idle task is being created using dynamically allocated RAM. */
\r
2001 xReturn = xTaskCreate( prvIdleTask,
\r
2002 configIDLE_TASK_NAME,
\r
2003 configMINIMAL_STACK_SIZE,
\r
2005 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2006 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2008 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2010 #if ( configUSE_TIMERS == 1 )
\r
2012 if( xReturn == pdPASS )
\r
2014 xReturn = xTimerCreateTimerTask();
\r
2018 mtCOVERAGE_TEST_MARKER();
\r
2021 #endif /* configUSE_TIMERS */
\r
2023 if( xReturn == pdPASS )
\r
2025 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2026 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2027 the only macro called by the function. */
\r
2028 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2030 freertos_tasks_c_additions_init();
\r
2034 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2035 before or during the call to xPortStartScheduler(). The stacks of
\r
2036 the created tasks contain a status word with interrupts switched on
\r
2037 so interrupts will automatically get re-enabled when the first task
\r
2039 portDISABLE_INTERRUPTS();
\r
2041 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2043 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2044 structure specific to the task that will run first. */
\r
2045 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2047 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2049 xNextTaskUnblockTime = portMAX_DELAY;
\r
2050 xSchedulerRunning = pdTRUE;
\r
2051 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2053 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2054 macro must be defined to configure the timer/counter used to generate
\r
2055 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2056 is set to 0 and the following line fails to build then ensure you do not
\r
2057 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2058 FreeRTOSConfig.h file. */
\r
2059 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2061 traceTASK_SWITCHED_IN();
\r
2063 /* Setting up the timer tick is hardware specific and thus in the
\r
2064 portable interface. */
\r
2065 if( xPortStartScheduler() != pdFALSE )
\r
2067 /* Should not reach here as if the scheduler is running the
\r
2068 function will not return. */
\r
2072 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2077 /* This line will only be reached if the kernel could not be started,
\r
2078 because there was not enough FreeRTOS heap to create the idle task
\r
2079 or the timer task. */
\r
2080 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2083 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2084 meaning xIdleTaskHandle is not used anywhere else. */
\r
2085 ( void ) xIdleTaskHandle;
\r
2087 /*-----------------------------------------------------------*/
\r
2089 void vTaskEndScheduler( void )
\r
2091 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2092 routine so the original ISRs can be restored if necessary. The port
\r
2093 layer must ensure interrupts enable bit is left in the correct state. */
\r
2094 portDISABLE_INTERRUPTS();
\r
2095 xSchedulerRunning = pdFALSE;
\r
2096 vPortEndScheduler();
\r
2098 /*----------------------------------------------------------*/
\r
2100 void vTaskSuspendAll( void )
\r
2102 /* A critical section is not required as the variable is of type
\r
2103 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2104 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2105 http://goo.gl/wu4acr */
\r
2106 ++uxSchedulerSuspended;
\r
2107 portMEMORY_BARRIER();
\r
2109 /*----------------------------------------------------------*/
\r
2111 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2113 static TickType_t prvGetExpectedIdleTime( void )
\r
2115 TickType_t xReturn;
\r
2116 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2118 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2119 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2120 task that are in the Ready state, even though the idle task is
\r
2122 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2124 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2126 uxHigherPriorityReadyTasks = pdTRUE;
\r
2131 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2133 /* When port optimised task selection is used the uxTopReadyPriority
\r
2134 variable is used as a bit map. If bits other than the least
\r
2135 significant bit are set then there are tasks that have a priority
\r
2136 above the idle priority that are in the Ready state. This takes
\r
2137 care of the case where the co-operative scheduler is in use. */
\r
2138 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2140 uxHigherPriorityReadyTasks = pdTRUE;
\r
2145 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2149 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2151 /* There are other idle priority tasks in the ready state. If
\r
2152 time slicing is used then the very next tick interrupt must be
\r
2156 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2158 /* There are tasks in the Ready state that have a priority above the
\r
2159 idle priority. This path can only be reached if
\r
2160 configUSE_PREEMPTION is 0. */
\r
2165 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2171 #endif /* configUSE_TICKLESS_IDLE */
\r
2172 /*----------------------------------------------------------*/
\r
2174 BaseType_t xTaskResumeAll( void )
\r
2176 TCB_t *pxTCB = NULL;
\r
2177 BaseType_t xAlreadyYielded = pdFALSE;
\r
2179 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2180 previous call to vTaskSuspendAll(). */
\r
2181 configASSERT( uxSchedulerSuspended );
\r
2183 /* It is possible that an ISR caused a task to be removed from an event
\r
2184 list while the scheduler was suspended. If this was the case then the
\r
2185 removed task will have been added to the xPendingReadyList. Once the
\r
2186 scheduler has been resumed it is safe to move all the pending ready
\r
2187 tasks from this list into their appropriate ready list. */
\r
2188 taskENTER_CRITICAL();
\r
2190 --uxSchedulerSuspended;
\r
2192 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2194 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2196 /* Move any readied tasks from the pending list into the
\r
2197 appropriate ready list. */
\r
2198 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2200 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2201 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2202 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2203 prvAddTaskToReadyList( pxTCB );
\r
2205 /* If the moved task has a priority higher than the current
\r
2206 task then a yield must be performed. */
\r
2207 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2209 xYieldPending = pdTRUE;
\r
2213 mtCOVERAGE_TEST_MARKER();
\r
2217 if( pxTCB != NULL )
\r
2219 /* A task was unblocked while the scheduler was suspended,
\r
2220 which may have prevented the next unblock time from being
\r
2221 re-calculated, in which case re-calculate it now. Mainly
\r
2222 important for low power tickless implementations, where
\r
2223 this can prevent an unnecessary exit from low power
\r
2225 prvResetNextTaskUnblockTime();
\r
2228 /* If any ticks occurred while the scheduler was suspended then
\r
2229 they should be processed now. This ensures the tick count does
\r
2230 not slip, and that any delayed tasks are resumed at the correct
\r
2233 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2235 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2239 if( xTaskIncrementTick() != pdFALSE )
\r
2241 xYieldPending = pdTRUE;
\r
2245 mtCOVERAGE_TEST_MARKER();
\r
2248 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2250 uxPendedTicks = 0;
\r
2254 mtCOVERAGE_TEST_MARKER();
\r
2258 if( xYieldPending != pdFALSE )
\r
2260 #if( configUSE_PREEMPTION != 0 )
\r
2262 xAlreadyYielded = pdTRUE;
\r
2265 taskYIELD_IF_USING_PREEMPTION();
\r
2269 mtCOVERAGE_TEST_MARKER();
\r
2275 mtCOVERAGE_TEST_MARKER();
\r
2278 taskEXIT_CRITICAL();
\r
2280 return xAlreadyYielded;
\r
2282 /*-----------------------------------------------------------*/
\r
2284 TickType_t xTaskGetTickCount( void )
\r
2286 TickType_t xTicks;
\r
2288 /* Critical section required if running on a 16 bit processor. */
\r
2289 portTICK_TYPE_ENTER_CRITICAL();
\r
2291 xTicks = xTickCount;
\r
2293 portTICK_TYPE_EXIT_CRITICAL();
\r
2297 /*-----------------------------------------------------------*/
\r
2299 TickType_t xTaskGetTickCountFromISR( void )
\r
2301 TickType_t xReturn;
\r
2302 UBaseType_t uxSavedInterruptStatus;
\r
2304 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2305 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2306 above the maximum system call priority are kept permanently enabled, even
\r
2307 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2308 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2309 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2310 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2311 assigned a priority above the configured maximum system call priority.
\r
2312 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2313 that have been assigned a priority at or (logically) below the maximum
\r
2314 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2315 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2316 More information (albeit Cortex-M specific) is provided on the following
\r
2317 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2318 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2320 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2322 xReturn = xTickCount;
\r
2324 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2328 /*-----------------------------------------------------------*/
\r
2330 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2332 /* A critical section is not required because the variables are of type
\r
2334 return uxCurrentNumberOfTasks;
\r
2336 /*-----------------------------------------------------------*/
\r
2338 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2342 /* If null is passed in here then the name of the calling task is being
\r
2344 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2345 configASSERT( pxTCB );
\r
2346 return &( pxTCB->pcTaskName[ 0 ] );
\r
2348 /*-----------------------------------------------------------*/
\r
2350 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2352 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2354 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2357 BaseType_t xBreakLoop;
\r
2359 /* This function is called with the scheduler suspended. */
\r
2361 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2363 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2367 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2369 /* Check each character in the name looking for a match or
\r
2371 xBreakLoop = pdFALSE;
\r
2372 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2374 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2376 if( cNextChar != pcNameToQuery[ x ] )
\r
2378 /* Characters didn't match. */
\r
2379 xBreakLoop = pdTRUE;
\r
2381 else if( cNextChar == ( char ) 0x00 )
\r
2383 /* Both strings terminated, a match must have been
\r
2385 pxReturn = pxNextTCB;
\r
2386 xBreakLoop = pdTRUE;
\r
2390 mtCOVERAGE_TEST_MARKER();
\r
2393 if( xBreakLoop != pdFALSE )
\r
2399 if( pxReturn != NULL )
\r
2401 /* The handle has been found. */
\r
2405 } while( pxNextTCB != pxFirstTCB );
\r
2409 mtCOVERAGE_TEST_MARKER();
\r
2415 #endif /* INCLUDE_xTaskGetHandle */
\r
2416 /*-----------------------------------------------------------*/
\r
2418 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2420 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2422 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2425 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2426 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2428 vTaskSuspendAll();
\r
2430 /* Search the ready lists. */
\r
2434 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2436 if( pxTCB != NULL )
\r
2438 /* Found the handle. */
\r
2442 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2444 /* Search the delayed lists. */
\r
2445 if( pxTCB == NULL )
\r
2447 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2450 if( pxTCB == NULL )
\r
2452 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2455 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2457 if( pxTCB == NULL )
\r
2459 /* Search the suspended list. */
\r
2460 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2465 #if( INCLUDE_vTaskDelete == 1 )
\r
2467 if( pxTCB == NULL )
\r
2469 /* Search the deleted list. */
\r
2470 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2475 ( void ) xTaskResumeAll();
\r
2480 #endif /* INCLUDE_xTaskGetHandle */
\r
2481 /*-----------------------------------------------------------*/
\r
2483 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2485 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2487 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2489 vTaskSuspendAll();
\r
2491 /* Is there a space in the array for each task in the system? */
\r
2492 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2494 /* Fill in an TaskStatus_t structure with information on each
\r
2495 task in the Ready state. */
\r
2499 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2501 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2503 /* Fill in an TaskStatus_t structure with information on each
\r
2504 task in the Blocked state. */
\r
2505 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2506 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2508 #if( INCLUDE_vTaskDelete == 1 )
\r
2510 /* Fill in an TaskStatus_t structure with information on
\r
2511 each task that has been deleted but not yet cleaned up. */
\r
2512 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2516 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2518 /* Fill in an TaskStatus_t structure with information on
\r
2519 each task in the Suspended state. */
\r
2520 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2524 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2526 if( pulTotalRunTime != NULL )
\r
2528 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2529 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2531 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2537 if( pulTotalRunTime != NULL )
\r
2539 *pulTotalRunTime = 0;
\r
2546 mtCOVERAGE_TEST_MARKER();
\r
2549 ( void ) xTaskResumeAll();
\r
2554 #endif /* configUSE_TRACE_FACILITY */
\r
2555 /*----------------------------------------------------------*/
\r
2557 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2559 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2561 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2562 started, then xIdleTaskHandle will be NULL. */
\r
2563 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2564 return xIdleTaskHandle;
\r
2567 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2568 /*----------------------------------------------------------*/
\r
2570 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2571 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2572 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2574 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2576 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2578 /* Correct the tick count value after a period during which the tick
\r
2579 was suppressed. Note this does *not* call the tick hook function for
\r
2580 each stepped tick. */
\r
2581 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2582 xTickCount += xTicksToJump;
\r
2583 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2586 #endif /* configUSE_TICKLESS_IDLE */
\r
2587 /*----------------------------------------------------------*/
\r
2589 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2591 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2593 TCB_t *pxTCB = xTask;
\r
2594 BaseType_t xReturn;
\r
2596 configASSERT( pxTCB );
\r
2598 vTaskSuspendAll();
\r
2600 /* A task can only be prematurely removed from the Blocked state if
\r
2601 it is actually in the Blocked state. */
\r
2602 if( eTaskGetState( xTask ) == eBlocked )
\r
2606 /* Remove the reference to the task from the blocked list. An
\r
2607 interrupt won't touch the xStateListItem because the
\r
2608 scheduler is suspended. */
\r
2609 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2611 /* Is the task waiting on an event also? If so remove it from
\r
2612 the event list too. Interrupts can touch the event list item,
\r
2613 even though the scheduler is suspended, so a critical section
\r
2615 taskENTER_CRITICAL();
\r
2617 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2619 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2620 pxTCB->ucDelayAborted = pdTRUE;
\r
2624 mtCOVERAGE_TEST_MARKER();
\r
2627 taskEXIT_CRITICAL();
\r
2629 /* Place the unblocked task into the appropriate ready list. */
\r
2630 prvAddTaskToReadyList( pxTCB );
\r
2632 /* A task being unblocked cannot cause an immediate context
\r
2633 switch if preemption is turned off. */
\r
2634 #if ( configUSE_PREEMPTION == 1 )
\r
2636 /* Preemption is on, but a context switch should only be
\r
2637 performed if the unblocked task has a priority that is
\r
2638 equal to or higher than the currently executing task. */
\r
2639 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2641 /* Pend the yield to be performed when the scheduler
\r
2642 is unsuspended. */
\r
2643 xYieldPending = pdTRUE;
\r
2647 mtCOVERAGE_TEST_MARKER();
\r
2650 #endif /* configUSE_PREEMPTION */
\r
2657 ( void ) xTaskResumeAll();
\r
2662 #endif /* INCLUDE_xTaskAbortDelay */
\r
2663 /*----------------------------------------------------------*/
\r
2665 BaseType_t xTaskIncrementTick( void )
\r
2668 TickType_t xItemValue;
\r
2669 BaseType_t xSwitchRequired = pdFALSE;
\r
2671 /* Called by the portable layer each time a tick interrupt occurs.
\r
2672 Increments the tick then checks to see if the new tick value will cause any
\r
2673 tasks to be unblocked. */
\r
2674 traceTASK_INCREMENT_TICK( xTickCount );
\r
2675 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2677 /* Minor optimisation. The tick count cannot change in this
\r
2679 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2681 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2682 delayed lists if it wraps to 0. */
\r
2683 xTickCount = xConstTickCount;
\r
2685 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2687 taskSWITCH_DELAYED_LISTS();
\r
2691 mtCOVERAGE_TEST_MARKER();
\r
2694 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2695 the queue in the order of their wake time - meaning once one task
\r
2696 has been found whose block time has not expired there is no need to
\r
2697 look any further down the list. */
\r
2698 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2702 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2704 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2705 to the maximum possible value so it is extremely
\r
2707 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2708 next time through. */
\r
2709 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2714 /* The delayed list is not empty, get the value of the
\r
2715 item at the head of the delayed list. This is the time
\r
2716 at which the task at the head of the delayed list must
\r
2717 be removed from the Blocked state. */
\r
2718 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2719 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2721 if( xConstTickCount < xItemValue )
\r
2723 /* It is not time to unblock this item yet, but the
\r
2724 item value is the time at which the task at the head
\r
2725 of the blocked list must be removed from the Blocked
\r
2726 state - so record the item value in
\r
2727 xNextTaskUnblockTime. */
\r
2728 xNextTaskUnblockTime = xItemValue;
\r
2729 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2733 mtCOVERAGE_TEST_MARKER();
\r
2736 /* It is time to remove the item from the Blocked state. */
\r
2737 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2739 /* Is the task waiting on an event also? If so remove
\r
2740 it from the event list. */
\r
2741 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2743 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2747 mtCOVERAGE_TEST_MARKER();
\r
2750 /* Place the unblocked task into the appropriate ready
\r
2752 prvAddTaskToReadyList( pxTCB );
\r
2754 /* A task being unblocked cannot cause an immediate
\r
2755 context switch if preemption is turned off. */
\r
2756 #if ( configUSE_PREEMPTION == 1 )
\r
2758 /* Preemption is on, but a context switch should
\r
2759 only be performed if the unblocked task has a
\r
2760 priority that is equal to or higher than the
\r
2761 currently executing task. */
\r
2762 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2764 xSwitchRequired = pdTRUE;
\r
2768 mtCOVERAGE_TEST_MARKER();
\r
2771 #endif /* configUSE_PREEMPTION */
\r
2776 /* Tasks of equal priority to the currently running task will share
\r
2777 processing time (time slice) if preemption is on, and the application
\r
2778 writer has not explicitly turned time slicing off. */
\r
2779 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2781 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2783 xSwitchRequired = pdTRUE;
\r
2787 mtCOVERAGE_TEST_MARKER();
\r
2790 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2792 #if ( configUSE_TICK_HOOK == 1 )
\r
2794 /* Guard against the tick hook being called when the pended tick
\r
2795 count is being unwound (when the scheduler is being unlocked). */
\r
2796 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2798 vApplicationTickHook();
\r
2802 mtCOVERAGE_TEST_MARKER();
\r
2805 #endif /* configUSE_TICK_HOOK */
\r
2811 /* The tick hook gets called at regular intervals, even if the
\r
2812 scheduler is locked. */
\r
2813 #if ( configUSE_TICK_HOOK == 1 )
\r
2815 vApplicationTickHook();
\r
2820 #if ( configUSE_PREEMPTION == 1 )
\r
2822 if( xYieldPending != pdFALSE )
\r
2824 xSwitchRequired = pdTRUE;
\r
2828 mtCOVERAGE_TEST_MARKER();
\r
2831 #endif /* configUSE_PREEMPTION */
\r
2833 return xSwitchRequired;
\r
2835 /*-----------------------------------------------------------*/
\r
2837 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2839 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2843 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2845 if( xTask == NULL )
\r
2847 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2854 /* Save the hook function in the TCB. A critical section is required as
\r
2855 the value can be accessed from an interrupt. */
\r
2856 taskENTER_CRITICAL();
\r
2858 xTCB->pxTaskTag = pxHookFunction;
\r
2860 taskEXIT_CRITICAL();
\r
2863 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2864 /*-----------------------------------------------------------*/
\r
2866 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2868 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2871 TaskHookFunction_t xReturn;
\r
2873 /* If xTask is NULL then set the calling task's hook. */
\r
2874 pxTCB = prvGetTCBFromHandle( xTask );
\r
2876 /* Save the hook function in the TCB. A critical section is required as
\r
2877 the value can be accessed from an interrupt. */
\r
2878 taskENTER_CRITICAL();
\r
2880 xReturn = pxTCB->pxTaskTag;
\r
2882 taskEXIT_CRITICAL();
\r
2887 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2888 /*-----------------------------------------------------------*/
\r
2890 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2892 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2895 TaskHookFunction_t xReturn;
\r
2896 UBaseType_t uxSavedInterruptStatus;
\r
2898 /* If xTask is NULL then set the calling task's hook. */
\r
2899 pxTCB = prvGetTCBFromHandle( xTask );
\r
2901 /* Save the hook function in the TCB. A critical section is required as
\r
2902 the value can be accessed from an interrupt. */
\r
2903 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2905 xReturn = pxTCB->pxTaskTag;
\r
2907 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2912 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2913 /*-----------------------------------------------------------*/
\r
2915 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2917 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2920 BaseType_t xReturn;
\r
2922 /* If xTask is NULL then we are calling our own task hook. */
\r
2923 if( xTask == NULL )
\r
2925 xTCB = pxCurrentTCB;
\r
2932 if( xTCB->pxTaskTag != NULL )
\r
2934 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2944 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2945 /*-----------------------------------------------------------*/
\r
2947 void vTaskSwitchContext( void )
\r
2949 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2951 /* The scheduler is currently suspended - do not allow a context
\r
2953 xYieldPending = pdTRUE;
\r
2957 xYieldPending = pdFALSE;
\r
2958 traceTASK_SWITCHED_OUT();
\r
2960 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2962 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2963 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2965 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2968 /* Add the amount of time the task has been running to the
\r
2969 accumulated time so far. The time the task started running was
\r
2970 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2971 protection here so count values are only valid until the timer
\r
2972 overflows. The guard against negative values is to protect
\r
2973 against suspect run time stat counter implementations - which
\r
2974 are provided by the application, not the kernel. */
\r
2975 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2977 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2981 mtCOVERAGE_TEST_MARKER();
\r
2983 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2985 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2987 /* Check for stack overflow, if configured. */
\r
2988 taskCHECK_FOR_STACK_OVERFLOW();
\r
2990 /* Before the currently running task is switched out, save its errno. */
\r
2991 #if( configUSE_POSIX_ERRNO == 1 )
\r
2993 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2997 /* Select a new task to run using either the generic C or port
\r
2998 optimised asm code. */
\r
2999 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3000 traceTASK_SWITCHED_IN();
\r
3002 /* After the new task is switched in, update the global errno. */
\r
3003 #if( configUSE_POSIX_ERRNO == 1 )
\r
3005 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3009 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3011 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3012 structure specific to this task. */
\r
3013 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3015 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3018 /*-----------------------------------------------------------*/
\r
3020 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
3022 configASSERT( pxEventList );
\r
3024 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3025 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3027 /* Place the event list item of the TCB in the appropriate event list.
\r
3028 This is placed in the list in priority order so the highest priority task
\r
3029 is the first to be woken by the event. The queue that contains the event
\r
3030 list is locked, preventing simultaneous access from interrupts. */
\r
3031 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3033 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3035 /*-----------------------------------------------------------*/
\r
3037 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3039 configASSERT( pxEventList );
\r
3041 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3042 the event groups implementation. */
\r
3043 configASSERT( uxSchedulerSuspended != 0 );
\r
3045 /* Store the item value in the event list item. It is safe to access the
\r
3046 event list item here as interrupts won't access the event list item of a
\r
3047 task that is not in the Blocked state. */
\r
3048 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3050 /* Place the event list item of the TCB at the end of the appropriate event
\r
3051 list. It is safe to access the event list here because it is part of an
\r
3052 event group implementation - and interrupts don't access event groups
\r
3053 directly (instead they access them indirectly by pending function calls to
\r
3054 the task level). */
\r
3055 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3057 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3059 /*-----------------------------------------------------------*/
\r
3061 #if( configUSE_TIMERS == 1 )
\r
3063 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3065 configASSERT( pxEventList );
\r
3067 /* This function should not be called by application code hence the
\r
3068 'Restricted' in its name. It is not part of the public API. It is
\r
3069 designed for use by kernel code, and has special calling requirements -
\r
3070 it should be called with the scheduler suspended. */
\r
3073 /* Place the event list item of the TCB in the appropriate event list.
\r
3074 In this case it is assume that this is the only task that is going to
\r
3075 be waiting on this event list, so the faster vListInsertEnd() function
\r
3076 can be used in place of vListInsert. */
\r
3077 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3079 /* If the task should block indefinitely then set the block time to a
\r
3080 value that will be recognised as an indefinite delay inside the
\r
3081 prvAddCurrentTaskToDelayedList() function. */
\r
3082 if( xWaitIndefinitely != pdFALSE )
\r
3084 xTicksToWait = portMAX_DELAY;
\r
3087 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3088 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3091 #endif /* configUSE_TIMERS */
\r
3092 /*-----------------------------------------------------------*/
\r
3094 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3096 TCB_t *pxUnblockedTCB;
\r
3097 BaseType_t xReturn;
\r
3099 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3100 called from a critical section within an ISR. */
\r
3102 /* The event list is sorted in priority order, so the first in the list can
\r
3103 be removed as it is known to be the highest priority. Remove the TCB from
\r
3104 the delayed list, and add it to the ready list.
\r
3106 If an event is for a queue that is locked then this function will never
\r
3107 get called - the lock count on the queue will get modified instead. This
\r
3108 means exclusive access to the event list is guaranteed here.
\r
3110 This function assumes that a check has already been made to ensure that
\r
3111 pxEventList is not empty. */
\r
3112 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3113 configASSERT( pxUnblockedTCB );
\r
3114 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3116 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3118 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3119 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3121 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3123 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3124 might be set to the blocked task's time out time. If the task is
\r
3125 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3126 normally left unchanged, because it is automatically reset to a new
\r
3127 value when the tick count equals xNextTaskUnblockTime. However if
\r
3128 tickless idling is used it might be more important to enter sleep mode
\r
3129 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3130 ensure it is updated at the earliest possible time. */
\r
3131 prvResetNextTaskUnblockTime();
\r
3137 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3138 pending until the scheduler is resumed. */
\r
3139 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3142 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3144 /* Return true if the task removed from the event list has a higher
\r
3145 priority than the calling task. This allows the calling task to know if
\r
3146 it should force a context switch now. */
\r
3149 /* Mark that a yield is pending in case the user is not using the
\r
3150 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3151 xYieldPending = pdTRUE;
\r
3155 xReturn = pdFALSE;
\r
3160 /*-----------------------------------------------------------*/
\r
3162 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3164 TCB_t *pxUnblockedTCB;
\r
3166 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3167 the event flags implementation. */
\r
3168 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3170 /* Store the new item value in the event list. */
\r
3171 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3173 /* Remove the event list form the event flag. Interrupts do not access
\r
3175 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3176 configASSERT( pxUnblockedTCB );
\r
3177 ( void ) uxListRemove( pxEventListItem );
\r
3179 /* Remove the task from the delayed list and add it to the ready list. The
\r
3180 scheduler is suspended so interrupts will not be accessing the ready
\r
3182 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3183 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3185 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3187 /* The unblocked task has a priority above that of the calling task, so
\r
3188 a context switch is required. This function is called with the
\r
3189 scheduler suspended so xYieldPending is set so the context switch
\r
3190 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3191 xYieldPending = pdTRUE;
\r
3194 /*-----------------------------------------------------------*/
\r
3196 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3198 configASSERT( pxTimeOut );
\r
3199 taskENTER_CRITICAL();
\r
3201 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3202 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3204 taskEXIT_CRITICAL();
\r
3206 /*-----------------------------------------------------------*/
\r
3208 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3210 /* For internal use only as it does not use a critical section. */
\r
3211 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3212 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3214 /*-----------------------------------------------------------*/
\r
3216 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3218 BaseType_t xReturn;
\r
3220 configASSERT( pxTimeOut );
\r
3221 configASSERT( pxTicksToWait );
\r
3223 taskENTER_CRITICAL();
\r
3225 /* Minor optimisation. The tick count cannot change in this block. */
\r
3226 const TickType_t xConstTickCount = xTickCount;
\r
3227 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3229 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3230 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3232 /* The delay was aborted, which is not the same as a time out,
\r
3233 but has the same result. */
\r
3234 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3240 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3241 if( *pxTicksToWait == portMAX_DELAY )
\r
3243 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3244 specified is the maximum block time then the task should block
\r
3245 indefinitely, and therefore never time out. */
\r
3246 xReturn = pdFALSE;
\r
3251 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3253 /* The tick count is greater than the time at which
\r
3254 vTaskSetTimeout() was called, but has also overflowed since
\r
3255 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3256 around and gone past again. This passed since vTaskSetTimeout()
\r
3260 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3262 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3263 *pxTicksToWait -= xElapsedTime;
\r
3264 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3265 xReturn = pdFALSE;
\r
3269 *pxTicksToWait = 0;
\r
3273 taskEXIT_CRITICAL();
\r
3277 /*-----------------------------------------------------------*/
\r
3279 void vTaskMissedYield( void )
\r
3281 xYieldPending = pdTRUE;
\r
3283 /*-----------------------------------------------------------*/
\r
3285 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3287 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3289 UBaseType_t uxReturn;
\r
3290 TCB_t const *pxTCB;
\r
3292 if( xTask != NULL )
\r
3295 uxReturn = pxTCB->uxTaskNumber;
\r
3305 #endif /* configUSE_TRACE_FACILITY */
\r
3306 /*-----------------------------------------------------------*/
\r
3308 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3310 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3314 if( xTask != NULL )
\r
3317 pxTCB->uxTaskNumber = uxHandle;
\r
3321 #endif /* configUSE_TRACE_FACILITY */
\r
3324 * -----------------------------------------------------------
\r
3326 * ----------------------------------------------------------
\r
3328 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3329 * language extensions. The equivalent prototype for this function is:
\r
3331 * void prvIdleTask( void *pvParameters );
\r
3334 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3336 /* Stop warnings. */
\r
3337 ( void ) pvParameters;
\r
3339 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3340 SCHEDULER IS STARTED. **/
\r
3342 /* In case a task that has a secure context deletes itself, in which case
\r
3343 the idle task is responsible for deleting the task's secure context, if
\r
3345 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3349 /* See if any tasks have deleted themselves - if so then the idle task
\r
3350 is responsible for freeing the deleted task's TCB and stack. */
\r
3351 prvCheckTasksWaitingTermination();
\r
3353 #if ( configUSE_PREEMPTION == 0 )
\r
3355 /* If we are not using preemption we keep forcing a task switch to
\r
3356 see if any other task has become available. If we are using
\r
3357 preemption we don't need to do this as any task becoming available
\r
3358 will automatically get the processor anyway. */
\r
3361 #endif /* configUSE_PREEMPTION */
\r
3363 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3365 /* When using preemption tasks of equal priority will be
\r
3366 timesliced. If a task that is sharing the idle priority is ready
\r
3367 to run then the idle task should yield before the end of the
\r
3370 A critical region is not required here as we are just reading from
\r
3371 the list, and an occasional incorrect value will not matter. If
\r
3372 the ready list at the idle priority contains more than one task
\r
3373 then a task other than the idle task is ready to execute. */
\r
3374 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3380 mtCOVERAGE_TEST_MARKER();
\r
3383 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3385 #if ( configUSE_IDLE_HOOK == 1 )
\r
3387 extern void vApplicationIdleHook( void );
\r
3389 /* Call the user defined function from within the idle task. This
\r
3390 allows the application designer to add background functionality
\r
3391 without the overhead of a separate task.
\r
3392 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3393 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3394 vApplicationIdleHook();
\r
3396 #endif /* configUSE_IDLE_HOOK */
\r
3398 /* This conditional compilation should use inequality to 0, not equality
\r
3399 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3400 user defined low power mode implementations require
\r
3401 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3402 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3404 TickType_t xExpectedIdleTime;
\r
3406 /* It is not desirable to suspend then resume the scheduler on
\r
3407 each iteration of the idle task. Therefore, a preliminary
\r
3408 test of the expected idle time is performed without the
\r
3409 scheduler suspended. The result here is not necessarily
\r
3411 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3413 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3415 vTaskSuspendAll();
\r
3417 /* Now the scheduler is suspended, the expected idle
\r
3418 time can be sampled again, and this time its value can
\r
3420 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3421 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3423 /* Define the following macro to set xExpectedIdleTime to 0
\r
3424 if the application does not want
\r
3425 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3426 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3428 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3430 traceLOW_POWER_IDLE_BEGIN();
\r
3431 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3432 traceLOW_POWER_IDLE_END();
\r
3436 mtCOVERAGE_TEST_MARKER();
\r
3439 ( void ) xTaskResumeAll();
\r
3443 mtCOVERAGE_TEST_MARKER();
\r
3446 #endif /* configUSE_TICKLESS_IDLE */
\r
3449 /*-----------------------------------------------------------*/
\r
3451 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3453 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3455 /* The idle task exists in addition to the application tasks. */
\r
3456 const UBaseType_t uxNonApplicationTasks = 1;
\r
3457 eSleepModeStatus eReturn = eStandardSleep;
\r
3459 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3461 /* A task was made ready while the scheduler was suspended. */
\r
3462 eReturn = eAbortSleep;
\r
3464 else if( xYieldPending != pdFALSE )
\r
3466 /* A yield was pended while the scheduler was suspended. */
\r
3467 eReturn = eAbortSleep;
\r
3471 /* If all the tasks are in the suspended list (which might mean they
\r
3472 have an infinite block time rather than actually being suspended)
\r
3473 then it is safe to turn all clocks off and just wait for external
\r
3475 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3477 eReturn = eNoTasksWaitingTimeout;
\r
3481 mtCOVERAGE_TEST_MARKER();
\r
3488 #endif /* configUSE_TICKLESS_IDLE */
\r
3489 /*-----------------------------------------------------------*/
\r
3491 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3493 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3497 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3499 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3500 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3504 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3505 /*-----------------------------------------------------------*/
\r
3507 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3509 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3511 void *pvReturn = NULL;
\r
3514 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3516 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3517 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3527 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3528 /*-----------------------------------------------------------*/
\r
3530 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3532 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3536 /* If null is passed in here then we are modifying the MPU settings of
\r
3537 the calling task. */
\r
3538 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3540 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3543 #endif /* portUSING_MPU_WRAPPERS */
\r
3544 /*-----------------------------------------------------------*/
\r
3546 static void prvInitialiseTaskLists( void )
\r
3548 UBaseType_t uxPriority;
\r
3550 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3552 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3555 vListInitialise( &xDelayedTaskList1 );
\r
3556 vListInitialise( &xDelayedTaskList2 );
\r
3557 vListInitialise( &xPendingReadyList );
\r
3559 #if ( INCLUDE_vTaskDelete == 1 )
\r
3561 vListInitialise( &xTasksWaitingTermination );
\r
3563 #endif /* INCLUDE_vTaskDelete */
\r
3565 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3567 vListInitialise( &xSuspendedTaskList );
\r
3569 #endif /* INCLUDE_vTaskSuspend */
\r
3571 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3573 pxDelayedTaskList = &xDelayedTaskList1;
\r
3574 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3576 /*-----------------------------------------------------------*/
\r
3578 static void prvCheckTasksWaitingTermination( void )
\r
3581 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3583 #if ( INCLUDE_vTaskDelete == 1 )
\r
3587 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3588 being called too often in the idle task. */
\r
3589 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3591 taskENTER_CRITICAL();
\r
3593 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3594 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3595 --uxCurrentNumberOfTasks;
\r
3596 --uxDeletedTasksWaitingCleanUp;
\r
3598 taskEXIT_CRITICAL();
\r
3600 prvDeleteTCB( pxTCB );
\r
3603 #endif /* INCLUDE_vTaskDelete */
\r
3605 /*-----------------------------------------------------------*/
\r
3607 #if( configUSE_TRACE_FACILITY == 1 )
\r
3609 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3613 /* xTask is NULL then get the state of the calling task. */
\r
3614 pxTCB = prvGetTCBFromHandle( xTask );
\r
3616 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3617 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3618 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3619 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3620 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3622 #if ( configUSE_MUTEXES == 1 )
\r
3624 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3628 pxTaskStatus->uxBasePriority = 0;
\r
3632 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3634 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3638 pxTaskStatus->ulRunTimeCounter = 0;
\r
3642 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3643 value of eState passed into this function is eInvalid - otherwise the
\r
3644 state is just set to whatever is passed in. */
\r
3645 if( eState != eInvalid )
\r
3647 if( pxTCB == pxCurrentTCB )
\r
3649 pxTaskStatus->eCurrentState = eRunning;
\r
3653 pxTaskStatus->eCurrentState = eState;
\r
3655 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3657 /* If the task is in the suspended list then there is a
\r
3658 chance it is actually just blocked indefinitely - so really
\r
3659 it should be reported as being in the Blocked state. */
\r
3660 if( eState == eSuspended )
\r
3662 vTaskSuspendAll();
\r
3664 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3666 pxTaskStatus->eCurrentState = eBlocked;
\r
3669 ( void ) xTaskResumeAll();
\r
3672 #endif /* INCLUDE_vTaskSuspend */
\r
3677 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3680 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3681 parameter is provided to allow it to be skipped. */
\r
3682 if( xGetFreeStackSpace != pdFALSE )
\r
3684 #if ( portSTACK_GROWTH > 0 )
\r
3686 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3690 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3696 pxTaskStatus->usStackHighWaterMark = 0;
\r
3700 #endif /* configUSE_TRACE_FACILITY */
\r
3701 /*-----------------------------------------------------------*/
\r
3703 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3705 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3707 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3708 UBaseType_t uxTask = 0;
\r
3710 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3712 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3714 /* Populate an TaskStatus_t structure within the
\r
3715 pxTaskStatusArray array for each task that is referenced from
\r
3716 pxList. See the definition of TaskStatus_t in task.h for the
\r
3717 meaning of each TaskStatus_t structure member. */
\r
3720 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3721 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3723 } while( pxNextTCB != pxFirstTCB );
\r
3727 mtCOVERAGE_TEST_MARKER();
\r
3733 #endif /* configUSE_TRACE_FACILITY */
\r
3734 /*-----------------------------------------------------------*/
\r
3736 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3738 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3740 uint32_t ulCount = 0U;
\r
3742 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3744 pucStackByte -= portSTACK_GROWTH;
\r
3748 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3750 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3753 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3754 /*-----------------------------------------------------------*/
\r
3756 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3758 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3759 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3760 user to determine the return type. It gets around the problem of the value
\r
3761 overflowing on 8-bit types without breaking backward compatibility for
\r
3762 applications that expect an 8-bit return type. */
\r
3763 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3766 uint8_t *pucEndOfStack;
\r
3767 configSTACK_DEPTH_TYPE uxReturn;
\r
3769 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3770 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3771 allows the user to determine the return type. It gets around the
\r
3772 problem of the value overflowing on 8-bit types without breaking
\r
3773 backward compatibility for applications that expect an 8-bit return
\r
3776 pxTCB = prvGetTCBFromHandle( xTask );
\r
3778 #if portSTACK_GROWTH < 0
\r
3780 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3784 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3788 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3793 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3794 /*-----------------------------------------------------------*/
\r
3796 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3798 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3801 uint8_t *pucEndOfStack;
\r
3802 UBaseType_t uxReturn;
\r
3804 pxTCB = prvGetTCBFromHandle( xTask );
\r
3806 #if portSTACK_GROWTH < 0
\r
3808 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3812 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3816 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3821 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3822 /*-----------------------------------------------------------*/
\r
3824 #if ( INCLUDE_vTaskDelete == 1 )
\r
3826 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3828 /* This call is required specifically for the TriCore port. It must be
\r
3829 above the vPortFree() calls. The call is also used by ports/demos that
\r
3830 want to allocate and clean RAM statically. */
\r
3831 portCLEAN_UP_TCB( pxTCB );
\r
3833 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3834 to the task to free any memory allocated at the application level. */
\r
3835 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3837 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3839 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3841 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3843 /* The task can only have been allocated dynamically - free both
\r
3844 the stack and TCB. */
\r
3845 vPortFree( pxTCB->pxStack );
\r
3846 vPortFree( pxTCB );
\r
3848 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3850 /* The task could have been allocated statically or dynamically, so
\r
3851 check what was statically allocated before trying to free the
\r
3853 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3855 /* Both the stack and TCB were allocated dynamically, so both
\r
3857 vPortFree( pxTCB->pxStack );
\r
3858 vPortFree( pxTCB );
\r
3860 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3862 /* Only the stack was statically allocated, so the TCB is the
\r
3863 only memory that must be freed. */
\r
3864 vPortFree( pxTCB );
\r
3868 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3869 nothing needs to be freed. */
\r
3870 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3871 mtCOVERAGE_TEST_MARKER();
\r
3874 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3877 #endif /* INCLUDE_vTaskDelete */
\r
3878 /*-----------------------------------------------------------*/
\r
3880 static void prvResetNextTaskUnblockTime( void )
\r
3884 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3886 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3887 the maximum possible value so it is extremely unlikely that the
\r
3888 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3889 there is an item in the delayed list. */
\r
3890 xNextTaskUnblockTime = portMAX_DELAY;
\r
3894 /* The new current delayed list is not empty, get the value of
\r
3895 the item at the head of the delayed list. This is the time at
\r
3896 which the task at the head of the delayed list should be removed
\r
3897 from the Blocked state. */
\r
3898 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3899 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3902 /*-----------------------------------------------------------*/
\r
3904 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3906 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3908 TaskHandle_t xReturn;
\r
3910 /* A critical section is not required as this is not called from
\r
3911 an interrupt and the current TCB will always be the same for any
\r
3912 individual execution thread. */
\r
3913 xReturn = pxCurrentTCB;
\r
3918 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3919 /*-----------------------------------------------------------*/
\r
3921 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3923 BaseType_t xTaskGetSchedulerState( void )
\r
3925 BaseType_t xReturn;
\r
3927 if( xSchedulerRunning == pdFALSE )
\r
3929 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3933 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3935 xReturn = taskSCHEDULER_RUNNING;
\r
3939 xReturn = taskSCHEDULER_SUSPENDED;
\r
3946 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3947 /*-----------------------------------------------------------*/
\r
3949 #if ( configUSE_MUTEXES == 1 )
\r
3951 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3953 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3954 BaseType_t xReturn = pdFALSE;
\r
3956 /* If the mutex was given back by an interrupt while the queue was
\r
3957 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3958 needed as interrupts can no longer use mutexes? */
\r
3959 if( pxMutexHolder != NULL )
\r
3961 /* If the holder of the mutex has a priority below the priority of
\r
3962 the task attempting to obtain the mutex then it will temporarily
\r
3963 inherit the priority of the task attempting to obtain the mutex. */
\r
3964 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3966 /* Adjust the mutex holder state to account for its new
\r
3967 priority. Only reset the event list item value if the value is
\r
3968 not being used for anything else. */
\r
3969 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3971 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
3975 mtCOVERAGE_TEST_MARKER();
\r
3978 /* If the task being modified is in the ready state it will need
\r
3979 to be moved into a new list. */
\r
3980 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3982 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3984 /* It is known that the task is in its ready list so
\r
3985 there is no need to check again and the port level
\r
3986 reset macro can be called directly. */
\r
3987 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
3991 mtCOVERAGE_TEST_MARKER();
\r
3994 /* Inherit the priority before being moved into the new list. */
\r
3995 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3996 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4000 /* Just inherit the priority. */
\r
4001 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4004 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4006 /* Inheritance occurred. */
\r
4011 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4013 /* The base priority of the mutex holder is lower than the
\r
4014 priority of the task attempting to take the mutex, but the
\r
4015 current priority of the mutex holder is not lower than the
\r
4016 priority of the task attempting to take the mutex.
\r
4017 Therefore the mutex holder must have already inherited a
\r
4018 priority, but inheritance would have occurred if that had
\r
4019 not been the case. */
\r
4024 mtCOVERAGE_TEST_MARKER();
\r
4030 mtCOVERAGE_TEST_MARKER();
\r
4036 #endif /* configUSE_MUTEXES */
\r
4037 /*-----------------------------------------------------------*/
\r
4039 #if ( configUSE_MUTEXES == 1 )
\r
4041 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4043 TCB_t * const pxTCB = pxMutexHolder;
\r
4044 BaseType_t xReturn = pdFALSE;
\r
4046 if( pxMutexHolder != NULL )
\r
4048 /* A task can only have an inherited priority if it holds the mutex.
\r
4049 If the mutex is held by a task then it cannot be given from an
\r
4050 interrupt, and if a mutex is given by the holding task then it must
\r
4051 be the running state task. */
\r
4052 configASSERT( pxTCB == pxCurrentTCB );
\r
4053 configASSERT( pxTCB->uxMutexesHeld );
\r
4054 ( pxTCB->uxMutexesHeld )--;
\r
4056 /* Has the holder of the mutex inherited the priority of another
\r
4058 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4060 /* Only disinherit if no other mutexes are held. */
\r
4061 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4063 /* A task can only have an inherited priority if it holds
\r
4064 the mutex. If the mutex is held by a task then it cannot be
\r
4065 given from an interrupt, and if a mutex is given by the
\r
4066 holding task then it must be the running state task. Remove
\r
4067 the holding task from the ready/delayed list. */
\r
4068 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4070 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4074 mtCOVERAGE_TEST_MARKER();
\r
4077 /* Disinherit the priority before adding the task into the
\r
4078 new ready list. */
\r
4079 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4080 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4082 /* Reset the event list item value. It cannot be in use for
\r
4083 any other purpose if this task is running, and it must be
\r
4084 running to give back the mutex. */
\r
4085 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
4086 prvAddTaskToReadyList( pxTCB );
\r
4088 /* Return true to indicate that a context switch is required.
\r
4089 This is only actually required in the corner case whereby
\r
4090 multiple mutexes were held and the mutexes were given back
\r
4091 in an order different to that in which they were taken.
\r
4092 If a context switch did not occur when the first mutex was
\r
4093 returned, even if a task was waiting on it, then a context
\r
4094 switch should occur when the last mutex is returned whether
\r
4095 a task is waiting on it or not. */
\r
4100 mtCOVERAGE_TEST_MARKER();
\r
4105 mtCOVERAGE_TEST_MARKER();
\r
4110 mtCOVERAGE_TEST_MARKER();
\r
4116 #endif /* configUSE_MUTEXES */
\r
4117 /*-----------------------------------------------------------*/
\r
4119 #if ( configUSE_MUTEXES == 1 )
\r
4121 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4123 TCB_t * const pxTCB = pxMutexHolder;
\r
4124 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4125 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4127 if( pxMutexHolder != NULL )
\r
4129 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4131 configASSERT( pxTCB->uxMutexesHeld );
\r
4133 /* Determine the priority to which the priority of the task that
\r
4134 holds the mutex should be set. This will be the greater of the
\r
4135 holding task's base priority and the priority of the highest
\r
4136 priority task that is waiting to obtain the mutex. */
\r
4137 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4139 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4143 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4146 /* Does the priority need to change? */
\r
4147 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4149 /* Only disinherit if no other mutexes are held. This is a
\r
4150 simplification in the priority inheritance implementation. If
\r
4151 the task that holds the mutex is also holding other mutexes then
\r
4152 the other mutexes may have caused the priority inheritance. */
\r
4153 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4155 /* If a task has timed out because it already holds the
\r
4156 mutex it was trying to obtain then it cannot of inherited
\r
4157 its own priority. */
\r
4158 configASSERT( pxTCB != pxCurrentTCB );
\r
4160 /* Disinherit the priority, remembering the previous
\r
4161 priority to facilitate determining the subject task's
\r
4163 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4164 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4165 pxTCB->uxPriority = uxPriorityToUse;
\r
4167 /* Only reset the event list item value if the value is not
\r
4168 being used for anything else. */
\r
4169 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4171 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
4175 mtCOVERAGE_TEST_MARKER();
\r
4178 /* If the running task is not the task that holds the mutex
\r
4179 then the task that holds the mutex could be in either the
\r
4180 Ready, Blocked or Suspended states. Only remove the task
\r
4181 from its current state list if it is in the Ready state as
\r
4182 the task's priority is going to change and there is one
\r
4183 Ready list per priority. */
\r
4184 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4186 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4188 /* It is known that the task is in its ready list so
\r
4189 there is no need to check again and the port level
\r
4190 reset macro can be called directly. */
\r
4191 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4195 mtCOVERAGE_TEST_MARKER();
\r
4198 prvAddTaskToReadyList( pxTCB );
\r
4202 mtCOVERAGE_TEST_MARKER();
\r
4207 mtCOVERAGE_TEST_MARKER();
\r
4212 mtCOVERAGE_TEST_MARKER();
\r
4217 mtCOVERAGE_TEST_MARKER();
\r
4221 #endif /* configUSE_MUTEXES */
\r
4222 /*-----------------------------------------------------------*/
\r
4224 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4226 void vTaskEnterCritical( void )
\r
4228 portDISABLE_INTERRUPTS();
\r
4230 if( xSchedulerRunning != pdFALSE )
\r
4232 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4234 /* This is not the interrupt safe version of the enter critical
\r
4235 function so assert() if it is being called from an interrupt
\r
4236 context. Only API functions that end in "FromISR" can be used in an
\r
4237 interrupt. Only assert if the critical nesting count is 1 to
\r
4238 protect against recursive calls if the assert function also uses a
\r
4239 critical section. */
\r
4240 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4242 portASSERT_IF_IN_ISR();
\r
4247 mtCOVERAGE_TEST_MARKER();
\r
4251 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4252 /*-----------------------------------------------------------*/
\r
4254 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4256 void vTaskExitCritical( void )
\r
4258 if( xSchedulerRunning != pdFALSE )
\r
4260 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4262 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4264 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4266 portENABLE_INTERRUPTS();
\r
4270 mtCOVERAGE_TEST_MARKER();
\r
4275 mtCOVERAGE_TEST_MARKER();
\r
4280 mtCOVERAGE_TEST_MARKER();
\r
4284 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4285 /*-----------------------------------------------------------*/
\r
4287 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4289 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4293 /* Start by copying the entire string. */
\r
4294 strcpy( pcBuffer, pcTaskName );
\r
4296 /* Pad the end of the string with spaces to ensure columns line up when
\r
4298 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4300 pcBuffer[ x ] = ' ';
\r
4304 pcBuffer[ x ] = ( char ) 0x00;
\r
4306 /* Return the new end of string. */
\r
4307 return &( pcBuffer[ x ] );
\r
4310 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4311 /*-----------------------------------------------------------*/
\r
4313 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4315 void vTaskList( char * pcWriteBuffer )
\r
4317 TaskStatus_t *pxTaskStatusArray;
\r
4318 UBaseType_t uxArraySize, x;
\r
4324 * This function is provided for convenience only, and is used by many
\r
4325 * of the demo applications. Do not consider it to be part of the
\r
4328 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4329 * uxTaskGetSystemState() output into a human readable table that
\r
4330 * displays task names, states and stack usage.
\r
4332 * vTaskList() has a dependency on the sprintf() C library function that
\r
4333 * might bloat the code size, use a lot of stack, and provide different
\r
4334 * results on different platforms. An alternative, tiny, third party,
\r
4335 * and limited functionality implementation of sprintf() is provided in
\r
4336 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4337 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4338 * snprintf() implementation!).
\r
4340 * It is recommended that production systems call uxTaskGetSystemState()
\r
4341 * directly to get access to raw stats data, rather than indirectly
\r
4342 * through a call to vTaskList().
\r
4346 /* Make sure the write buffer does not contain a string. */
\r
4347 *pcWriteBuffer = ( char ) 0x00;
\r
4349 /* Take a snapshot of the number of tasks in case it changes while this
\r
4350 function is executing. */
\r
4351 uxArraySize = uxCurrentNumberOfTasks;
\r
4353 /* Allocate an array index for each task. NOTE! if
\r
4354 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4355 equate to NULL. */
\r
4356 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4358 if( pxTaskStatusArray != NULL )
\r
4360 /* Generate the (binary) data. */
\r
4361 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4363 /* Create a human readable table from the binary data. */
\r
4364 for( x = 0; x < uxArraySize; x++ )
\r
4366 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4368 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4371 case eReady: cStatus = tskREADY_CHAR;
\r
4374 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4377 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4380 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4383 case eInvalid: /* Fall through. */
\r
4384 default: /* Should not get here, but it is included
\r
4385 to prevent static checking errors. */
\r
4386 cStatus = ( char ) 0x00;
\r
4390 /* Write the task name to the string, padding with spaces so it
\r
4391 can be printed in tabular form more easily. */
\r
4392 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4394 /* Write the rest of the string. */
\r
4395 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4396 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4399 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4400 is 0 then vPortFree() will be #defined to nothing. */
\r
4401 vPortFree( pxTaskStatusArray );
\r
4405 mtCOVERAGE_TEST_MARKER();
\r
4409 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4410 /*----------------------------------------------------------*/
\r
4412 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4414 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4416 TaskStatus_t *pxTaskStatusArray;
\r
4417 UBaseType_t uxArraySize, x;
\r
4418 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4420 #if( configUSE_TRACE_FACILITY != 1 )
\r
4422 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4429 * This function is provided for convenience only, and is used by many
\r
4430 * of the demo applications. Do not consider it to be part of the
\r
4433 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4434 * of the uxTaskGetSystemState() output into a human readable table that
\r
4435 * displays the amount of time each task has spent in the Running state
\r
4436 * in both absolute and percentage terms.
\r
4438 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4439 * function that might bloat the code size, use a lot of stack, and
\r
4440 * provide different results on different platforms. An alternative,
\r
4441 * tiny, third party, and limited functionality implementation of
\r
4442 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4443 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4444 * a full snprintf() implementation!).
\r
4446 * It is recommended that production systems call uxTaskGetSystemState()
\r
4447 * directly to get access to raw stats data, rather than indirectly
\r
4448 * through a call to vTaskGetRunTimeStats().
\r
4451 /* Make sure the write buffer does not contain a string. */
\r
4452 *pcWriteBuffer = ( char ) 0x00;
\r
4454 /* Take a snapshot of the number of tasks in case it changes while this
\r
4455 function is executing. */
\r
4456 uxArraySize = uxCurrentNumberOfTasks;
\r
4458 /* Allocate an array index for each task. NOTE! If
\r
4459 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4460 equate to NULL. */
\r
4461 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4463 if( pxTaskStatusArray != NULL )
\r
4465 /* Generate the (binary) data. */
\r
4466 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4468 /* For percentage calculations. */
\r
4469 ulTotalTime /= 100UL;
\r
4471 /* Avoid divide by zero errors. */
\r
4472 if( ulTotalTime > 0UL )
\r
4474 /* Create a human readable table from the binary data. */
\r
4475 for( x = 0; x < uxArraySize; x++ )
\r
4477 /* What percentage of the total run time has the task used?
\r
4478 This will always be rounded down to the nearest integer.
\r
4479 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4480 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4482 /* Write the task name to the string, padding with
\r
4483 spaces so it can be printed in tabular form more
\r
4485 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4487 if( ulStatsAsPercentage > 0UL )
\r
4489 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4491 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4495 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4496 printf() library can be used. */
\r
4497 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4503 /* If the percentage is zero here then the task has
\r
4504 consumed less than 1% of the total run time. */
\r
4505 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4507 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4511 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4512 printf() library can be used. */
\r
4513 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4518 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4523 mtCOVERAGE_TEST_MARKER();
\r
4526 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4527 is 0 then vPortFree() will be #defined to nothing. */
\r
4528 vPortFree( pxTaskStatusArray );
\r
4532 mtCOVERAGE_TEST_MARKER();
\r
4536 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4537 /*-----------------------------------------------------------*/
\r
4539 TickType_t uxTaskResetEventItemValue( void )
\r
4541 TickType_t uxReturn;
\r
4543 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4545 /* Reset the event list item to its normal value - so it can be used with
\r
4546 queues and semaphores. */
\r
4547 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
4551 /*-----------------------------------------------------------*/
\r
4553 #if ( configUSE_MUTEXES == 1 )
\r
4555 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4557 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4558 then pxCurrentTCB will be NULL. */
\r
4559 if( pxCurrentTCB != NULL )
\r
4561 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4564 return pxCurrentTCB;
\r
4567 #endif /* configUSE_MUTEXES */
\r
4568 /*-----------------------------------------------------------*/
\r
4570 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4572 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4574 uint32_t ulReturn;
\r
4576 taskENTER_CRITICAL();
\r
4578 /* Only block if the notification count is not already non-zero. */
\r
4579 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4581 /* Mark this task as waiting for a notification. */
\r
4582 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4584 if( xTicksToWait > ( TickType_t ) 0 )
\r
4586 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4587 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4589 /* All ports are written to allow a yield in a critical
\r
4590 section (some will yield immediately, others wait until the
\r
4591 critical section exits) - but it is not something that
\r
4592 application code should ever do. */
\r
4593 portYIELD_WITHIN_API();
\r
4597 mtCOVERAGE_TEST_MARKER();
\r
4602 mtCOVERAGE_TEST_MARKER();
\r
4605 taskEXIT_CRITICAL();
\r
4607 taskENTER_CRITICAL();
\r
4609 traceTASK_NOTIFY_TAKE();
\r
4610 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4612 if( ulReturn != 0UL )
\r
4614 if( xClearCountOnExit != pdFALSE )
\r
4616 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4620 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4625 mtCOVERAGE_TEST_MARKER();
\r
4628 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4630 taskEXIT_CRITICAL();
\r
4635 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4636 /*-----------------------------------------------------------*/
\r
4638 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4640 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4642 BaseType_t xReturn;
\r
4644 taskENTER_CRITICAL();
\r
4646 /* Only block if a notification is not already pending. */
\r
4647 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4649 /* Clear bits in the task's notification value as bits may get
\r
4650 set by the notifying task or interrupt. This can be used to
\r
4651 clear the value to zero. */
\r
4652 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4654 /* Mark this task as waiting for a notification. */
\r
4655 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4657 if( xTicksToWait > ( TickType_t ) 0 )
\r
4659 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4660 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4662 /* All ports are written to allow a yield in a critical
\r
4663 section (some will yield immediately, others wait until the
\r
4664 critical section exits) - but it is not something that
\r
4665 application code should ever do. */
\r
4666 portYIELD_WITHIN_API();
\r
4670 mtCOVERAGE_TEST_MARKER();
\r
4675 mtCOVERAGE_TEST_MARKER();
\r
4678 taskEXIT_CRITICAL();
\r
4680 taskENTER_CRITICAL();
\r
4682 traceTASK_NOTIFY_WAIT();
\r
4684 if( pulNotificationValue != NULL )
\r
4686 /* Output the current notification value, which may or may not
\r
4688 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4691 /* If ucNotifyValue is set then either the task never entered the
\r
4692 blocked state (because a notification was already pending) or the
\r
4693 task unblocked because of a notification. Otherwise the task
\r
4694 unblocked because of a timeout. */
\r
4695 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4697 /* A notification was not received. */
\r
4698 xReturn = pdFALSE;
\r
4702 /* A notification was already pending or a notification was
\r
4703 received while the task was waiting. */
\r
4704 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4708 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4710 taskEXIT_CRITICAL();
\r
4715 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4716 /*-----------------------------------------------------------*/
\r
4718 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4720 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4723 BaseType_t xReturn = pdPASS;
\r
4724 uint8_t ucOriginalNotifyState;
\r
4726 configASSERT( xTaskToNotify );
\r
4727 pxTCB = xTaskToNotify;
\r
4729 taskENTER_CRITICAL();
\r
4731 if( pulPreviousNotificationValue != NULL )
\r
4733 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4736 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4738 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4743 pxTCB->ulNotifiedValue |= ulValue;
\r
4747 ( pxTCB->ulNotifiedValue )++;
\r
4750 case eSetValueWithOverwrite :
\r
4751 pxTCB->ulNotifiedValue = ulValue;
\r
4754 case eSetValueWithoutOverwrite :
\r
4755 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4757 pxTCB->ulNotifiedValue = ulValue;
\r
4761 /* The value could not be written to the task. */
\r
4767 /* The task is being notified without its notify value being
\r
4772 /* Should not get here if all enums are handled.
\r
4773 Artificially force an assert by testing a value the
\r
4774 compiler can't assume is const. */
\r
4775 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4780 traceTASK_NOTIFY();
\r
4782 /* If the task is in the blocked state specifically to wait for a
\r
4783 notification then unblock it now. */
\r
4784 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4786 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4787 prvAddTaskToReadyList( pxTCB );
\r
4789 /* The task should not have been on an event list. */
\r
4790 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4792 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4794 /* If a task is blocked waiting for a notification then
\r
4795 xNextTaskUnblockTime might be set to the blocked task's time
\r
4796 out time. If the task is unblocked for a reason other than
\r
4797 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4798 because it will automatically get reset to a new value when
\r
4799 the tick count equals xNextTaskUnblockTime. However if
\r
4800 tickless idling is used it might be more important to enter
\r
4801 sleep mode at the earliest possible time - so reset
\r
4802 xNextTaskUnblockTime here to ensure it is updated at the
\r
4803 earliest possible time. */
\r
4804 prvResetNextTaskUnblockTime();
\r
4808 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4810 /* The notified task has a priority above the currently
\r
4811 executing task so a yield is required. */
\r
4812 taskYIELD_IF_USING_PREEMPTION();
\r
4816 mtCOVERAGE_TEST_MARKER();
\r
4821 mtCOVERAGE_TEST_MARKER();
\r
4824 taskEXIT_CRITICAL();
\r
4829 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4830 /*-----------------------------------------------------------*/
\r
4832 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4834 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4837 uint8_t ucOriginalNotifyState;
\r
4838 BaseType_t xReturn = pdPASS;
\r
4839 UBaseType_t uxSavedInterruptStatus;
\r
4841 configASSERT( xTaskToNotify );
\r
4843 /* RTOS ports that support interrupt nesting have the concept of a
\r
4844 maximum system call (or maximum API call) interrupt priority.
\r
4845 Interrupts that are above the maximum system call priority are keep
\r
4846 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4847 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4848 is defined in FreeRTOSConfig.h then
\r
4849 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4850 failure if a FreeRTOS API function is called from an interrupt that has
\r
4851 been assigned a priority above the configured maximum system call
\r
4852 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4853 from interrupts that have been assigned a priority at or (logically)
\r
4854 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4855 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4856 simple as possible. More information (albeit Cortex-M specific) is
\r
4857 provided on the following link:
\r
4858 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4859 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4861 pxTCB = xTaskToNotify;
\r
4863 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4865 if( pulPreviousNotificationValue != NULL )
\r
4867 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4870 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4871 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4876 pxTCB->ulNotifiedValue |= ulValue;
\r
4880 ( pxTCB->ulNotifiedValue )++;
\r
4883 case eSetValueWithOverwrite :
\r
4884 pxTCB->ulNotifiedValue = ulValue;
\r
4887 case eSetValueWithoutOverwrite :
\r
4888 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4890 pxTCB->ulNotifiedValue = ulValue;
\r
4894 /* The value could not be written to the task. */
\r
4900 /* The task is being notified without its notify value being
\r
4905 /* Should not get here if all enums are handled.
\r
4906 Artificially force an assert by testing a value the
\r
4907 compiler can't assume is const. */
\r
4908 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4912 traceTASK_NOTIFY_FROM_ISR();
\r
4914 /* If the task is in the blocked state specifically to wait for a
\r
4915 notification then unblock it now. */
\r
4916 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4918 /* The task should not have been on an event list. */
\r
4919 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4921 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4923 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4924 prvAddTaskToReadyList( pxTCB );
\r
4928 /* The delayed and ready lists cannot be accessed, so hold
\r
4929 this task pending until the scheduler is resumed. */
\r
4930 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4933 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4935 /* The notified task has a priority above the currently
\r
4936 executing task so a yield is required. */
\r
4937 if( pxHigherPriorityTaskWoken != NULL )
\r
4939 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4942 /* Mark that a yield is pending in case the user is not
\r
4943 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4944 safe FreeRTOS function. */
\r
4945 xYieldPending = pdTRUE;
\r
4949 mtCOVERAGE_TEST_MARKER();
\r
4953 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4958 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4959 /*-----------------------------------------------------------*/
\r
4961 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4963 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4966 uint8_t ucOriginalNotifyState;
\r
4967 UBaseType_t uxSavedInterruptStatus;
\r
4969 configASSERT( xTaskToNotify );
\r
4971 /* RTOS ports that support interrupt nesting have the concept of a
\r
4972 maximum system call (or maximum API call) interrupt priority.
\r
4973 Interrupts that are above the maximum system call priority are keep
\r
4974 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4975 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4976 is defined in FreeRTOSConfig.h then
\r
4977 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4978 failure if a FreeRTOS API function is called from an interrupt that has
\r
4979 been assigned a priority above the configured maximum system call
\r
4980 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4981 from interrupts that have been assigned a priority at or (logically)
\r
4982 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4983 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4984 simple as possible. More information (albeit Cortex-M specific) is
\r
4985 provided on the following link:
\r
4986 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4987 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4989 pxTCB = xTaskToNotify;
\r
4991 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4993 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4994 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4996 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4998 ( pxTCB->ulNotifiedValue )++;
\r
5000 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
5002 /* If the task is in the blocked state specifically to wait for a
\r
5003 notification then unblock it now. */
\r
5004 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5006 /* The task should not have been on an event list. */
\r
5007 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5009 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5011 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5012 prvAddTaskToReadyList( pxTCB );
\r
5016 /* The delayed and ready lists cannot be accessed, so hold
\r
5017 this task pending until the scheduler is resumed. */
\r
5018 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5021 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5023 /* The notified task has a priority above the currently
\r
5024 executing task so a yield is required. */
\r
5025 if( pxHigherPriorityTaskWoken != NULL )
\r
5027 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5030 /* Mark that a yield is pending in case the user is not
\r
5031 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5032 safe FreeRTOS function. */
\r
5033 xYieldPending = pdTRUE;
\r
5037 mtCOVERAGE_TEST_MARKER();
\r
5041 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5044 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5046 /*-----------------------------------------------------------*/
\r
5048 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5050 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5053 BaseType_t xReturn;
\r
5055 /* If null is passed in here then it is the calling task that is having
\r
5056 its notification state cleared. */
\r
5057 pxTCB = prvGetTCBFromHandle( xTask );
\r
5059 taskENTER_CRITICAL();
\r
5061 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5063 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5071 taskEXIT_CRITICAL();
\r
5076 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5077 /*-----------------------------------------------------------*/
\r
5079 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5080 TickType_t xTaskGetIdleRunTimeCounter( void )
\r
5082 return xIdleTaskHandle->ulRunTimeCounter;
\r
5085 /*-----------------------------------------------------------*/
\r
5087 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5089 TickType_t xTimeToWake;
\r
5090 const TickType_t xConstTickCount = xTickCount;
\r
5092 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5094 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5095 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5096 when the task leaves the Blocked state. */
\r
5097 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5101 /* Remove the task from the ready list before adding it to the blocked list
\r
5102 as the same list item is used for both lists. */
\r
5103 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5105 /* The current task must be in a ready list, so there is no need to
\r
5106 check, and the port reset macro can be called directly. */
\r
5107 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5111 mtCOVERAGE_TEST_MARKER();
\r
5114 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5116 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5118 /* Add the task to the suspended task list instead of a delayed task
\r
5119 list to ensure it is not woken by a timing event. It will block
\r
5121 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5125 /* Calculate the time at which the task should be woken if the event
\r
5126 does not occur. This may overflow but this doesn't matter, the
\r
5127 kernel will manage it correctly. */
\r
5128 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5130 /* The list item will be inserted in wake time order. */
\r
5131 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5133 if( xTimeToWake < xConstTickCount )
\r
5135 /* Wake time has overflowed. Place this item in the overflow
\r
5137 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5141 /* The wake time has not overflowed, so the current block list
\r
5143 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5145 /* If the task entering the blocked state was placed at the
\r
5146 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5147 needs to be updated too. */
\r
5148 if( xTimeToWake < xNextTaskUnblockTime )
\r
5150 xNextTaskUnblockTime = xTimeToWake;
\r
5154 mtCOVERAGE_TEST_MARKER();
\r
5159 #else /* INCLUDE_vTaskSuspend */
\r
5161 /* Calculate the time at which the task should be woken if the event
\r
5162 does not occur. This may overflow but this doesn't matter, the kernel
\r
5163 will manage it correctly. */
\r
5164 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5166 /* The list item will be inserted in wake time order. */
\r
5167 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5169 if( xTimeToWake < xConstTickCount )
\r
5171 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5172 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5176 /* The wake time has not overflowed, so the current block list is used. */
\r
5177 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5179 /* If the task entering the blocked state was placed at the head of the
\r
5180 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5182 if( xTimeToWake < xNextTaskUnblockTime )
\r
5184 xNextTaskUnblockTime = xTimeToWake;
\r
5188 mtCOVERAGE_TEST_MARKER();
\r
5192 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5193 ( void ) xCanBlockIndefinitely;
\r
5195 #endif /* INCLUDE_vTaskSuspend */
\r
5198 /* Code below here allows additional code to be inserted into this source file,
\r
5199 especially where access to file scope functions and data is needed (for example
\r
5200 when performing module tests). */
\r
5202 #ifdef FREERTOS_MODULE_TEST
\r
5203 #include "tasks_test_access_functions.h"
\r
5207 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5209 #include "freertos_tasks_c_additions.h"
\r
5211 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5212 static void freertos_tasks_c_additions_init( void )
\r
5214 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob