2 * FreeRTOS Kernel V10.1.1
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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79 dynamically allocated RAM, in which case when any task is deleted it is known
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80 that both the task's stack and TCB need to be freed. Sometimes the
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81 FreeRTOSConfig.h settings only allow a task to be created using statically
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82 allocated RAM, in which case when any task is deleted it is known that neither
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83 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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84 settings allow a task to be created using either statically or dynamically
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85 allocated RAM, in which case a member of the TCB is used to record whether the
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86 stack and/or TCB were allocated statically or dynamically, so when a task is
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87 deleted the RAM that was allocated dynamically is freed again and no attempt is
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88 made to free the RAM that was allocated statically.
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89 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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90 task to be created using either statically or dynamically allocated RAM. Note
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91 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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92 a statically allocated stack and a dynamically allocated TCB.
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93 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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94 changed then the definition of StaticTask_t must also be updated. */
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95 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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96 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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97 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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98 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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100 /* If any of the following are set then task stacks are filled with a known
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101 value so the high water mark can be determined. If none of the following are
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102 set then don't fill the stack so there is no unnecessary dependency on memset. */
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103 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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104 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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106 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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110 * Macros used by vListTask to indicate which state a task is in.
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112 #define tskRUNNING_CHAR ( 'X' )
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113 #define tskBLOCKED_CHAR ( 'B' )
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114 #define tskREADY_CHAR ( 'R' )
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115 #define tskDELETED_CHAR ( 'D' )
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116 #define tskSUSPENDED_CHAR ( 'S' )
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119 * Some kernel aware debuggers require the data the debugger needs access to be
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120 * global, rather than file scope.
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122 #ifdef portREMOVE_STATIC_QUALIFIER
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126 /* The name allocated to the Idle task. This can be overridden by defining
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127 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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128 #ifndef configIDLE_TASK_NAME
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129 #define configIDLE_TASK_NAME "IDLE"
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132 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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134 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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135 performed in a generic way that is not optimised to any particular
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136 microcontroller architecture. */
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138 /* uxTopReadyPriority holds the priority of the highest priority ready
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140 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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142 if( ( uxPriority ) > uxTopReadyPriority ) \
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144 uxTopReadyPriority = ( uxPriority ); \
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146 } /* taskRECORD_READY_PRIORITY */
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148 /*-----------------------------------------------------------*/
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150 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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152 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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154 /* Find the highest priority queue that contains ready tasks. */ \
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155 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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157 configASSERT( uxTopPriority ); \
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161 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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162 the same priority get an equal share of the processor time. */ \
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163 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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164 uxTopReadyPriority = uxTopPriority; \
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165 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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167 /*-----------------------------------------------------------*/
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169 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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170 they are only required when a port optimised method of task selection is
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172 #define taskRESET_READY_PRIORITY( uxPriority )
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173 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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175 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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177 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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178 performed in a way that is tailored to the particular microcontroller
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179 architecture being used. */
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181 /* A port optimised version is provided. Call the port defined macros. */
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182 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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184 /*-----------------------------------------------------------*/
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186 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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188 UBaseType_t uxTopPriority; \
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190 /* Find the highest priority list that contains ready tasks. */ \
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191 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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192 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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193 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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194 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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196 /*-----------------------------------------------------------*/
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198 /* A port optimised version is provided, call it only if the TCB being reset
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199 is being referenced from a ready list. If it is referenced from a delayed
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200 or suspended list then it won't be in a ready list. */
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201 #define taskRESET_READY_PRIORITY( uxPriority ) \
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203 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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205 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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209 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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211 /*-----------------------------------------------------------*/
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213 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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214 count overflows. */
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215 #define taskSWITCH_DELAYED_LISTS() \
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219 /* The delayed tasks list should be empty when the lists are switched. */ \
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220 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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222 pxTemp = pxDelayedTaskList; \
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223 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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224 pxOverflowDelayedTaskList = pxTemp; \
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225 xNumOfOverflows++; \
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226 prvResetNextTaskUnblockTime(); \
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229 /*-----------------------------------------------------------*/
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232 * Place the task represented by pxTCB into the appropriate ready list for
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233 * the task. It is inserted at the end of the list.
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235 #define prvAddTaskToReadyList( pxTCB ) \
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236 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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237 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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238 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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239 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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240 /*-----------------------------------------------------------*/
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243 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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244 * where NULL is used to indicate that the handle of the currently executing
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245 * task should be used in place of the parameter. This macro simply checks to
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246 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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248 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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250 /* The item value of the event list item is normally used to hold the priority
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251 of the task to which it belongs (coded to allow it to be held in reverse
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252 priority order). However, it is occasionally borrowed for other purposes. It
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253 is important its value is not updated due to a task priority change while it is
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254 being used for another purpose. The following bit definition is used to inform
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255 the scheduler that the value should not be changed - in which case it is the
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256 responsibility of whichever module is using the value to ensure it gets set back
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257 to its original value when it is released. */
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258 #if( configUSE_16_BIT_TICKS == 1 )
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259 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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261 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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265 * Task control block. A task control block (TCB) is allocated for each task,
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266 * and stores task state information, including a pointer to the task's context
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267 * (the task's run time environment, including register values)
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269 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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271 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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273 #if ( portUSING_MPU_WRAPPERS == 1 )
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274 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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277 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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278 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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279 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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280 StackType_t *pxStack; /*< Points to the start of the stack. */
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281 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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283 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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284 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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287 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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288 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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291 #if ( configUSE_TRACE_FACILITY == 1 )
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292 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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293 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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296 #if ( configUSE_MUTEXES == 1 )
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297 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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298 UBaseType_t uxMutexesHeld;
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301 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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302 TaskHookFunction_t pxTaskTag;
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305 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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306 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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309 #if( configGENERATE_RUN_TIME_STATS == 1 )
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310 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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313 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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314 /* Allocate a Newlib reent structure that is specific to this task.
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315 Note Newlib support has been included by popular demand, but is not
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316 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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317 responsible for resulting newlib operation. User must be familiar with
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318 newlib and must provide system-wide implementations of the necessary
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319 stubs. Be warned that (at the time of writing) the current newlib design
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320 implements a system-wide malloc() that must be provided with locks. */
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321 struct _reent xNewLib_reent;
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324 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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325 volatile uint32_t ulNotifiedValue;
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326 volatile uint8_t ucNotifyState;
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329 /* See the comments above the definition of
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330 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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331 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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332 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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335 #if( INCLUDE_xTaskAbortDelay == 1 )
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336 uint8_t ucDelayAborted;
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339 #if( configUSE_POSIX_ERRNO == 1 )
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345 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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346 below to enable the use of older kernel aware debuggers. */
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347 typedef tskTCB TCB_t;
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349 /*lint -save -e956 A manual analysis and inspection has been used to determine
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350 which static variables must be declared volatile. */
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351 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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353 /* Lists for ready and blocked tasks. --------------------
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354 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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355 doing so breaks some kernel aware debuggers and debuggers that rely on removing
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356 the static qualifier. */
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357 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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358 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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359 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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360 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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361 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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362 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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364 #if( INCLUDE_vTaskDelete == 1 )
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366 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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367 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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371 #if ( INCLUDE_vTaskSuspend == 1 )
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373 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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377 /* Global POSIX errno. Its value is changed upon context switching to match
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378 the errno of the currently running task. */
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379 #if ( configUSE_POSIX_ERRNO == 1 )
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380 int FreeRTOS_errno = 0;
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383 /* Other file private variables. --------------------------------*/
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384 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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385 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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386 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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387 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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388 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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389 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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390 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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391 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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392 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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393 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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395 /* Context switches are held pending while the scheduler is suspended. Also,
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396 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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397 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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398 If an interrupt needs to unblock a task while the scheduler is suspended then it
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399 moves the task's event list item into the xPendingReadyList, ready for the
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400 kernel to move the task from the pending ready list into the real ready list
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401 when the scheduler is unsuspended. The pending ready list itself can only be
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402 accessed from a critical section. */
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403 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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405 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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407 /* Do not move these variables to function scope as doing so prevents the
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408 code working with debuggers that need to remove the static qualifier. */
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409 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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410 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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416 /*-----------------------------------------------------------*/
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418 /* Callback function prototypes. --------------------------*/
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419 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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421 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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425 #if( configUSE_TICK_HOOK > 0 )
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427 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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431 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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433 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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437 /* File private functions. --------------------------------*/
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440 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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441 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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442 * is in any other state.
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444 #if ( INCLUDE_vTaskSuspend == 1 )
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446 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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448 #endif /* INCLUDE_vTaskSuspend */
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451 * Utility to ready all the lists used by the scheduler. This is called
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452 * automatically upon the creation of the first task.
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454 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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457 * The idle task, which as all tasks is implemented as a never ending loop.
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458 * The idle task is automatically created and added to the ready lists upon
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459 * creation of the first user task.
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461 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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462 * language extensions. The equivalent prototype for this function is:
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464 * void prvIdleTask( void *pvParameters );
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467 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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470 * Utility to free all memory allocated by the scheduler to hold a TCB,
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471 * including the stack pointed to by the TCB.
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473 * This does not free memory allocated by the task itself (i.e. memory
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474 * allocated by calls to pvPortMalloc from within the tasks application code).
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476 #if ( INCLUDE_vTaskDelete == 1 )
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478 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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483 * Used only by the idle task. This checks to see if anything has been placed
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484 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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485 * and its TCB deleted.
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487 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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490 * The currently executing task is entering the Blocked state. Add the task to
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491 * either the current or the overflow delayed task list.
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493 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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496 * Fills an TaskStatus_t structure with information on each task that is
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497 * referenced from the pxList list (which may be a ready list, a delayed list,
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498 * a suspended list, etc.).
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500 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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501 * NORMAL APPLICATION CODE.
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503 #if ( configUSE_TRACE_FACILITY == 1 )
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505 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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510 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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511 * the task if it is found, or NULL if the task is not found.
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513 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
515 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
520 * When a task is created, the stack of the task is filled with a known value.
\r
521 * This function determines the 'high water mark' of the task stack by
\r
522 * determining how much of the stack remains at the original preset value.
\r
524 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
526 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
531 * Return the amount of time, in ticks, that will pass before the kernel will
\r
532 * next move a task from the Blocked state to the Running state.
\r
534 * This conditional compilation should use inequality to 0, not equality to 1.
\r
535 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
536 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
537 * set to a value other than 1.
\r
539 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
541 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
546 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
547 * will exit the Blocked state.
\r
549 static void prvResetNextTaskUnblockTime( void );
\r
551 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
554 * Helper function used to pad task names with spaces when printing out
\r
555 * human readable tables of task information.
\r
557 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
562 * Called after a Task_t structure has been allocated either statically or
\r
563 * dynamically to fill in the structure's members.
\r
565 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
566 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
567 const uint32_t ulStackDepth,
\r
568 void * const pvParameters,
\r
569 UBaseType_t uxPriority,
\r
570 TaskHandle_t * const pxCreatedTask,
\r
572 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
575 * Called after a new task has been created and initialised to place the task
\r
576 * under the control of the scheduler.
\r
578 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
581 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
582 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
583 * called by the function.
\r
585 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
587 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
591 /*-----------------------------------------------------------*/
\r
593 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
595 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
596 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
597 const uint32_t ulStackDepth,
\r
598 void * const pvParameters,
\r
599 UBaseType_t uxPriority,
\r
600 StackType_t * const puxStackBuffer,
\r
601 StaticTask_t * const pxTaskBuffer )
\r
604 TaskHandle_t xReturn;
\r
606 configASSERT( puxStackBuffer != NULL );
\r
607 configASSERT( pxTaskBuffer != NULL );
\r
609 #if( configASSERT_DEFINED == 1 )
\r
611 /* Sanity check that the size of the structure used to declare a
\r
612 variable of type StaticTask_t equals the size of the real task
\r
614 volatile size_t xSize = sizeof( StaticTask_t );
\r
615 configASSERT( xSize == sizeof( TCB_t ) );
\r
616 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
618 #endif /* configASSERT_DEFINED */
\r
621 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
623 /* The memory used for the task's TCB and stack are passed into this
\r
624 function - use them. */
\r
625 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
626 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
628 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
630 /* Tasks can be created statically or dynamically, so note this
\r
631 task was created statically in case the task is later deleted. */
\r
632 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
634 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
636 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
637 prvAddNewTaskToReadyList( pxNewTCB );
\r
647 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
648 /*-----------------------------------------------------------*/
\r
650 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
652 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
655 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
657 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
658 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
660 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
662 /* Allocate space for the TCB. Where the memory comes from depends
\r
663 on the implementation of the port malloc function and whether or
\r
664 not static allocation is being used. */
\r
665 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
667 /* Store the stack location in the TCB. */
\r
668 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
670 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
672 /* Tasks can be created statically or dynamically, so note this
\r
673 task was created statically in case the task is later deleted. */
\r
674 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
676 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
678 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
679 pxTaskDefinition->pcName,
\r
680 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
681 pxTaskDefinition->pvParameters,
\r
682 pxTaskDefinition->uxPriority,
\r
683 pxCreatedTask, pxNewTCB,
\r
684 pxTaskDefinition->xRegions );
\r
686 prvAddNewTaskToReadyList( pxNewTCB );
\r
693 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
694 /*-----------------------------------------------------------*/
\r
696 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
698 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
701 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
703 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
705 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
707 /* Allocate space for the TCB. Where the memory comes from depends
\r
708 on the implementation of the port malloc function and whether or
\r
709 not static allocation is being used. */
\r
710 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
712 if( pxNewTCB != NULL )
\r
714 /* Store the stack location in the TCB. */
\r
715 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
717 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
719 /* Tasks can be created statically or dynamically, so note
\r
720 this task had a statically allocated stack in case it is
\r
721 later deleted. The TCB was allocated dynamically. */
\r
722 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
726 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
727 pxTaskDefinition->pcName,
\r
728 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
729 pxTaskDefinition->pvParameters,
\r
730 pxTaskDefinition->uxPriority,
\r
731 pxCreatedTask, pxNewTCB,
\r
732 pxTaskDefinition->xRegions );
\r
734 prvAddNewTaskToReadyList( pxNewTCB );
\r
742 #endif /* portUSING_MPU_WRAPPERS */
\r
743 /*-----------------------------------------------------------*/
\r
745 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
747 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
748 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
749 const configSTACK_DEPTH_TYPE usStackDepth,
\r
750 void * const pvParameters,
\r
751 UBaseType_t uxPriority,
\r
752 TaskHandle_t * const pxCreatedTask )
\r
755 BaseType_t xReturn;
\r
757 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
758 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
759 the TCB then the stack. */
\r
760 #if( portSTACK_GROWTH > 0 )
\r
762 /* Allocate space for the TCB. Where the memory comes from depends on
\r
763 the implementation of the port malloc function and whether or not static
\r
764 allocation is being used. */
\r
765 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
767 if( pxNewTCB != NULL )
\r
769 /* Allocate space for the stack used by the task being created.
\r
770 The base of the stack memory stored in the TCB so the task can
\r
771 be deleted later if required. */
\r
772 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
774 if( pxNewTCB->pxStack == NULL )
\r
776 /* Could not allocate the stack. Delete the allocated TCB. */
\r
777 vPortFree( pxNewTCB );
\r
782 #else /* portSTACK_GROWTH */
\r
784 StackType_t *pxStack;
\r
786 /* Allocate space for the stack used by the task being created. */
\r
787 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
789 if( pxStack != NULL )
\r
791 /* Allocate space for the TCB. */
\r
792 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
794 if( pxNewTCB != NULL )
\r
796 /* Store the stack location in the TCB. */
\r
797 pxNewTCB->pxStack = pxStack;
\r
801 /* The stack cannot be used as the TCB was not created. Free
\r
803 vPortFree( pxStack );
\r
811 #endif /* portSTACK_GROWTH */
\r
813 if( pxNewTCB != NULL )
\r
815 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
817 /* Tasks can be created statically or dynamically, so note this
\r
818 task was created dynamically in case it is later deleted. */
\r
819 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
821 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
823 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
824 prvAddNewTaskToReadyList( pxNewTCB );
\r
829 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
835 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
836 /*-----------------------------------------------------------*/
\r
838 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
839 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
840 const uint32_t ulStackDepth,
\r
841 void * const pvParameters,
\r
842 UBaseType_t uxPriority,
\r
843 TaskHandle_t * const pxCreatedTask,
\r
845 const MemoryRegion_t * const xRegions )
\r
847 StackType_t *pxTopOfStack;
\r
850 #if( portUSING_MPU_WRAPPERS == 1 )
\r
851 /* Should the task be created in privileged mode? */
\r
852 BaseType_t xRunPrivileged;
\r
853 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
855 xRunPrivileged = pdTRUE;
\r
859 xRunPrivileged = pdFALSE;
\r
861 uxPriority &= ~portPRIVILEGE_BIT;
\r
862 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
864 /* Avoid dependency on memset() if it is not required. */
\r
865 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
867 /* Fill the stack with a known value to assist debugging. */
\r
868 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
870 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
872 /* Calculate the top of stack address. This depends on whether the stack
\r
873 grows from high memory to low (as per the 80x86) or vice versa.
\r
874 portSTACK_GROWTH is used to make the result positive or negative as required
\r
876 #if( portSTACK_GROWTH < 0 )
\r
878 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
879 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
881 /* Check the alignment of the calculated top of stack is correct. */
\r
882 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
884 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
886 /* Also record the stack's high address, which may assist
\r
888 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
890 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
892 #else /* portSTACK_GROWTH */
\r
894 pxTopOfStack = pxNewTCB->pxStack;
\r
896 /* Check the alignment of the stack buffer is correct. */
\r
897 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
899 /* The other extreme of the stack space is required if stack checking is
\r
901 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
903 #endif /* portSTACK_GROWTH */
\r
905 /* Store the task name in the TCB. */
\r
906 if( pcName != NULL )
\r
908 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
910 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
912 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
913 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
914 string is not accessible (extremely unlikely). */
\r
915 if( pcName[ x ] == ( char ) 0x00 )
\r
921 mtCOVERAGE_TEST_MARKER();
\r
925 /* Ensure the name string is terminated in the case that the string length
\r
926 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
927 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
931 /* The task has not been given a name, so just ensure there is a NULL
\r
932 terminator when it is read out. */
\r
933 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
936 /* This is used as an array index so must ensure it's not too large. First
\r
937 remove the privilege bit if one is present. */
\r
938 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
940 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
944 mtCOVERAGE_TEST_MARKER();
\r
947 pxNewTCB->uxPriority = uxPriority;
\r
948 #if ( configUSE_MUTEXES == 1 )
\r
950 pxNewTCB->uxBasePriority = uxPriority;
\r
951 pxNewTCB->uxMutexesHeld = 0;
\r
953 #endif /* configUSE_MUTEXES */
\r
955 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
956 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
958 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
959 back to the containing TCB from a generic item in a list. */
\r
960 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
962 /* Event lists are always in priority order. */
\r
963 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
964 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
966 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
968 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
970 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
972 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
974 pxNewTCB->pxTaskTag = NULL;
\r
976 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
978 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
980 pxNewTCB->ulRunTimeCounter = 0UL;
\r
982 #endif /* configGENERATE_RUN_TIME_STATS */
\r
984 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
986 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
990 /* Avoid compiler warning about unreferenced parameter. */
\r
995 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
997 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
999 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
1004 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1006 pxNewTCB->ulNotifiedValue = 0;
\r
1007 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1011 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1013 /* Initialise this task's Newlib reent structure. */
\r
1014 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1018 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1020 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1024 /* Initialize the TCB stack to look as if the task was already running,
\r
1025 but had been interrupted by the scheduler. The return address is set
\r
1026 to the start of the task function. Once the stack has been initialised
\r
1027 the top of stack variable is updated. */
\r
1028 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1030 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1032 #else /* portUSING_MPU_WRAPPERS */
\r
1034 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1036 #endif /* portUSING_MPU_WRAPPERS */
\r
1038 if( pxCreatedTask != NULL )
\r
1040 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1041 change the created task's priority, delete the created task, etc.*/
\r
1042 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1046 mtCOVERAGE_TEST_MARKER();
\r
1049 /*-----------------------------------------------------------*/
\r
1051 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1053 /* Ensure interrupts don't access the task lists while the lists are being
\r
1055 taskENTER_CRITICAL();
\r
1057 uxCurrentNumberOfTasks++;
\r
1058 if( pxCurrentTCB == NULL )
\r
1060 /* There are no other tasks, or all the other tasks are in
\r
1061 the suspended state - make this the current task. */
\r
1062 pxCurrentTCB = pxNewTCB;
\r
1064 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1066 /* This is the first task to be created so do the preliminary
\r
1067 initialisation required. We will not recover if this call
\r
1068 fails, but we will report the failure. */
\r
1069 prvInitialiseTaskLists();
\r
1073 mtCOVERAGE_TEST_MARKER();
\r
1078 /* If the scheduler is not already running, make this task the
\r
1079 current task if it is the highest priority task to be created
\r
1081 if( xSchedulerRunning == pdFALSE )
\r
1083 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1085 pxCurrentTCB = pxNewTCB;
\r
1089 mtCOVERAGE_TEST_MARKER();
\r
1094 mtCOVERAGE_TEST_MARKER();
\r
1100 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1102 /* Add a counter into the TCB for tracing only. */
\r
1103 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1105 #endif /* configUSE_TRACE_FACILITY */
\r
1106 traceTASK_CREATE( pxNewTCB );
\r
1108 prvAddTaskToReadyList( pxNewTCB );
\r
1110 portSETUP_TCB( pxNewTCB );
\r
1112 taskEXIT_CRITICAL();
\r
1114 if( xSchedulerRunning != pdFALSE )
\r
1116 /* If the created task is of a higher priority than the current task
\r
1117 then it should run now. */
\r
1118 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1120 taskYIELD_IF_USING_PREEMPTION();
\r
1124 mtCOVERAGE_TEST_MARKER();
\r
1129 mtCOVERAGE_TEST_MARKER();
\r
1132 /*-----------------------------------------------------------*/
\r
1134 #if ( INCLUDE_vTaskDelete == 1 )
\r
1136 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1140 taskENTER_CRITICAL();
\r
1142 /* If null is passed in here then it is the calling task that is
\r
1144 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1146 /* Remove task from the ready list. */
\r
1147 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1149 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1153 mtCOVERAGE_TEST_MARKER();
\r
1156 /* Is the task waiting on an event also? */
\r
1157 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1159 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1163 mtCOVERAGE_TEST_MARKER();
\r
1166 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1167 detect that the task lists need re-generating. This is done before
\r
1168 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1172 if( pxTCB == pxCurrentTCB )
\r
1174 /* A task is deleting itself. This cannot complete within the
\r
1175 task itself, as a context switch to another task is required.
\r
1176 Place the task in the termination list. The idle task will
\r
1177 check the termination list and free up any memory allocated by
\r
1178 the scheduler for the TCB and stack of the deleted task. */
\r
1179 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1181 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1182 there is a task that has been deleted and that it should therefore
\r
1183 check the xTasksWaitingTermination list. */
\r
1184 ++uxDeletedTasksWaitingCleanUp;
\r
1186 /* The pre-delete hook is primarily for the Windows simulator,
\r
1187 in which Windows specific clean up operations are performed,
\r
1188 after which it is not possible to yield away from this task -
\r
1189 hence xYieldPending is used to latch that a context switch is
\r
1191 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1195 --uxCurrentNumberOfTasks;
\r
1196 prvDeleteTCB( pxTCB );
\r
1198 /* Reset the next expected unblock time in case it referred to
\r
1199 the task that has just been deleted. */
\r
1200 prvResetNextTaskUnblockTime();
\r
1203 traceTASK_DELETE( pxTCB );
\r
1205 taskEXIT_CRITICAL();
\r
1207 /* Force a reschedule if it is the currently running task that has just
\r
1209 if( xSchedulerRunning != pdFALSE )
\r
1211 if( pxTCB == pxCurrentTCB )
\r
1213 configASSERT( uxSchedulerSuspended == 0 );
\r
1214 portYIELD_WITHIN_API();
\r
1218 mtCOVERAGE_TEST_MARKER();
\r
1223 #endif /* INCLUDE_vTaskDelete */
\r
1224 /*-----------------------------------------------------------*/
\r
1226 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1228 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1230 TickType_t xTimeToWake;
\r
1231 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1233 configASSERT( pxPreviousWakeTime );
\r
1234 configASSERT( ( xTimeIncrement > 0U ) );
\r
1235 configASSERT( uxSchedulerSuspended == 0 );
\r
1237 vTaskSuspendAll();
\r
1239 /* Minor optimisation. The tick count cannot change in this
\r
1241 const TickType_t xConstTickCount = xTickCount;
\r
1243 /* Generate the tick time at which the task wants to wake. */
\r
1244 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1246 if( xConstTickCount < *pxPreviousWakeTime )
\r
1248 /* The tick count has overflowed since this function was
\r
1249 lasted called. In this case the only time we should ever
\r
1250 actually delay is if the wake time has also overflowed,
\r
1251 and the wake time is greater than the tick time. When this
\r
1252 is the case it is as if neither time had overflowed. */
\r
1253 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1255 xShouldDelay = pdTRUE;
\r
1259 mtCOVERAGE_TEST_MARKER();
\r
1264 /* The tick time has not overflowed. In this case we will
\r
1265 delay if either the wake time has overflowed, and/or the
\r
1266 tick time is less than the wake time. */
\r
1267 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1269 xShouldDelay = pdTRUE;
\r
1273 mtCOVERAGE_TEST_MARKER();
\r
1277 /* Update the wake time ready for the next call. */
\r
1278 *pxPreviousWakeTime = xTimeToWake;
\r
1280 if( xShouldDelay != pdFALSE )
\r
1282 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1284 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1285 the time to wake, so subtract the current tick count. */
\r
1286 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1290 mtCOVERAGE_TEST_MARKER();
\r
1293 xAlreadyYielded = xTaskResumeAll();
\r
1295 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1296 have put ourselves to sleep. */
\r
1297 if( xAlreadyYielded == pdFALSE )
\r
1299 portYIELD_WITHIN_API();
\r
1303 mtCOVERAGE_TEST_MARKER();
\r
1307 #endif /* INCLUDE_vTaskDelayUntil */
\r
1308 /*-----------------------------------------------------------*/
\r
1310 #if ( INCLUDE_vTaskDelay == 1 )
\r
1312 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1314 BaseType_t xAlreadyYielded = pdFALSE;
\r
1316 /* A delay time of zero just forces a reschedule. */
\r
1317 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1319 configASSERT( uxSchedulerSuspended == 0 );
\r
1320 vTaskSuspendAll();
\r
1322 traceTASK_DELAY();
\r
1324 /* A task that is removed from the event list while the
\r
1325 scheduler is suspended will not get placed in the ready
\r
1326 list or removed from the blocked list until the scheduler
\r
1329 This task cannot be in an event list as it is the currently
\r
1330 executing task. */
\r
1331 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1333 xAlreadyYielded = xTaskResumeAll();
\r
1337 mtCOVERAGE_TEST_MARKER();
\r
1340 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1341 have put ourselves to sleep. */
\r
1342 if( xAlreadyYielded == pdFALSE )
\r
1344 portYIELD_WITHIN_API();
\r
1348 mtCOVERAGE_TEST_MARKER();
\r
1352 #endif /* INCLUDE_vTaskDelay */
\r
1353 /*-----------------------------------------------------------*/
\r
1355 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1357 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1359 eTaskState eReturn;
\r
1360 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1361 const TCB_t * const pxTCB = xTask;
\r
1363 configASSERT( pxTCB );
\r
1365 if( pxTCB == pxCurrentTCB )
\r
1367 /* The task calling this function is querying its own state. */
\r
1368 eReturn = eRunning;
\r
1372 taskENTER_CRITICAL();
\r
1374 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1375 pxDelayedList = pxDelayedTaskList;
\r
1376 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1378 taskEXIT_CRITICAL();
\r
1380 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1382 /* The task being queried is referenced from one of the Blocked
\r
1384 eReturn = eBlocked;
\r
1387 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1388 else if( pxStateList == &xSuspendedTaskList )
\r
1390 /* The task being queried is referenced from the suspended
\r
1391 list. Is it genuinely suspended or is it blocked
\r
1393 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1395 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1397 /* The task does not appear on the event list item of
\r
1398 and of the RTOS objects, but could still be in the
\r
1399 blocked state if it is waiting on its notification
\r
1400 rather than waiting on an object. */
\r
1401 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1403 eReturn = eBlocked;
\r
1407 eReturn = eSuspended;
\r
1412 eReturn = eSuspended;
\r
1418 eReturn = eBlocked;
\r
1423 #if ( INCLUDE_vTaskDelete == 1 )
\r
1424 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1426 /* The task being queried is referenced from the deleted
\r
1427 tasks list, or it is not referenced from any lists at
\r
1429 eReturn = eDeleted;
\r
1433 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1435 /* If the task is not in any other state, it must be in the
\r
1436 Ready (including pending ready) state. */
\r
1442 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1444 #endif /* INCLUDE_eTaskGetState */
\r
1445 /*-----------------------------------------------------------*/
\r
1447 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1449 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1451 TCB_t const *pxTCB;
\r
1452 UBaseType_t uxReturn;
\r
1454 taskENTER_CRITICAL();
\r
1456 /* If null is passed in here then it is the priority of the task
\r
1457 that called uxTaskPriorityGet() that is being queried. */
\r
1458 pxTCB = prvGetTCBFromHandle( xTask );
\r
1459 uxReturn = pxTCB->uxPriority;
\r
1461 taskEXIT_CRITICAL();
\r
1466 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1467 /*-----------------------------------------------------------*/
\r
1469 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1471 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1473 TCB_t const *pxTCB;
\r
1474 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1476 /* RTOS ports that support interrupt nesting have the concept of a
\r
1477 maximum system call (or maximum API call) interrupt priority.
\r
1478 Interrupts that are above the maximum system call priority are keep
\r
1479 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1480 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1481 is defined in FreeRTOSConfig.h then
\r
1482 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1483 failure if a FreeRTOS API function is called from an interrupt that has
\r
1484 been assigned a priority above the configured maximum system call
\r
1485 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1486 from interrupts that have been assigned a priority at or (logically)
\r
1487 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1488 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1489 simple as possible. More information (albeit Cortex-M specific) is
\r
1490 provided on the following link:
\r
1491 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1492 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1494 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1496 /* If null is passed in here then it is the priority of the calling
\r
1497 task that is being queried. */
\r
1498 pxTCB = prvGetTCBFromHandle( xTask );
\r
1499 uxReturn = pxTCB->uxPriority;
\r
1501 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1506 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1507 /*-----------------------------------------------------------*/
\r
1509 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1511 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1514 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1515 BaseType_t xYieldRequired = pdFALSE;
\r
1517 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1519 /* Ensure the new priority is valid. */
\r
1520 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1522 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1526 mtCOVERAGE_TEST_MARKER();
\r
1529 taskENTER_CRITICAL();
\r
1531 /* If null is passed in here then it is the priority of the calling
\r
1532 task that is being changed. */
\r
1533 pxTCB = prvGetTCBFromHandle( xTask );
\r
1535 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1537 #if ( configUSE_MUTEXES == 1 )
\r
1539 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1543 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1547 if( uxCurrentBasePriority != uxNewPriority )
\r
1549 /* The priority change may have readied a task of higher
\r
1550 priority than the calling task. */
\r
1551 if( uxNewPriority > uxCurrentBasePriority )
\r
1553 if( pxTCB != pxCurrentTCB )
\r
1555 /* The priority of a task other than the currently
\r
1556 running task is being raised. Is the priority being
\r
1557 raised above that of the running task? */
\r
1558 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1560 xYieldRequired = pdTRUE;
\r
1564 mtCOVERAGE_TEST_MARKER();
\r
1569 /* The priority of the running task is being raised,
\r
1570 but the running task must already be the highest
\r
1571 priority task able to run so no yield is required. */
\r
1574 else if( pxTCB == pxCurrentTCB )
\r
1576 /* Setting the priority of the running task down means
\r
1577 there may now be another task of higher priority that
\r
1578 is ready to execute. */
\r
1579 xYieldRequired = pdTRUE;
\r
1583 /* Setting the priority of any other task down does not
\r
1584 require a yield as the running task must be above the
\r
1585 new priority of the task being modified. */
\r
1588 /* Remember the ready list the task might be referenced from
\r
1589 before its uxPriority member is changed so the
\r
1590 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1591 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1593 #if ( configUSE_MUTEXES == 1 )
\r
1595 /* Only change the priority being used if the task is not
\r
1596 currently using an inherited priority. */
\r
1597 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1599 pxTCB->uxPriority = uxNewPriority;
\r
1603 mtCOVERAGE_TEST_MARKER();
\r
1606 /* The base priority gets set whatever. */
\r
1607 pxTCB->uxBasePriority = uxNewPriority;
\r
1611 pxTCB->uxPriority = uxNewPriority;
\r
1615 /* Only reset the event list item value if the value is not
\r
1616 being used for anything else. */
\r
1617 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1619 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
1623 mtCOVERAGE_TEST_MARKER();
\r
1626 /* If the task is in the blocked or suspended list we need do
\r
1627 nothing more than change its priority variable. However, if
\r
1628 the task is in a ready list it needs to be removed and placed
\r
1629 in the list appropriate to its new priority. */
\r
1630 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1632 /* The task is currently in its ready list - remove before
\r
1633 adding it to it's new ready list. As we are in a critical
\r
1634 section we can do this even if the scheduler is suspended. */
\r
1635 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1637 /* It is known that the task is in its ready list so
\r
1638 there is no need to check again and the port level
\r
1639 reset macro can be called directly. */
\r
1640 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1644 mtCOVERAGE_TEST_MARKER();
\r
1646 prvAddTaskToReadyList( pxTCB );
\r
1650 mtCOVERAGE_TEST_MARKER();
\r
1653 if( xYieldRequired != pdFALSE )
\r
1655 taskYIELD_IF_USING_PREEMPTION();
\r
1659 mtCOVERAGE_TEST_MARKER();
\r
1662 /* Remove compiler warning about unused variables when the port
\r
1663 optimised task selection is not being used. */
\r
1664 ( void ) uxPriorityUsedOnEntry;
\r
1667 taskEXIT_CRITICAL();
\r
1670 #endif /* INCLUDE_vTaskPrioritySet */
\r
1671 /*-----------------------------------------------------------*/
\r
1673 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1675 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1679 taskENTER_CRITICAL();
\r
1681 /* If null is passed in here then it is the running task that is
\r
1682 being suspended. */
\r
1683 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1685 traceTASK_SUSPEND( pxTCB );
\r
1687 /* Remove task from the ready/delayed list and place in the
\r
1688 suspended list. */
\r
1689 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1691 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1695 mtCOVERAGE_TEST_MARKER();
\r
1698 /* Is the task waiting on an event also? */
\r
1699 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1701 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1705 mtCOVERAGE_TEST_MARKER();
\r
1708 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1710 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1712 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1714 /* The task was blocked to wait for a notification, but is
\r
1715 now suspended, so no notification was received. */
\r
1716 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1721 taskEXIT_CRITICAL();
\r
1723 if( xSchedulerRunning != pdFALSE )
\r
1725 /* Reset the next expected unblock time in case it referred to the
\r
1726 task that is now in the Suspended state. */
\r
1727 taskENTER_CRITICAL();
\r
1729 prvResetNextTaskUnblockTime();
\r
1731 taskEXIT_CRITICAL();
\r
1735 mtCOVERAGE_TEST_MARKER();
\r
1738 if( pxTCB == pxCurrentTCB )
\r
1740 if( xSchedulerRunning != pdFALSE )
\r
1742 /* The current task has just been suspended. */
\r
1743 configASSERT( uxSchedulerSuspended == 0 );
\r
1744 portYIELD_WITHIN_API();
\r
1748 /* The scheduler is not running, but the task that was pointed
\r
1749 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1750 must be adjusted to point to a different task. */
\r
1751 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1753 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1754 NULL so when the next task is created pxCurrentTCB will
\r
1755 be set to point to it no matter what its relative priority
\r
1757 pxCurrentTCB = NULL;
\r
1761 vTaskSwitchContext();
\r
1767 mtCOVERAGE_TEST_MARKER();
\r
1771 #endif /* INCLUDE_vTaskSuspend */
\r
1772 /*-----------------------------------------------------------*/
\r
1774 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1776 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1778 BaseType_t xReturn = pdFALSE;
\r
1779 const TCB_t * const pxTCB = xTask;
\r
1781 /* Accesses xPendingReadyList so must be called from a critical
\r
1784 /* It does not make sense to check if the calling task is suspended. */
\r
1785 configASSERT( xTask );
\r
1787 /* Is the task being resumed actually in the suspended list? */
\r
1788 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1790 /* Has the task already been resumed from within an ISR? */
\r
1791 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1793 /* Is it in the suspended list because it is in the Suspended
\r
1794 state, or because is is blocked with no timeout? */
\r
1795 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1801 mtCOVERAGE_TEST_MARKER();
\r
1806 mtCOVERAGE_TEST_MARKER();
\r
1811 mtCOVERAGE_TEST_MARKER();
\r
1815 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1817 #endif /* INCLUDE_vTaskSuspend */
\r
1818 /*-----------------------------------------------------------*/
\r
1820 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1822 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1824 TCB_t * const pxTCB = xTaskToResume;
\r
1826 /* It does not make sense to resume the calling task. */
\r
1827 configASSERT( xTaskToResume );
\r
1829 /* The parameter cannot be NULL as it is impossible to resume the
\r
1830 currently executing task. */
\r
1831 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1833 taskENTER_CRITICAL();
\r
1835 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1837 traceTASK_RESUME( pxTCB );
\r
1839 /* The ready list can be accessed even if the scheduler is
\r
1840 suspended because this is inside a critical section. */
\r
1841 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1842 prvAddTaskToReadyList( pxTCB );
\r
1844 /* A higher priority task may have just been resumed. */
\r
1845 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1847 /* This yield may not cause the task just resumed to run,
\r
1848 but will leave the lists in the correct state for the
\r
1850 taskYIELD_IF_USING_PREEMPTION();
\r
1854 mtCOVERAGE_TEST_MARKER();
\r
1859 mtCOVERAGE_TEST_MARKER();
\r
1862 taskEXIT_CRITICAL();
\r
1866 mtCOVERAGE_TEST_MARKER();
\r
1870 #endif /* INCLUDE_vTaskSuspend */
\r
1872 /*-----------------------------------------------------------*/
\r
1874 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1876 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1878 BaseType_t xYieldRequired = pdFALSE;
\r
1879 TCB_t * const pxTCB = xTaskToResume;
\r
1880 UBaseType_t uxSavedInterruptStatus;
\r
1882 configASSERT( xTaskToResume );
\r
1884 /* RTOS ports that support interrupt nesting have the concept of a
\r
1885 maximum system call (or maximum API call) interrupt priority.
\r
1886 Interrupts that are above the maximum system call priority are keep
\r
1887 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1888 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1889 is defined in FreeRTOSConfig.h then
\r
1890 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1891 failure if a FreeRTOS API function is called from an interrupt that has
\r
1892 been assigned a priority above the configured maximum system call
\r
1893 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1894 from interrupts that have been assigned a priority at or (logically)
\r
1895 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1896 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1897 simple as possible. More information (albeit Cortex-M specific) is
\r
1898 provided on the following link:
\r
1899 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1900 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1902 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1904 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1906 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1908 /* Check the ready lists can be accessed. */
\r
1909 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1911 /* Ready lists can be accessed so move the task from the
\r
1912 suspended list to the ready list directly. */
\r
1913 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1915 xYieldRequired = pdTRUE;
\r
1919 mtCOVERAGE_TEST_MARKER();
\r
1922 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1923 prvAddTaskToReadyList( pxTCB );
\r
1927 /* The delayed or ready lists cannot be accessed so the task
\r
1928 is held in the pending ready list until the scheduler is
\r
1930 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1935 mtCOVERAGE_TEST_MARKER();
\r
1938 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1940 return xYieldRequired;
\r
1943 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1944 /*-----------------------------------------------------------*/
\r
1946 void vTaskStartScheduler( void )
\r
1948 BaseType_t xReturn;
\r
1950 /* Add the idle task at the lowest priority. */
\r
1951 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1953 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1954 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1955 uint32_t ulIdleTaskStackSize;
\r
1957 /* The Idle task is created using user provided RAM - obtain the
\r
1958 address of the RAM then create the idle task. */
\r
1959 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1960 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1961 configIDLE_TASK_NAME,
\r
1962 ulIdleTaskStackSize,
\r
1963 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1964 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1965 pxIdleTaskStackBuffer,
\r
1966 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1968 if( xIdleTaskHandle != NULL )
\r
1979 /* The Idle task is being created using dynamically allocated RAM. */
\r
1980 xReturn = xTaskCreate( prvIdleTask,
\r
1981 configIDLE_TASK_NAME,
\r
1982 configMINIMAL_STACK_SIZE,
\r
1984 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1985 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1987 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1989 #if ( configUSE_TIMERS == 1 )
\r
1991 if( xReturn == pdPASS )
\r
1993 xReturn = xTimerCreateTimerTask();
\r
1997 mtCOVERAGE_TEST_MARKER();
\r
2000 #endif /* configUSE_TIMERS */
\r
2002 if( xReturn == pdPASS )
\r
2004 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2005 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2006 the only macro called by the function. */
\r
2007 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2009 freertos_tasks_c_additions_init();
\r
2013 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2014 before or during the call to xPortStartScheduler(). The stacks of
\r
2015 the created tasks contain a status word with interrupts switched on
\r
2016 so interrupts will automatically get re-enabled when the first task
\r
2018 portDISABLE_INTERRUPTS();
\r
2020 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2022 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2023 structure specific to the task that will run first. */
\r
2024 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2026 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2028 xNextTaskUnblockTime = portMAX_DELAY;
\r
2029 xSchedulerRunning = pdTRUE;
\r
2030 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2032 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2033 macro must be defined to configure the timer/counter used to generate
\r
2034 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2035 is set to 0 and the following line fails to build then ensure you do not
\r
2036 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2037 FreeRTOSConfig.h file. */
\r
2038 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2040 traceTASK_SWITCHED_IN();
\r
2042 /* Setting up the timer tick is hardware specific and thus in the
\r
2043 portable interface. */
\r
2044 if( xPortStartScheduler() != pdFALSE )
\r
2046 /* Should not reach here as if the scheduler is running the
\r
2047 function will not return. */
\r
2051 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2056 /* This line will only be reached if the kernel could not be started,
\r
2057 because there was not enough FreeRTOS heap to create the idle task
\r
2058 or the timer task. */
\r
2059 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2062 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2063 meaning xIdleTaskHandle is not used anywhere else. */
\r
2064 ( void ) xIdleTaskHandle;
\r
2066 /*-----------------------------------------------------------*/
\r
2068 void vTaskEndScheduler( void )
\r
2070 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2071 routine so the original ISRs can be restored if necessary. The port
\r
2072 layer must ensure interrupts enable bit is left in the correct state. */
\r
2073 portDISABLE_INTERRUPTS();
\r
2074 xSchedulerRunning = pdFALSE;
\r
2075 vPortEndScheduler();
\r
2077 /*----------------------------------------------------------*/
\r
2079 void vTaskSuspendAll( void )
\r
2081 /* A critical section is not required as the variable is of type
\r
2082 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2083 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2084 http://goo.gl/wu4acr */
\r
2085 ++uxSchedulerSuspended;
\r
2087 /*----------------------------------------------------------*/
\r
2089 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2091 static TickType_t prvGetExpectedIdleTime( void )
\r
2093 TickType_t xReturn;
\r
2094 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2096 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2097 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2098 task that are in the Ready state, even though the idle task is
\r
2100 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2102 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2104 uxHigherPriorityReadyTasks = pdTRUE;
\r
2109 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2111 /* When port optimised task selection is used the uxTopReadyPriority
\r
2112 variable is used as a bit map. If bits other than the least
\r
2113 significant bit are set then there are tasks that have a priority
\r
2114 above the idle priority that are in the Ready state. This takes
\r
2115 care of the case where the co-operative scheduler is in use. */
\r
2116 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2118 uxHigherPriorityReadyTasks = pdTRUE;
\r
2123 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2127 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2129 /* There are other idle priority tasks in the ready state. If
\r
2130 time slicing is used then the very next tick interrupt must be
\r
2134 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2136 /* There are tasks in the Ready state that have a priority above the
\r
2137 idle priority. This path can only be reached if
\r
2138 configUSE_PREEMPTION is 0. */
\r
2143 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2149 #endif /* configUSE_TICKLESS_IDLE */
\r
2150 /*----------------------------------------------------------*/
\r
2152 BaseType_t xTaskResumeAll( void )
\r
2154 TCB_t *pxTCB = NULL;
\r
2155 BaseType_t xAlreadyYielded = pdFALSE;
\r
2157 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2158 previous call to vTaskSuspendAll(). */
\r
2159 configASSERT( uxSchedulerSuspended );
\r
2161 /* It is possible that an ISR caused a task to be removed from an event
\r
2162 list while the scheduler was suspended. If this was the case then the
\r
2163 removed task will have been added to the xPendingReadyList. Once the
\r
2164 scheduler has been resumed it is safe to move all the pending ready
\r
2165 tasks from this list into their appropriate ready list. */
\r
2166 taskENTER_CRITICAL();
\r
2168 --uxSchedulerSuspended;
\r
2170 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2172 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2174 /* Move any readied tasks from the pending list into the
\r
2175 appropriate ready list. */
\r
2176 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2178 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
2179 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2180 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2181 prvAddTaskToReadyList( pxTCB );
\r
2183 /* If the moved task has a priority higher than the current
\r
2184 task then a yield must be performed. */
\r
2185 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2187 xYieldPending = pdTRUE;
\r
2191 mtCOVERAGE_TEST_MARKER();
\r
2195 if( pxTCB != NULL )
\r
2197 /* A task was unblocked while the scheduler was suspended,
\r
2198 which may have prevented the next unblock time from being
\r
2199 re-calculated, in which case re-calculate it now. Mainly
\r
2200 important for low power tickless implementations, where
\r
2201 this can prevent an unnecessary exit from low power
\r
2203 prvResetNextTaskUnblockTime();
\r
2206 /* If any ticks occurred while the scheduler was suspended then
\r
2207 they should be processed now. This ensures the tick count does
\r
2208 not slip, and that any delayed tasks are resumed at the correct
\r
2211 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2213 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2217 if( xTaskIncrementTick() != pdFALSE )
\r
2219 xYieldPending = pdTRUE;
\r
2223 mtCOVERAGE_TEST_MARKER();
\r
2226 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2228 uxPendedTicks = 0;
\r
2232 mtCOVERAGE_TEST_MARKER();
\r
2236 if( xYieldPending != pdFALSE )
\r
2238 #if( configUSE_PREEMPTION != 0 )
\r
2240 xAlreadyYielded = pdTRUE;
\r
2243 taskYIELD_IF_USING_PREEMPTION();
\r
2247 mtCOVERAGE_TEST_MARKER();
\r
2253 mtCOVERAGE_TEST_MARKER();
\r
2256 taskEXIT_CRITICAL();
\r
2258 return xAlreadyYielded;
\r
2260 /*-----------------------------------------------------------*/
\r
2262 TickType_t xTaskGetTickCount( void )
\r
2264 TickType_t xTicks;
\r
2266 /* Critical section required if running on a 16 bit processor. */
\r
2267 portTICK_TYPE_ENTER_CRITICAL();
\r
2269 xTicks = xTickCount;
\r
2271 portTICK_TYPE_EXIT_CRITICAL();
\r
2275 /*-----------------------------------------------------------*/
\r
2277 TickType_t xTaskGetTickCountFromISR( void )
\r
2279 TickType_t xReturn;
\r
2280 UBaseType_t uxSavedInterruptStatus;
\r
2282 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2283 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2284 above the maximum system call priority are kept permanently enabled, even
\r
2285 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2286 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2287 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2288 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2289 assigned a priority above the configured maximum system call priority.
\r
2290 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2291 that have been assigned a priority at or (logically) below the maximum
\r
2292 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2293 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2294 More information (albeit Cortex-M specific) is provided on the following
\r
2295 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2296 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2298 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2300 xReturn = xTickCount;
\r
2302 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2306 /*-----------------------------------------------------------*/
\r
2308 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2310 /* A critical section is not required because the variables are of type
\r
2312 return uxCurrentNumberOfTasks;
\r
2314 /*-----------------------------------------------------------*/
\r
2316 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2320 /* If null is passed in here then the name of the calling task is being
\r
2322 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2323 configASSERT( pxTCB );
\r
2324 return &( pxTCB->pcTaskName[ 0 ] );
\r
2326 /*-----------------------------------------------------------*/
\r
2328 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2330 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2332 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2335 BaseType_t xBreakLoop;
\r
2337 /* This function is called with the scheduler suspended. */
\r
2339 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2341 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
2345 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
2347 /* Check each character in the name looking for a match or
\r
2349 xBreakLoop = pdFALSE;
\r
2350 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2352 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2354 if( cNextChar != pcNameToQuery[ x ] )
\r
2356 /* Characters didn't match. */
\r
2357 xBreakLoop = pdTRUE;
\r
2359 else if( cNextChar == ( char ) 0x00 )
\r
2361 /* Both strings terminated, a match must have been
\r
2363 pxReturn = pxNextTCB;
\r
2364 xBreakLoop = pdTRUE;
\r
2368 mtCOVERAGE_TEST_MARKER();
\r
2371 if( xBreakLoop != pdFALSE )
\r
2377 if( pxReturn != NULL )
\r
2379 /* The handle has been found. */
\r
2383 } while( pxNextTCB != pxFirstTCB );
\r
2387 mtCOVERAGE_TEST_MARKER();
\r
2393 #endif /* INCLUDE_xTaskGetHandle */
\r
2394 /*-----------------------------------------------------------*/
\r
2396 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2398 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2400 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2403 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2404 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2406 vTaskSuspendAll();
\r
2408 /* Search the ready lists. */
\r
2412 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2414 if( pxTCB != NULL )
\r
2416 /* Found the handle. */
\r
2420 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2422 /* Search the delayed lists. */
\r
2423 if( pxTCB == NULL )
\r
2425 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2428 if( pxTCB == NULL )
\r
2430 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2433 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2435 if( pxTCB == NULL )
\r
2437 /* Search the suspended list. */
\r
2438 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2443 #if( INCLUDE_vTaskDelete == 1 )
\r
2445 if( pxTCB == NULL )
\r
2447 /* Search the deleted list. */
\r
2448 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2453 ( void ) xTaskResumeAll();
\r
2458 #endif /* INCLUDE_xTaskGetHandle */
\r
2459 /*-----------------------------------------------------------*/
\r
2461 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2463 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2465 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2467 vTaskSuspendAll();
\r
2469 /* Is there a space in the array for each task in the system? */
\r
2470 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2472 /* Fill in an TaskStatus_t structure with information on each
\r
2473 task in the Ready state. */
\r
2477 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2479 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2481 /* Fill in an TaskStatus_t structure with information on each
\r
2482 task in the Blocked state. */
\r
2483 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2484 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2486 #if( INCLUDE_vTaskDelete == 1 )
\r
2488 /* Fill in an TaskStatus_t structure with information on
\r
2489 each task that has been deleted but not yet cleaned up. */
\r
2490 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2494 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2496 /* Fill in an TaskStatus_t structure with information on
\r
2497 each task in the Suspended state. */
\r
2498 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2502 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2504 if( pulTotalRunTime != NULL )
\r
2506 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2507 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2509 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2515 if( pulTotalRunTime != NULL )
\r
2517 *pulTotalRunTime = 0;
\r
2524 mtCOVERAGE_TEST_MARKER();
\r
2527 ( void ) xTaskResumeAll();
\r
2532 #endif /* configUSE_TRACE_FACILITY */
\r
2533 /*----------------------------------------------------------*/
\r
2535 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2537 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2539 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2540 started, then xIdleTaskHandle will be NULL. */
\r
2541 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2542 return xIdleTaskHandle;
\r
2545 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2546 /*----------------------------------------------------------*/
\r
2548 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2549 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2550 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2552 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2554 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2556 /* Correct the tick count value after a period during which the tick
\r
2557 was suppressed. Note this does *not* call the tick hook function for
\r
2558 each stepped tick. */
\r
2559 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2560 xTickCount += xTicksToJump;
\r
2561 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2564 #endif /* configUSE_TICKLESS_IDLE */
\r
2565 /*----------------------------------------------------------*/
\r
2567 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2569 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2571 TCB_t *pxTCB = xTask;
\r
2572 BaseType_t xReturn;
\r
2574 configASSERT( pxTCB );
\r
2576 vTaskSuspendAll();
\r
2578 /* A task can only be prematurely removed from the Blocked state if
\r
2579 it is actually in the Blocked state. */
\r
2580 if( eTaskGetState( xTask ) == eBlocked )
\r
2584 /* Remove the reference to the task from the blocked list. An
\r
2585 interrupt won't touch the xStateListItem because the
\r
2586 scheduler is suspended. */
\r
2587 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2589 /* Is the task waiting on an event also? If so remove it from
\r
2590 the event list too. Interrupts can touch the event list item,
\r
2591 even though the scheduler is suspended, so a critical section
\r
2593 taskENTER_CRITICAL();
\r
2595 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2597 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2598 pxTCB->ucDelayAborted = pdTRUE;
\r
2602 mtCOVERAGE_TEST_MARKER();
\r
2605 taskEXIT_CRITICAL();
\r
2607 /* Place the unblocked task into the appropriate ready list. */
\r
2608 prvAddTaskToReadyList( pxTCB );
\r
2610 /* A task being unblocked cannot cause an immediate context
\r
2611 switch if preemption is turned off. */
\r
2612 #if ( configUSE_PREEMPTION == 1 )
\r
2614 /* Preemption is on, but a context switch should only be
\r
2615 performed if the unblocked task has a priority that is
\r
2616 equal to or higher than the currently executing task. */
\r
2617 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2619 /* Pend the yield to be performed when the scheduler
\r
2620 is unsuspended. */
\r
2621 xYieldPending = pdTRUE;
\r
2625 mtCOVERAGE_TEST_MARKER();
\r
2628 #endif /* configUSE_PREEMPTION */
\r
2635 ( void ) xTaskResumeAll();
\r
2640 #endif /* INCLUDE_xTaskAbortDelay */
\r
2641 /*----------------------------------------------------------*/
\r
2643 BaseType_t xTaskIncrementTick( void )
\r
2646 TickType_t xItemValue;
\r
2647 BaseType_t xSwitchRequired = pdFALSE;
\r
2649 /* Called by the portable layer each time a tick interrupt occurs.
\r
2650 Increments the tick then checks to see if the new tick value will cause any
\r
2651 tasks to be unblocked. */
\r
2652 traceTASK_INCREMENT_TICK( xTickCount );
\r
2653 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2655 /* Minor optimisation. The tick count cannot change in this
\r
2657 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2659 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2660 delayed lists if it wraps to 0. */
\r
2661 xTickCount = xConstTickCount;
\r
2663 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2665 taskSWITCH_DELAYED_LISTS();
\r
2669 mtCOVERAGE_TEST_MARKER();
\r
2672 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2673 the queue in the order of their wake time - meaning once one task
\r
2674 has been found whose block time has not expired there is no need to
\r
2675 look any further down the list. */
\r
2676 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2680 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2682 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2683 to the maximum possible value so it is extremely
\r
2685 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2686 next time through. */
\r
2687 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2692 /* The delayed list is not empty, get the value of the
\r
2693 item at the head of the delayed list. This is the time
\r
2694 at which the task at the head of the delayed list must
\r
2695 be removed from the Blocked state. */
\r
2696 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
2697 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2699 if( xConstTickCount < xItemValue )
\r
2701 /* It is not time to unblock this item yet, but the
\r
2702 item value is the time at which the task at the head
\r
2703 of the blocked list must be removed from the Blocked
\r
2704 state - so record the item value in
\r
2705 xNextTaskUnblockTime. */
\r
2706 xNextTaskUnblockTime = xItemValue;
\r
2707 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2711 mtCOVERAGE_TEST_MARKER();
\r
2714 /* It is time to remove the item from the Blocked state. */
\r
2715 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2717 /* Is the task waiting on an event also? If so remove
\r
2718 it from the event list. */
\r
2719 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2721 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2725 mtCOVERAGE_TEST_MARKER();
\r
2728 /* Place the unblocked task into the appropriate ready
\r
2730 prvAddTaskToReadyList( pxTCB );
\r
2732 /* A task being unblocked cannot cause an immediate
\r
2733 context switch if preemption is turned off. */
\r
2734 #if ( configUSE_PREEMPTION == 1 )
\r
2736 /* Preemption is on, but a context switch should
\r
2737 only be performed if the unblocked task has a
\r
2738 priority that is equal to or higher than the
\r
2739 currently executing task. */
\r
2740 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2742 xSwitchRequired = pdTRUE;
\r
2746 mtCOVERAGE_TEST_MARKER();
\r
2749 #endif /* configUSE_PREEMPTION */
\r
2754 /* Tasks of equal priority to the currently running task will share
\r
2755 processing time (time slice) if preemption is on, and the application
\r
2756 writer has not explicitly turned time slicing off. */
\r
2757 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2759 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2761 xSwitchRequired = pdTRUE;
\r
2765 mtCOVERAGE_TEST_MARKER();
\r
2768 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2770 #if ( configUSE_TICK_HOOK == 1 )
\r
2772 /* Guard against the tick hook being called when the pended tick
\r
2773 count is being unwound (when the scheduler is being unlocked). */
\r
2774 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2776 vApplicationTickHook();
\r
2780 mtCOVERAGE_TEST_MARKER();
\r
2783 #endif /* configUSE_TICK_HOOK */
\r
2789 /* The tick hook gets called at regular intervals, even if the
\r
2790 scheduler is locked. */
\r
2791 #if ( configUSE_TICK_HOOK == 1 )
\r
2793 vApplicationTickHook();
\r
2798 #if ( configUSE_PREEMPTION == 1 )
\r
2800 if( xYieldPending != pdFALSE )
\r
2802 xSwitchRequired = pdTRUE;
\r
2806 mtCOVERAGE_TEST_MARKER();
\r
2809 #endif /* configUSE_PREEMPTION */
\r
2811 return xSwitchRequired;
\r
2813 /*-----------------------------------------------------------*/
\r
2815 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2817 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2821 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2823 if( xTask == NULL )
\r
2825 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2832 /* Save the hook function in the TCB. A critical section is required as
\r
2833 the value can be accessed from an interrupt. */
\r
2834 taskENTER_CRITICAL();
\r
2836 xTCB->pxTaskTag = pxHookFunction;
\r
2838 taskEXIT_CRITICAL();
\r
2841 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2842 /*-----------------------------------------------------------*/
\r
2844 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2846 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2849 TaskHookFunction_t xReturn;
\r
2851 /* If xTask is NULL then set the calling task's hook. */
\r
2852 pxTCB = prvGetTCBFromHandle( xTask );
\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 xReturn = pxTCB->pxTaskTag;
\r
2860 taskEXIT_CRITICAL();
\r
2865 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2866 /*-----------------------------------------------------------*/
\r
2868 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2870 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2873 TaskHookFunction_t xReturn;
\r
2874 UBaseType_t uxSavedInterruptStatus;
\r
2876 /* If xTask is NULL then set the calling task's hook. */
\r
2877 pxTCB = prvGetTCBFromHandle( xTask );
\r
2879 /* Save the hook function in the TCB. A critical section is required as
\r
2880 the value can be accessed from an interrupt. */
\r
2881 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2883 xReturn = pxTCB->pxTaskTag;
\r
2885 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2890 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2891 /*-----------------------------------------------------------*/
\r
2893 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2895 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2898 BaseType_t xReturn;
\r
2900 /* If xTask is NULL then we are calling our own task hook. */
\r
2901 if( xTask == NULL )
\r
2903 xTCB = pxCurrentTCB;
\r
2910 if( xTCB->pxTaskTag != NULL )
\r
2912 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2922 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2923 /*-----------------------------------------------------------*/
\r
2925 void vTaskSwitchContext( void )
\r
2927 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2929 /* The scheduler is currently suspended - do not allow a context
\r
2931 xYieldPending = pdTRUE;
\r
2935 xYieldPending = pdFALSE;
\r
2936 traceTASK_SWITCHED_OUT();
\r
2938 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2940 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2941 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2943 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2946 /* Add the amount of time the task has been running to the
\r
2947 accumulated time so far. The time the task started running was
\r
2948 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2949 protection here so count values are only valid until the timer
\r
2950 overflows. The guard against negative values is to protect
\r
2951 against suspect run time stat counter implementations - which
\r
2952 are provided by the application, not the kernel. */
\r
2953 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2955 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2959 mtCOVERAGE_TEST_MARKER();
\r
2961 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2963 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2965 /* Check for stack overflow, if configured. */
\r
2966 taskCHECK_FOR_STACK_OVERFLOW();
\r
2968 /* Before the currently running task is switched out, save its errno. */
\r
2969 #if( configUSE_POSIX_ERRNO == 1 )
\r
2971 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2975 /* Select a new task to run using either the generic C or port
\r
2976 optimised asm code. */
\r
2977 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
2978 traceTASK_SWITCHED_IN();
\r
2980 /* After the new task is switched in, update the global errno. */
\r
2981 #if( configUSE_POSIX_ERRNO == 1 )
\r
2983 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2987 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2989 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2990 structure specific to this task. */
\r
2991 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2993 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2996 /*-----------------------------------------------------------*/
\r
2998 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
3000 configASSERT( pxEventList );
\r
3002 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3003 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3005 /* Place the event list item of the TCB in the appropriate event list.
\r
3006 This is placed in the list in priority order so the highest priority task
\r
3007 is the first to be woken by the event. The queue that contains the event
\r
3008 list is locked, preventing simultaneous access from interrupts. */
\r
3009 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3011 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3013 /*-----------------------------------------------------------*/
\r
3015 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
3017 configASSERT( pxEventList );
\r
3019 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3020 the event groups implementation. */
\r
3021 configASSERT( uxSchedulerSuspended != 0 );
\r
3023 /* Store the item value in the event list item. It is safe to access the
\r
3024 event list item here as interrupts won't access the event list item of a
\r
3025 task that is not in the Blocked state. */
\r
3026 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3028 /* Place the event list item of the TCB at the end of the appropriate event
\r
3029 list. It is safe to access the event list here because it is part of an
\r
3030 event group implementation - and interrupts don't access event groups
\r
3031 directly (instead they access them indirectly by pending function calls to
\r
3032 the task level). */
\r
3033 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3035 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3037 /*-----------------------------------------------------------*/
\r
3039 #if( configUSE_TIMERS == 1 )
\r
3041 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3043 configASSERT( pxEventList );
\r
3045 /* This function should not be called by application code hence the
\r
3046 'Restricted' in its name. It is not part of the public API. It is
\r
3047 designed for use by kernel code, and has special calling requirements -
\r
3048 it should be called with the scheduler suspended. */
\r
3051 /* Place the event list item of the TCB in the appropriate event list.
\r
3052 In this case it is assume that this is the only task that is going to
\r
3053 be waiting on this event list, so the faster vListInsertEnd() function
\r
3054 can be used in place of vListInsert. */
\r
3055 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3057 /* If the task should block indefinitely then set the block time to a
\r
3058 value that will be recognised as an indefinite delay inside the
\r
3059 prvAddCurrentTaskToDelayedList() function. */
\r
3060 if( xWaitIndefinitely != pdFALSE )
\r
3062 xTicksToWait = portMAX_DELAY;
\r
3065 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3066 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3069 #endif /* configUSE_TIMERS */
\r
3070 /*-----------------------------------------------------------*/
\r
3072 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3074 TCB_t *pxUnblockedTCB;
\r
3075 BaseType_t xReturn;
\r
3077 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3078 called from a critical section within an ISR. */
\r
3080 /* The event list is sorted in priority order, so the first in the list can
\r
3081 be removed as it is known to be the highest priority. Remove the TCB from
\r
3082 the delayed list, and add it to the ready list.
\r
3084 If an event is for a queue that is locked then this function will never
\r
3085 get called - the lock count on the queue will get modified instead. This
\r
3086 means exclusive access to the event list is guaranteed here.
\r
3088 This function assumes that a check has already been made to ensure that
\r
3089 pxEventList is not empty. */
\r
3090 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
3091 configASSERT( pxUnblockedTCB );
\r
3092 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3094 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3096 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3097 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3099 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3101 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3102 might be set to the blocked task's time out time. If the task is
\r
3103 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3104 normally left unchanged, because it is automatically reset to a new
\r
3105 value when the tick count equals xNextTaskUnblockTime. However if
\r
3106 tickless idling is used it might be more important to enter sleep mode
\r
3107 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3108 ensure it is updated at the earliest possible time. */
\r
3109 prvResetNextTaskUnblockTime();
\r
3115 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3116 pending until the scheduler is resumed. */
\r
3117 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3120 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3122 /* Return true if the task removed from the event list has a higher
\r
3123 priority than the calling task. This allows the calling task to know if
\r
3124 it should force a context switch now. */
\r
3127 /* Mark that a yield is pending in case the user is not using the
\r
3128 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3129 xYieldPending = pdTRUE;
\r
3133 xReturn = pdFALSE;
\r
3138 /*-----------------------------------------------------------*/
\r
3140 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3142 TCB_t *pxUnblockedTCB;
\r
3144 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3145 the event flags implementation. */
\r
3146 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3148 /* Store the new item value in the event list. */
\r
3149 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3151 /* Remove the event list form the event flag. Interrupts do not access
\r
3153 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
3154 configASSERT( pxUnblockedTCB );
\r
3155 ( void ) uxListRemove( pxEventListItem );
\r
3157 /* Remove the task from the delayed list and add it to the ready list. The
\r
3158 scheduler is suspended so interrupts will not be accessing the ready
\r
3160 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3161 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3163 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3165 /* The unblocked task has a priority above that of the calling task, so
\r
3166 a context switch is required. This function is called with the
\r
3167 scheduler suspended so xYieldPending is set so the context switch
\r
3168 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3169 xYieldPending = pdTRUE;
\r
3172 /*-----------------------------------------------------------*/
\r
3174 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3176 configASSERT( pxTimeOut );
\r
3177 taskENTER_CRITICAL();
\r
3179 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3180 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3182 taskEXIT_CRITICAL();
\r
3184 /*-----------------------------------------------------------*/
\r
3186 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3188 /* For internal use only as it does not use a critical section. */
\r
3189 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3190 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3192 /*-----------------------------------------------------------*/
\r
3194 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3196 BaseType_t xReturn;
\r
3198 configASSERT( pxTimeOut );
\r
3199 configASSERT( pxTicksToWait );
\r
3201 taskENTER_CRITICAL();
\r
3203 /* Minor optimisation. The tick count cannot change in this block. */
\r
3204 const TickType_t xConstTickCount = xTickCount;
\r
3205 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3207 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3208 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3210 /* The delay was aborted, which is not the same as a time out,
\r
3211 but has the same result. */
\r
3212 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3218 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3219 if( *pxTicksToWait == portMAX_DELAY )
\r
3221 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3222 specified is the maximum block time then the task should block
\r
3223 indefinitely, and therefore never time out. */
\r
3224 xReturn = pdFALSE;
\r
3229 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3231 /* The tick count is greater than the time at which
\r
3232 vTaskSetTimeout() was called, but has also overflowed since
\r
3233 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3234 around and gone past again. This passed since vTaskSetTimeout()
\r
3238 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3240 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3241 *pxTicksToWait -= xElapsedTime;
\r
3242 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3243 xReturn = pdFALSE;
\r
3247 *pxTicksToWait = 0;
\r
3251 taskEXIT_CRITICAL();
\r
3255 /*-----------------------------------------------------------*/
\r
3257 void vTaskMissedYield( void )
\r
3259 xYieldPending = pdTRUE;
\r
3261 /*-----------------------------------------------------------*/
\r
3263 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3265 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3267 UBaseType_t uxReturn;
\r
3268 TCB_t const *pxTCB;
\r
3270 if( xTask != NULL )
\r
3273 uxReturn = pxTCB->uxTaskNumber;
\r
3283 #endif /* configUSE_TRACE_FACILITY */
\r
3284 /*-----------------------------------------------------------*/
\r
3286 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3288 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3292 if( xTask != NULL )
\r
3295 pxTCB->uxTaskNumber = uxHandle;
\r
3299 #endif /* configUSE_TRACE_FACILITY */
\r
3302 * -----------------------------------------------------------
\r
3304 * ----------------------------------------------------------
\r
3306 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3307 * language extensions. The equivalent prototype for this function is:
\r
3309 * void prvIdleTask( void *pvParameters );
\r
3312 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3314 /* Stop warnings. */
\r
3315 ( void ) pvParameters;
\r
3317 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3318 SCHEDULER IS STARTED. **/
\r
3320 /* In case a task that has a secure context deletes itself, in which case
\r
3321 the idle task is responsible for deleting the task's secure context, if
\r
3323 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3327 /* See if any tasks have deleted themselves - if so then the idle task
\r
3328 is responsible for freeing the deleted task's TCB and stack. */
\r
3329 prvCheckTasksWaitingTermination();
\r
3331 #if ( configUSE_PREEMPTION == 0 )
\r
3333 /* If we are not using preemption we keep forcing a task switch to
\r
3334 see if any other task has become available. If we are using
\r
3335 preemption we don't need to do this as any task becoming available
\r
3336 will automatically get the processor anyway. */
\r
3339 #endif /* configUSE_PREEMPTION */
\r
3341 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3343 /* When using preemption tasks of equal priority will be
\r
3344 timesliced. If a task that is sharing the idle priority is ready
\r
3345 to run then the idle task should yield before the end of the
\r
3348 A critical region is not required here as we are just reading from
\r
3349 the list, and an occasional incorrect value will not matter. If
\r
3350 the ready list at the idle priority contains more than one task
\r
3351 then a task other than the idle task is ready to execute. */
\r
3352 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3358 mtCOVERAGE_TEST_MARKER();
\r
3361 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3363 #if ( configUSE_IDLE_HOOK == 1 )
\r
3365 extern void vApplicationIdleHook( void );
\r
3367 /* Call the user defined function from within the idle task. This
\r
3368 allows the application designer to add background functionality
\r
3369 without the overhead of a separate task.
\r
3370 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3371 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3372 vApplicationIdleHook();
\r
3374 #endif /* configUSE_IDLE_HOOK */
\r
3376 /* This conditional compilation should use inequality to 0, not equality
\r
3377 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3378 user defined low power mode implementations require
\r
3379 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3380 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3382 TickType_t xExpectedIdleTime;
\r
3384 /* It is not desirable to suspend then resume the scheduler on
\r
3385 each iteration of the idle task. Therefore, a preliminary
\r
3386 test of the expected idle time is performed without the
\r
3387 scheduler suspended. The result here is not necessarily
\r
3389 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3391 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3393 vTaskSuspendAll();
\r
3395 /* Now the scheduler is suspended, the expected idle
\r
3396 time can be sampled again, and this time its value can
\r
3398 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3399 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3401 /* Define the following macro to set xExpectedIdleTime to 0
\r
3402 if the application does not want
\r
3403 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3404 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3406 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3408 traceLOW_POWER_IDLE_BEGIN();
\r
3409 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3410 traceLOW_POWER_IDLE_END();
\r
3414 mtCOVERAGE_TEST_MARKER();
\r
3417 ( void ) xTaskResumeAll();
\r
3421 mtCOVERAGE_TEST_MARKER();
\r
3424 #endif /* configUSE_TICKLESS_IDLE */
\r
3427 /*-----------------------------------------------------------*/
\r
3429 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3431 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3433 /* The idle task exists in addition to the application tasks. */
\r
3434 const UBaseType_t uxNonApplicationTasks = 1;
\r
3435 eSleepModeStatus eReturn = eStandardSleep;
\r
3437 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3439 /* A task was made ready while the scheduler was suspended. */
\r
3440 eReturn = eAbortSleep;
\r
3442 else if( xYieldPending != pdFALSE )
\r
3444 /* A yield was pended while the scheduler was suspended. */
\r
3445 eReturn = eAbortSleep;
\r
3449 /* If all the tasks are in the suspended list (which might mean they
\r
3450 have an infinite block time rather than actually being suspended)
\r
3451 then it is safe to turn all clocks off and just wait for external
\r
3453 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3455 eReturn = eNoTasksWaitingTimeout;
\r
3459 mtCOVERAGE_TEST_MARKER();
\r
3466 #endif /* configUSE_TICKLESS_IDLE */
\r
3467 /*-----------------------------------------------------------*/
\r
3469 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3471 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3475 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3477 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3478 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3482 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3483 /*-----------------------------------------------------------*/
\r
3485 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3487 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3489 void *pvReturn = NULL;
\r
3492 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3494 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3495 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3505 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3506 /*-----------------------------------------------------------*/
\r
3508 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3510 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3514 /* If null is passed in here then we are modifying the MPU settings of
\r
3515 the calling task. */
\r
3516 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3518 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3521 #endif /* portUSING_MPU_WRAPPERS */
\r
3522 /*-----------------------------------------------------------*/
\r
3524 static void prvInitialiseTaskLists( void )
\r
3526 UBaseType_t uxPriority;
\r
3528 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3530 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3533 vListInitialise( &xDelayedTaskList1 );
\r
3534 vListInitialise( &xDelayedTaskList2 );
\r
3535 vListInitialise( &xPendingReadyList );
\r
3537 #if ( INCLUDE_vTaskDelete == 1 )
\r
3539 vListInitialise( &xTasksWaitingTermination );
\r
3541 #endif /* INCLUDE_vTaskDelete */
\r
3543 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3545 vListInitialise( &xSuspendedTaskList );
\r
3547 #endif /* INCLUDE_vTaskSuspend */
\r
3549 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3551 pxDelayedTaskList = &xDelayedTaskList1;
\r
3552 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3554 /*-----------------------------------------------------------*/
\r
3556 static void prvCheckTasksWaitingTermination( void )
\r
3559 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3561 #if ( INCLUDE_vTaskDelete == 1 )
\r
3565 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3566 being called too often in the idle task. */
\r
3567 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3569 taskENTER_CRITICAL();
\r
3571 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
3572 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3573 --uxCurrentNumberOfTasks;
\r
3574 --uxDeletedTasksWaitingCleanUp;
\r
3576 taskEXIT_CRITICAL();
\r
3578 prvDeleteTCB( pxTCB );
\r
3581 #endif /* INCLUDE_vTaskDelete */
\r
3583 /*-----------------------------------------------------------*/
\r
3585 #if( configUSE_TRACE_FACILITY == 1 )
\r
3587 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3591 /* xTask is NULL then get the state of the calling task. */
\r
3592 pxTCB = prvGetTCBFromHandle( xTask );
\r
3594 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3595 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3596 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3597 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3598 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3600 #if ( configUSE_MUTEXES == 1 )
\r
3602 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3606 pxTaskStatus->uxBasePriority = 0;
\r
3610 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3612 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3616 pxTaskStatus->ulRunTimeCounter = 0;
\r
3620 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3621 value of eState passed into this function is eInvalid - otherwise the
\r
3622 state is just set to whatever is passed in. */
\r
3623 if( eState != eInvalid )
\r
3625 if( pxTCB == pxCurrentTCB )
\r
3627 pxTaskStatus->eCurrentState = eRunning;
\r
3631 pxTaskStatus->eCurrentState = eState;
\r
3633 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3635 /* If the task is in the suspended list then there is a
\r
3636 chance it is actually just blocked indefinitely - so really
\r
3637 it should be reported as being in the Blocked state. */
\r
3638 if( eState == eSuspended )
\r
3640 vTaskSuspendAll();
\r
3642 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3644 pxTaskStatus->eCurrentState = eBlocked;
\r
3647 ( void ) xTaskResumeAll();
\r
3650 #endif /* INCLUDE_vTaskSuspend */
\r
3655 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3658 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3659 parameter is provided to allow it to be skipped. */
\r
3660 if( xGetFreeStackSpace != pdFALSE )
\r
3662 #if ( portSTACK_GROWTH > 0 )
\r
3664 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3668 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3674 pxTaskStatus->usStackHighWaterMark = 0;
\r
3678 #endif /* configUSE_TRACE_FACILITY */
\r
3679 /*-----------------------------------------------------------*/
\r
3681 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3683 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3685 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3686 UBaseType_t uxTask = 0;
\r
3688 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3690 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
3692 /* Populate an TaskStatus_t structure within the
\r
3693 pxTaskStatusArray array for each task that is referenced from
\r
3694 pxList. See the definition of TaskStatus_t in task.h for the
\r
3695 meaning of each TaskStatus_t structure member. */
\r
3698 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
3699 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3701 } while( pxNextTCB != pxFirstTCB );
\r
3705 mtCOVERAGE_TEST_MARKER();
\r
3711 #endif /* configUSE_TRACE_FACILITY */
\r
3712 /*-----------------------------------------------------------*/
\r
3714 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3716 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3718 uint32_t ulCount = 0U;
\r
3720 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3722 pucStackByte -= portSTACK_GROWTH;
\r
3726 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3728 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3731 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3732 /*-----------------------------------------------------------*/
\r
3734 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3736 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3737 same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3738 user to determine the return type. It gets around the problem of the value
\r
3739 overflowing on 8-bit types without breaking backward compatibility for
\r
3740 applications that expect an 8-bit return type. */
\r
3741 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3744 uint8_t *pucEndOfStack;
\r
3745 configSTACK_DEPTH_TYPE uxReturn;
\r
3747 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3748 the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3749 allows the user to determine the return type. It gets around the
\r
3750 problem of the value overflowing on 8-bit types without breaking
\r
3751 backward compatibility for applications that expect an 8-bit return
\r
3754 pxTCB = prvGetTCBFromHandle( xTask );
\r
3756 #if portSTACK_GROWTH < 0
\r
3758 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3762 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3766 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3771 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3772 /*-----------------------------------------------------------*/
\r
3774 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3776 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3779 uint8_t *pucEndOfStack;
\r
3780 UBaseType_t uxReturn;
\r
3782 pxTCB = prvGetTCBFromHandle( xTask );
\r
3784 #if portSTACK_GROWTH < 0
\r
3786 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3790 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3794 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3799 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3800 /*-----------------------------------------------------------*/
\r
3802 #if ( INCLUDE_vTaskDelete == 1 )
\r
3804 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3806 /* This call is required specifically for the TriCore port. It must be
\r
3807 above the vPortFree() calls. The call is also used by ports/demos that
\r
3808 want to allocate and clean RAM statically. */
\r
3809 portCLEAN_UP_TCB( pxTCB );
\r
3811 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3812 to the task to free any memory allocated at the application level. */
\r
3813 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3815 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3817 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3819 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3821 /* The task can only have been allocated dynamically - free both
\r
3822 the stack and TCB. */
\r
3823 vPortFree( pxTCB->pxStack );
\r
3824 vPortFree( pxTCB );
\r
3826 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3828 /* The task could have been allocated statically or dynamically, so
\r
3829 check what was statically allocated before trying to free the
\r
3831 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3833 /* Both the stack and TCB were allocated dynamically, so both
\r
3835 vPortFree( pxTCB->pxStack );
\r
3836 vPortFree( pxTCB );
\r
3838 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3840 /* Only the stack was statically allocated, so the TCB is the
\r
3841 only memory that must be freed. */
\r
3842 vPortFree( pxTCB );
\r
3846 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3847 nothing needs to be freed. */
\r
3848 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3849 mtCOVERAGE_TEST_MARKER();
\r
3852 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3855 #endif /* INCLUDE_vTaskDelete */
\r
3856 /*-----------------------------------------------------------*/
\r
3858 static void prvResetNextTaskUnblockTime( void )
\r
3862 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3864 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3865 the maximum possible value so it is extremely unlikely that the
\r
3866 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3867 there is an item in the delayed list. */
\r
3868 xNextTaskUnblockTime = portMAX_DELAY;
\r
3872 /* The new current delayed list is not empty, get the value of
\r
3873 the item at the head of the delayed list. This is the time at
\r
3874 which the task at the head of the delayed list should be removed
\r
3875 from the Blocked state. */
\r
3876 ( 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
3877 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3880 /*-----------------------------------------------------------*/
\r
3882 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3884 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3886 TaskHandle_t xReturn;
\r
3888 /* A critical section is not required as this is not called from
\r
3889 an interrupt and the current TCB will always be the same for any
\r
3890 individual execution thread. */
\r
3891 xReturn = pxCurrentTCB;
\r
3896 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3897 /*-----------------------------------------------------------*/
\r
3899 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3901 BaseType_t xTaskGetSchedulerState( void )
\r
3903 BaseType_t xReturn;
\r
3905 if( xSchedulerRunning == pdFALSE )
\r
3907 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3911 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3913 xReturn = taskSCHEDULER_RUNNING;
\r
3917 xReturn = taskSCHEDULER_SUSPENDED;
\r
3924 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3925 /*-----------------------------------------------------------*/
\r
3927 #if ( configUSE_MUTEXES == 1 )
\r
3929 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3931 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3932 BaseType_t xReturn = pdFALSE;
\r
3934 /* If the mutex was given back by an interrupt while the queue was
\r
3935 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3936 needed as interrupts can no longer use mutexes? */
\r
3937 if( pxMutexHolder != NULL )
\r
3939 /* If the holder of the mutex has a priority below the priority of
\r
3940 the task attempting to obtain the mutex then it will temporarily
\r
3941 inherit the priority of the task attempting to obtain the mutex. */
\r
3942 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3944 /* Adjust the mutex holder state to account for its new
\r
3945 priority. Only reset the event list item value if the value is
\r
3946 not being used for anything else. */
\r
3947 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3949 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
3953 mtCOVERAGE_TEST_MARKER();
\r
3956 /* If the task being modified is in the ready state it will need
\r
3957 to be moved into a new list. */
\r
3958 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3960 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3962 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3966 mtCOVERAGE_TEST_MARKER();
\r
3969 /* Inherit the priority before being moved into the new list. */
\r
3970 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3971 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3975 /* Just inherit the priority. */
\r
3976 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3979 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3981 /* Inheritance occurred. */
\r
3986 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3988 /* The base priority of the mutex holder is lower than the
\r
3989 priority of the task attempting to take the mutex, but the
\r
3990 current priority of the mutex holder is not lower than the
\r
3991 priority of the task attempting to take the mutex.
\r
3992 Therefore the mutex holder must have already inherited a
\r
3993 priority, but inheritance would have occurred if that had
\r
3994 not been the case. */
\r
3999 mtCOVERAGE_TEST_MARKER();
\r
4005 mtCOVERAGE_TEST_MARKER();
\r
4011 #endif /* configUSE_MUTEXES */
\r
4012 /*-----------------------------------------------------------*/
\r
4014 #if ( configUSE_MUTEXES == 1 )
\r
4016 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4018 TCB_t * const pxTCB = pxMutexHolder;
\r
4019 BaseType_t xReturn = pdFALSE;
\r
4021 if( pxMutexHolder != NULL )
\r
4023 /* A task can only have an inherited priority if it holds the mutex.
\r
4024 If the mutex is held by a task then it cannot be given from an
\r
4025 interrupt, and if a mutex is given by the holding task then it must
\r
4026 be the running state task. */
\r
4027 configASSERT( pxTCB == pxCurrentTCB );
\r
4028 configASSERT( pxTCB->uxMutexesHeld );
\r
4029 ( pxTCB->uxMutexesHeld )--;
\r
4031 /* Has the holder of the mutex inherited the priority of another
\r
4033 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4035 /* Only disinherit if no other mutexes are held. */
\r
4036 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4038 /* A task can only have an inherited priority if it holds
\r
4039 the mutex. If the mutex is held by a task then it cannot be
\r
4040 given from an interrupt, and if a mutex is given by the
\r
4041 holding task then it must be the running state task. Remove
\r
4042 the holding task from the ready list. */
\r
4043 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4045 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4049 mtCOVERAGE_TEST_MARKER();
\r
4052 /* Disinherit the priority before adding the task into the
\r
4053 new ready list. */
\r
4054 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4055 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4057 /* Reset the event list item value. It cannot be in use for
\r
4058 any other purpose if this task is running, and it must be
\r
4059 running to give back the mutex. */
\r
4060 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
4061 prvAddTaskToReadyList( pxTCB );
\r
4063 /* Return true to indicate that a context switch is required.
\r
4064 This is only actually required in the corner case whereby
\r
4065 multiple mutexes were held and the mutexes were given back
\r
4066 in an order different to that in which they were taken.
\r
4067 If a context switch did not occur when the first mutex was
\r
4068 returned, even if a task was waiting on it, then a context
\r
4069 switch should occur when the last mutex is returned whether
\r
4070 a task is waiting on it or not. */
\r
4075 mtCOVERAGE_TEST_MARKER();
\r
4080 mtCOVERAGE_TEST_MARKER();
\r
4085 mtCOVERAGE_TEST_MARKER();
\r
4091 #endif /* configUSE_MUTEXES */
\r
4092 /*-----------------------------------------------------------*/
\r
4094 #if ( configUSE_MUTEXES == 1 )
\r
4096 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4098 TCB_t * const pxTCB = pxMutexHolder;
\r
4099 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4100 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4102 if( pxMutexHolder != NULL )
\r
4104 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4106 configASSERT( pxTCB->uxMutexesHeld );
\r
4108 /* Determine the priority to which the priority of the task that
\r
4109 holds the mutex should be set. This will be the greater of the
\r
4110 holding task's base priority and the priority of the highest
\r
4111 priority task that is waiting to obtain the mutex. */
\r
4112 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4114 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4118 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4121 /* Does the priority need to change? */
\r
4122 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4124 /* Only disinherit if no other mutexes are held. This is a
\r
4125 simplification in the priority inheritance implementation. If
\r
4126 the task that holds the mutex is also holding other mutexes then
\r
4127 the other mutexes may have caused the priority inheritance. */
\r
4128 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4130 /* If a task has timed out because it already holds the
\r
4131 mutex it was trying to obtain then it cannot of inherited
\r
4132 its own priority. */
\r
4133 configASSERT( pxTCB != pxCurrentTCB );
\r
4135 /* Disinherit the priority, remembering the previous
\r
4136 priority to facilitate determining the subject task's
\r
4138 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4139 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4140 pxTCB->uxPriority = uxPriorityToUse;
\r
4142 /* Only reset the event list item value if the value is not
\r
4143 being used for anything else. */
\r
4144 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4146 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
4150 mtCOVERAGE_TEST_MARKER();
\r
4153 /* If the running task is not the task that holds the mutex
\r
4154 then the task that holds the mutex could be in either the
\r
4155 Ready, Blocked or Suspended states. Only remove the task
\r
4156 from its current state list if it is in the Ready state as
\r
4157 the task's priority is going to change and there is one
\r
4158 Ready list per priority. */
\r
4159 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4161 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4163 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4167 mtCOVERAGE_TEST_MARKER();
\r
4170 prvAddTaskToReadyList( pxTCB );
\r
4174 mtCOVERAGE_TEST_MARKER();
\r
4179 mtCOVERAGE_TEST_MARKER();
\r
4184 mtCOVERAGE_TEST_MARKER();
\r
4189 mtCOVERAGE_TEST_MARKER();
\r
4193 #endif /* configUSE_MUTEXES */
\r
4194 /*-----------------------------------------------------------*/
\r
4196 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4198 void vTaskEnterCritical( void )
\r
4200 portDISABLE_INTERRUPTS();
\r
4202 if( xSchedulerRunning != pdFALSE )
\r
4204 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4206 /* This is not the interrupt safe version of the enter critical
\r
4207 function so assert() if it is being called from an interrupt
\r
4208 context. Only API functions that end in "FromISR" can be used in an
\r
4209 interrupt. Only assert if the critical nesting count is 1 to
\r
4210 protect against recursive calls if the assert function also uses a
\r
4211 critical section. */
\r
4212 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4214 portASSERT_IF_IN_ISR();
\r
4219 mtCOVERAGE_TEST_MARKER();
\r
4223 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4224 /*-----------------------------------------------------------*/
\r
4226 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4228 void vTaskExitCritical( void )
\r
4230 if( xSchedulerRunning != pdFALSE )
\r
4232 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4234 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4236 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4238 portENABLE_INTERRUPTS();
\r
4242 mtCOVERAGE_TEST_MARKER();
\r
4247 mtCOVERAGE_TEST_MARKER();
\r
4252 mtCOVERAGE_TEST_MARKER();
\r
4256 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4257 /*-----------------------------------------------------------*/
\r
4259 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4261 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4265 /* Start by copying the entire string. */
\r
4266 strcpy( pcBuffer, pcTaskName );
\r
4268 /* Pad the end of the string with spaces to ensure columns line up when
\r
4270 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4272 pcBuffer[ x ] = ' ';
\r
4276 pcBuffer[ x ] = ( char ) 0x00;
\r
4278 /* Return the new end of string. */
\r
4279 return &( pcBuffer[ x ] );
\r
4282 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4283 /*-----------------------------------------------------------*/
\r
4285 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4287 void vTaskList( char * pcWriteBuffer )
\r
4289 TaskStatus_t *pxTaskStatusArray;
\r
4290 UBaseType_t uxArraySize, x;
\r
4296 * This function is provided for convenience only, and is used by many
\r
4297 * of the demo applications. Do not consider it to be part of the
\r
4300 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4301 * uxTaskGetSystemState() output into a human readable table that
\r
4302 * displays task names, states and stack usage.
\r
4304 * vTaskList() has a dependency on the sprintf() C library function that
\r
4305 * might bloat the code size, use a lot of stack, and provide different
\r
4306 * results on different platforms. An alternative, tiny, third party,
\r
4307 * and limited functionality implementation of sprintf() is provided in
\r
4308 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4309 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4310 * snprintf() implementation!).
\r
4312 * It is recommended that production systems call uxTaskGetSystemState()
\r
4313 * directly to get access to raw stats data, rather than indirectly
\r
4314 * through a call to vTaskList().
\r
4318 /* Make sure the write buffer does not contain a string. */
\r
4319 *pcWriteBuffer = ( char ) 0x00;
\r
4321 /* Take a snapshot of the number of tasks in case it changes while this
\r
4322 function is executing. */
\r
4323 uxArraySize = uxCurrentNumberOfTasks;
\r
4325 /* Allocate an array index for each task. NOTE! if
\r
4326 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4327 equate to NULL. */
\r
4328 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
4330 if( pxTaskStatusArray != NULL )
\r
4332 /* Generate the (binary) data. */
\r
4333 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4335 /* Create a human readable table from the binary data. */
\r
4336 for( x = 0; x < uxArraySize; x++ )
\r
4338 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4340 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4343 case eReady: cStatus = tskREADY_CHAR;
\r
4346 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4349 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4352 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4355 case eInvalid: /* Fall through. */
\r
4356 default: /* Should not get here, but it is included
\r
4357 to prevent static checking errors. */
\r
4358 cStatus = ( char ) 0x00;
\r
4362 /* Write the task name to the string, padding with spaces so it
\r
4363 can be printed in tabular form more easily. */
\r
4364 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4366 /* Write the rest of the string. */
\r
4367 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
4368 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
4371 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4372 is 0 then vPortFree() will be #defined to nothing. */
\r
4373 vPortFree( pxTaskStatusArray );
\r
4377 mtCOVERAGE_TEST_MARKER();
\r
4381 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4382 /*----------------------------------------------------------*/
\r
4384 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4386 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4388 TaskStatus_t *pxTaskStatusArray;
\r
4389 UBaseType_t uxArraySize, x;
\r
4390 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4392 #if( configUSE_TRACE_FACILITY != 1 )
\r
4394 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4401 * This function is provided for convenience only, and is used by many
\r
4402 * of the demo applications. Do not consider it to be part of the
\r
4405 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4406 * of the uxTaskGetSystemState() output into a human readable table that
\r
4407 * displays the amount of time each task has spent in the Running state
\r
4408 * in both absolute and percentage terms.
\r
4410 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4411 * function that might bloat the code size, use a lot of stack, and
\r
4412 * provide different results on different platforms. An alternative,
\r
4413 * tiny, third party, and limited functionality implementation of
\r
4414 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4415 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4416 * a full snprintf() implementation!).
\r
4418 * It is recommended that production systems call uxTaskGetSystemState()
\r
4419 * directly to get access to raw stats data, rather than indirectly
\r
4420 * through a call to vTaskGetRunTimeStats().
\r
4423 /* Make sure the write buffer does not contain a string. */
\r
4424 *pcWriteBuffer = ( char ) 0x00;
\r
4426 /* Take a snapshot of the number of tasks in case it changes while this
\r
4427 function is executing. */
\r
4428 uxArraySize = uxCurrentNumberOfTasks;
\r
4430 /* Allocate an array index for each task. NOTE! If
\r
4431 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4432 equate to NULL. */
\r
4433 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
4435 if( pxTaskStatusArray != NULL )
\r
4437 /* Generate the (binary) data. */
\r
4438 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4440 /* For percentage calculations. */
\r
4441 ulTotalTime /= 100UL;
\r
4443 /* Avoid divide by zero errors. */
\r
4444 if( ulTotalTime > 0UL )
\r
4446 /* Create a human readable table from the binary data. */
\r
4447 for( x = 0; x < uxArraySize; x++ )
\r
4449 /* What percentage of the total run time has the task used?
\r
4450 This will always be rounded down to the nearest integer.
\r
4451 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4452 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4454 /* Write the task name to the string, padding with
\r
4455 spaces so it can be printed in tabular form more
\r
4457 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4459 if( ulStatsAsPercentage > 0UL )
\r
4461 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4463 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4467 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4468 printf() library can be used. */
\r
4469 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
4475 /* If the percentage is zero here then the task has
\r
4476 consumed less than 1% of the total run time. */
\r
4477 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4479 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4483 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4484 printf() library can be used. */
\r
4485 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
4490 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
4495 mtCOVERAGE_TEST_MARKER();
\r
4498 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4499 is 0 then vPortFree() will be #defined to nothing. */
\r
4500 vPortFree( pxTaskStatusArray );
\r
4504 mtCOVERAGE_TEST_MARKER();
\r
4508 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4509 /*-----------------------------------------------------------*/
\r
4511 TickType_t uxTaskResetEventItemValue( void )
\r
4513 TickType_t uxReturn;
\r
4515 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4517 /* Reset the event list item to its normal value - so it can be used with
\r
4518 queues and semaphores. */
\r
4519 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
4523 /*-----------------------------------------------------------*/
\r
4525 #if ( configUSE_MUTEXES == 1 )
\r
4527 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4529 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4530 then pxCurrentTCB will be NULL. */
\r
4531 if( pxCurrentTCB != NULL )
\r
4533 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4536 return pxCurrentTCB;
\r
4539 #endif /* configUSE_MUTEXES */
\r
4540 /*-----------------------------------------------------------*/
\r
4542 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4544 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4546 uint32_t ulReturn;
\r
4548 taskENTER_CRITICAL();
\r
4550 /* Only block if the notification count is not already non-zero. */
\r
4551 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4553 /* Mark this task as waiting for a notification. */
\r
4554 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4556 if( xTicksToWait > ( TickType_t ) 0 )
\r
4558 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4559 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4561 /* All ports are written to allow a yield in a critical
\r
4562 section (some will yield immediately, others wait until the
\r
4563 critical section exits) - but it is not something that
\r
4564 application code should ever do. */
\r
4565 portYIELD_WITHIN_API();
\r
4569 mtCOVERAGE_TEST_MARKER();
\r
4574 mtCOVERAGE_TEST_MARKER();
\r
4577 taskEXIT_CRITICAL();
\r
4579 taskENTER_CRITICAL();
\r
4581 traceTASK_NOTIFY_TAKE();
\r
4582 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4584 if( ulReturn != 0UL )
\r
4586 if( xClearCountOnExit != pdFALSE )
\r
4588 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4592 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4597 mtCOVERAGE_TEST_MARKER();
\r
4600 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4602 taskEXIT_CRITICAL();
\r
4607 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4608 /*-----------------------------------------------------------*/
\r
4610 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4612 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4614 BaseType_t xReturn;
\r
4616 taskENTER_CRITICAL();
\r
4618 /* Only block if a notification is not already pending. */
\r
4619 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4621 /* Clear bits in the task's notification value as bits may get
\r
4622 set by the notifying task or interrupt. This can be used to
\r
4623 clear the value to zero. */
\r
4624 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4626 /* Mark this task as waiting for a notification. */
\r
4627 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4629 if( xTicksToWait > ( TickType_t ) 0 )
\r
4631 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4632 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4634 /* All ports are written to allow a yield in a critical
\r
4635 section (some will yield immediately, others wait until the
\r
4636 critical section exits) - but it is not something that
\r
4637 application code should ever do. */
\r
4638 portYIELD_WITHIN_API();
\r
4642 mtCOVERAGE_TEST_MARKER();
\r
4647 mtCOVERAGE_TEST_MARKER();
\r
4650 taskEXIT_CRITICAL();
\r
4652 taskENTER_CRITICAL();
\r
4654 traceTASK_NOTIFY_WAIT();
\r
4656 if( pulNotificationValue != NULL )
\r
4658 /* Output the current notification value, which may or may not
\r
4660 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4663 /* If ucNotifyValue is set then either the task never entered the
\r
4664 blocked state (because a notification was already pending) or the
\r
4665 task unblocked because of a notification. Otherwise the task
\r
4666 unblocked because of a timeout. */
\r
4667 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4669 /* A notification was not received. */
\r
4670 xReturn = pdFALSE;
\r
4674 /* A notification was already pending or a notification was
\r
4675 received while the task was waiting. */
\r
4676 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4680 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4682 taskEXIT_CRITICAL();
\r
4687 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4688 /*-----------------------------------------------------------*/
\r
4690 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4692 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4695 BaseType_t xReturn = pdPASS;
\r
4696 uint8_t ucOriginalNotifyState;
\r
4698 configASSERT( xTaskToNotify );
\r
4699 pxTCB = xTaskToNotify;
\r
4701 taskENTER_CRITICAL();
\r
4703 if( pulPreviousNotificationValue != NULL )
\r
4705 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4708 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4710 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4715 pxTCB->ulNotifiedValue |= ulValue;
\r
4719 ( pxTCB->ulNotifiedValue )++;
\r
4722 case eSetValueWithOverwrite :
\r
4723 pxTCB->ulNotifiedValue = ulValue;
\r
4726 case eSetValueWithoutOverwrite :
\r
4727 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4729 pxTCB->ulNotifiedValue = ulValue;
\r
4733 /* The value could not be written to the task. */
\r
4739 /* The task is being notified without its notify value being
\r
4744 /* Should not get here if all enums are handled.
\r
4745 Artificially force an assert by testing a value the
\r
4746 compiler can't assume is const. */
\r
4747 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4752 traceTASK_NOTIFY();
\r
4754 /* If the task is in the blocked state specifically to wait for a
\r
4755 notification then unblock it now. */
\r
4756 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4758 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4759 prvAddTaskToReadyList( pxTCB );
\r
4761 /* The task should not have been on an event list. */
\r
4762 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4764 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4766 /* If a task is blocked waiting for a notification then
\r
4767 xNextTaskUnblockTime might be set to the blocked task's time
\r
4768 out time. If the task is unblocked for a reason other than
\r
4769 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4770 because it will automatically get reset to a new value when
\r
4771 the tick count equals xNextTaskUnblockTime. However if
\r
4772 tickless idling is used it might be more important to enter
\r
4773 sleep mode at the earliest possible time - so reset
\r
4774 xNextTaskUnblockTime here to ensure it is updated at the
\r
4775 earliest possible time. */
\r
4776 prvResetNextTaskUnblockTime();
\r
4780 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4782 /* The notified task has a priority above the currently
\r
4783 executing task so a yield is required. */
\r
4784 taskYIELD_IF_USING_PREEMPTION();
\r
4788 mtCOVERAGE_TEST_MARKER();
\r
4793 mtCOVERAGE_TEST_MARKER();
\r
4796 taskEXIT_CRITICAL();
\r
4801 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4802 /*-----------------------------------------------------------*/
\r
4804 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4806 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4809 uint8_t ucOriginalNotifyState;
\r
4810 BaseType_t xReturn = pdPASS;
\r
4811 UBaseType_t uxSavedInterruptStatus;
\r
4813 configASSERT( xTaskToNotify );
\r
4815 /* RTOS ports that support interrupt nesting have the concept of a
\r
4816 maximum system call (or maximum API call) interrupt priority.
\r
4817 Interrupts that are above the maximum system call priority are keep
\r
4818 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4819 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4820 is defined in FreeRTOSConfig.h then
\r
4821 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4822 failure if a FreeRTOS API function is called from an interrupt that has
\r
4823 been assigned a priority above the configured maximum system call
\r
4824 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4825 from interrupts that have been assigned a priority at or (logically)
\r
4826 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4827 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4828 simple as possible. More information (albeit Cortex-M specific) is
\r
4829 provided on the following link:
\r
4830 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4831 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4833 pxTCB = xTaskToNotify;
\r
4835 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4837 if( pulPreviousNotificationValue != NULL )
\r
4839 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4842 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4843 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4848 pxTCB->ulNotifiedValue |= ulValue;
\r
4852 ( pxTCB->ulNotifiedValue )++;
\r
4855 case eSetValueWithOverwrite :
\r
4856 pxTCB->ulNotifiedValue = ulValue;
\r
4859 case eSetValueWithoutOverwrite :
\r
4860 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4862 pxTCB->ulNotifiedValue = ulValue;
\r
4866 /* The value could not be written to the task. */
\r
4872 /* The task is being notified without its notify value being
\r
4877 /* Should not get here if all enums are handled.
\r
4878 Artificially force an assert by testing a value the
\r
4879 compiler can't assume is const. */
\r
4880 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4884 traceTASK_NOTIFY_FROM_ISR();
\r
4886 /* If the task is in the blocked state specifically to wait for a
\r
4887 notification then unblock it now. */
\r
4888 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4890 /* The task should not have been on an event list. */
\r
4891 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4893 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4895 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4896 prvAddTaskToReadyList( pxTCB );
\r
4900 /* The delayed and ready lists cannot be accessed, so hold
\r
4901 this task pending until the scheduler is resumed. */
\r
4902 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4905 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4907 /* The notified task has a priority above the currently
\r
4908 executing task so a yield is required. */
\r
4909 if( pxHigherPriorityTaskWoken != NULL )
\r
4911 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4914 /* Mark that a yield is pending in case the user is not
\r
4915 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4916 safe FreeRTOS function. */
\r
4917 xYieldPending = pdTRUE;
\r
4921 mtCOVERAGE_TEST_MARKER();
\r
4925 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4930 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4931 /*-----------------------------------------------------------*/
\r
4933 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4935 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4938 uint8_t ucOriginalNotifyState;
\r
4939 UBaseType_t uxSavedInterruptStatus;
\r
4941 configASSERT( xTaskToNotify );
\r
4943 /* RTOS ports that support interrupt nesting have the concept of a
\r
4944 maximum system call (or maximum API call) interrupt priority.
\r
4945 Interrupts that are above the maximum system call priority are keep
\r
4946 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4947 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4948 is defined in FreeRTOSConfig.h then
\r
4949 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4950 failure if a FreeRTOS API function is called from an interrupt that has
\r
4951 been assigned a priority above the configured maximum system call
\r
4952 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4953 from interrupts that have been assigned a priority at or (logically)
\r
4954 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4955 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4956 simple as possible. More information (albeit Cortex-M specific) is
\r
4957 provided on the following link:
\r
4958 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4959 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4961 pxTCB = xTaskToNotify;
\r
4963 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4965 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4966 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4968 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4970 ( pxTCB->ulNotifiedValue )++;
\r
4972 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4974 /* If the task is in the blocked state specifically to wait for a
\r
4975 notification then unblock it now. */
\r
4976 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4978 /* The task should not have been on an event list. */
\r
4979 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4981 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4983 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4984 prvAddTaskToReadyList( pxTCB );
\r
4988 /* The delayed and ready lists cannot be accessed, so hold
\r
4989 this task pending until the scheduler is resumed. */
\r
4990 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4993 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4995 /* The notified task has a priority above the currently
\r
4996 executing task so a yield is required. */
\r
4997 if( pxHigherPriorityTaskWoken != NULL )
\r
4999 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5002 /* Mark that a yield is pending in case the user is not
\r
5003 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5004 safe FreeRTOS function. */
\r
5005 xYieldPending = pdTRUE;
\r
5009 mtCOVERAGE_TEST_MARKER();
\r
5013 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5016 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5018 /*-----------------------------------------------------------*/
\r
5020 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5022 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
5025 BaseType_t xReturn;
\r
5027 /* If null is passed in here then it is the calling task that is having
\r
5028 its notification state cleared. */
\r
5029 pxTCB = prvGetTCBFromHandle( xTask );
\r
5031 taskENTER_CRITICAL();
\r
5033 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
5035 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
5043 taskEXIT_CRITICAL();
\r
5048 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5049 /*-----------------------------------------------------------*/
\r
5052 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
5054 TickType_t xTimeToWake;
\r
5055 const TickType_t xConstTickCount = xTickCount;
\r
5057 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
5059 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5060 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5061 when the task leaves the Blocked state. */
\r
5062 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5066 /* Remove the task from the ready list before adding it to the blocked list
\r
5067 as the same list item is used for both lists. */
\r
5068 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5070 /* The current task must be in a ready list, so there is no need to
\r
5071 check, and the port reset macro can be called directly. */
\r
5072 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
5076 mtCOVERAGE_TEST_MARKER();
\r
5079 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5081 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5083 /* Add the task to the suspended task list instead of a delayed task
\r
5084 list to ensure it is not woken by a timing event. It will block
\r
5086 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5090 /* Calculate the time at which the task should be woken if the event
\r
5091 does not occur. This may overflow but this doesn't matter, the
\r
5092 kernel will manage it correctly. */
\r
5093 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5095 /* The list item will be inserted in wake time order. */
\r
5096 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5098 if( xTimeToWake < xConstTickCount )
\r
5100 /* Wake time has overflowed. Place this item in the overflow
\r
5102 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5106 /* The wake time has not overflowed, so the current block list
\r
5108 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5110 /* If the task entering the blocked state was placed at the
\r
5111 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5112 needs to be updated too. */
\r
5113 if( xTimeToWake < xNextTaskUnblockTime )
\r
5115 xNextTaskUnblockTime = xTimeToWake;
\r
5119 mtCOVERAGE_TEST_MARKER();
\r
5124 #else /* INCLUDE_vTaskSuspend */
\r
5126 /* Calculate the time at which the task should be woken if the event
\r
5127 does not occur. This may overflow but this doesn't matter, the kernel
\r
5128 will manage it correctly. */
\r
5129 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5131 /* The list item will be inserted in wake time order. */
\r
5132 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5134 if( xTimeToWake < xConstTickCount )
\r
5136 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5137 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5141 /* The wake time has not overflowed, so the current block list is used. */
\r
5142 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5144 /* If the task entering the blocked state was placed at the head of the
\r
5145 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5147 if( xTimeToWake < xNextTaskUnblockTime )
\r
5149 xNextTaskUnblockTime = xTimeToWake;
\r
5153 mtCOVERAGE_TEST_MARKER();
\r
5157 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5158 ( void ) xCanBlockIndefinitely;
\r
5160 #endif /* INCLUDE_vTaskSuspend */
\r
5163 /* Code below here allows additional code to be inserted into this source file,
\r
5164 especially where access to file scope functions and data is needed (for example
\r
5165 when performing module tests). */
\r
5167 #ifdef FREERTOS_MODULE_TEST
\r
5168 #include "tasks_test_access_functions.h"
\r
5172 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5174 #include "freertos_tasks_c_additions.h"
\r
5176 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5177 static void freertos_tasks_c_additions_init( void )
\r
5179 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob