2 * FreeRTOS Kernel V10.1.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint 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 ) )
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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 TaskControlBlock_t
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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 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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355 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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356 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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357 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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359 #if( INCLUDE_vTaskDelete == 1 )
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361 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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362 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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366 #if ( INCLUDE_vTaskSuspend == 1 )
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368 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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372 /* Global POSIX errno. Its value is changed upon context switching to match
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373 the errno of the currently running task. */
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374 #if ( configUSE_POSIX_ERRNO == 1 )
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375 int FreeRTOS_errno = 0;
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378 /* Other file private variables. --------------------------------*/
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379 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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380 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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381 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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382 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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383 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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384 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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385 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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386 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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387 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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388 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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390 /* Context switches are held pending while the scheduler is suspended. Also,
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391 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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392 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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393 If an interrupt needs to unblock a task while the scheduler is suspended then it
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394 moves the task's event list item into the xPendingReadyList, ready for the
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395 kernel to move the task from the pending ready list into the real ready list
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396 when the scheduler is unsuspended. The pending ready list itself can only be
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397 accessed from a critical section. */
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398 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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402 /*-----------------------------------------------------------*/
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404 /* Callback function prototypes. --------------------------*/
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405 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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407 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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413 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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417 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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419 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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423 /* File private functions. --------------------------------*/
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426 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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427 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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428 * is in any other state.
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430 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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434 #endif /* INCLUDE_vTaskSuspend */
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437 * Utility to ready all the lists used by the scheduler. This is called
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438 * automatically upon the creation of the first task.
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440 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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443 * The idle task, which as all tasks is implemented as a never ending loop.
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444 * The idle task is automatically created and added to the ready lists upon
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445 * creation of the first user task.
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447 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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448 * language extensions. The equivalent prototype for this function is:
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450 * void prvIdleTask( void *pvParameters );
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453 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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456 * Utility to free all memory allocated by the scheduler to hold a TCB,
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457 * including the stack pointed to by the TCB.
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459 * This does not free memory allocated by the task itself (i.e. memory
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460 * allocated by calls to pvPortMalloc from within the tasks application code).
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462 #if ( INCLUDE_vTaskDelete == 1 )
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464 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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469 * Used only by the idle task. This checks to see if anything has been placed
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470 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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471 * and its TCB deleted.
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473 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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476 * The currently executing task is entering the Blocked state. Add the task to
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477 * either the current or the overflow delayed task list.
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479 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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482 * Fills an TaskStatus_t structure with information on each task that is
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483 * referenced from the pxList list (which may be a ready list, a delayed list,
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484 * a suspended list, etc.).
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486 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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487 * NORMAL APPLICATION CODE.
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489 #if ( configUSE_TRACE_FACILITY == 1 )
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491 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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496 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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497 * the task if it is found, or NULL if the task is not found.
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499 #if ( INCLUDE_xTaskGetHandle == 1 )
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501 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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506 * When a task is created, the stack of the task is filled with a known value.
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507 * This function determines the 'high water mark' of the task stack by
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508 * determining how much of the stack remains at the original preset value.
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510 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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512 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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517 * Return the amount of time, in ticks, that will pass before the kernel will
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518 * next move a task from the Blocked state to the Running state.
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520 * This conditional compilation should use inequality to 0, not equality to 1.
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521 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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522 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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523 * set to a value other than 1.
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525 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
527 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
532 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
533 * will exit the Blocked state.
\r
535 static void prvResetNextTaskUnblockTime( void );
\r
537 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
540 * Helper function used to pad task names with spaces when printing out
\r
541 * human readable tables of task information.
\r
543 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
548 * Called after a Task_t structure has been allocated either statically or
\r
549 * dynamically to fill in the structure's members.
\r
551 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
552 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
553 const uint32_t ulStackDepth,
\r
554 void * const pvParameters,
\r
555 UBaseType_t uxPriority,
\r
556 TaskHandle_t * const pxCreatedTask,
\r
558 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
561 * Called after a new task has been created and initialised to place the task
\r
562 * under the control of the scheduler.
\r
564 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
567 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
568 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
569 * called by the function.
\r
571 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
573 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
577 /*-----------------------------------------------------------*/
\r
579 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
581 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
582 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
583 const uint32_t ulStackDepth,
\r
584 void * const pvParameters,
\r
585 UBaseType_t uxPriority,
\r
586 StackType_t * const puxStackBuffer,
\r
587 StaticTask_t * const pxTaskBuffer )
\r
590 TaskHandle_t xReturn;
\r
592 configASSERT( puxStackBuffer != NULL );
\r
593 configASSERT( pxTaskBuffer != NULL );
\r
595 #if( configASSERT_DEFINED == 1 )
\r
597 /* Sanity check that the size of the structure used to declare a
\r
598 variable of type StaticTask_t equals the size of the real task
\r
600 volatile size_t xSize = sizeof( StaticTask_t );
\r
601 configASSERT( xSize == sizeof( TCB_t ) );
\r
602 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
604 #endif /* configASSERT_DEFINED */
\r
607 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
609 /* The memory used for the task's TCB and stack are passed into this
\r
610 function - use them. */
\r
611 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
612 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
614 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
616 /* Tasks can be created statically or dynamically, so note this
\r
617 task was created statically in case the task is later deleted. */
\r
618 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
620 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
622 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
623 prvAddNewTaskToReadyList( pxNewTCB );
\r
633 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
634 /*-----------------------------------------------------------*/
\r
636 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
638 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
641 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
643 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
644 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
646 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
648 /* Allocate space for the TCB. Where the memory comes from depends
\r
649 on the implementation of the port malloc function and whether or
\r
650 not static allocation is being used. */
\r
651 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
653 /* Store the stack location in the TCB. */
\r
654 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
656 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
658 /* Tasks can be created statically or dynamically, so note this
\r
659 task was created statically in case the task is later deleted. */
\r
660 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
662 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
664 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
665 pxTaskDefinition->pcName,
\r
666 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
667 pxTaskDefinition->pvParameters,
\r
668 pxTaskDefinition->uxPriority,
\r
669 pxCreatedTask, pxNewTCB,
\r
670 pxTaskDefinition->xRegions );
\r
672 prvAddNewTaskToReadyList( pxNewTCB );
\r
679 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
680 /*-----------------------------------------------------------*/
\r
682 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
684 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
687 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
689 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
691 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
693 /* Allocate space for the TCB. Where the memory comes from depends
\r
694 on the implementation of the port malloc function and whether or
\r
695 not static allocation is being used. */
\r
696 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
698 if( pxNewTCB != NULL )
\r
700 /* Store the stack location in the TCB. */
\r
701 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
703 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
705 /* Tasks can be created statically or dynamically, so note
\r
706 this task had a statically allocated stack in case it is
\r
707 later deleted. The TCB was allocated dynamically. */
\r
708 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
712 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
713 pxTaskDefinition->pcName,
\r
714 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
715 pxTaskDefinition->pvParameters,
\r
716 pxTaskDefinition->uxPriority,
\r
717 pxCreatedTask, pxNewTCB,
\r
718 pxTaskDefinition->xRegions );
\r
720 prvAddNewTaskToReadyList( pxNewTCB );
\r
728 #endif /* portUSING_MPU_WRAPPERS */
\r
729 /*-----------------------------------------------------------*/
\r
731 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
733 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
734 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
735 const configSTACK_DEPTH_TYPE usStackDepth,
\r
736 void * const pvParameters,
\r
737 UBaseType_t uxPriority,
\r
738 TaskHandle_t * const pxCreatedTask )
\r
741 BaseType_t xReturn;
\r
743 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
744 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
745 the TCB then the stack. */
\r
746 #if( portSTACK_GROWTH > 0 )
\r
748 /* Allocate space for the TCB. Where the memory comes from depends on
\r
749 the implementation of the port malloc function and whether or not static
\r
750 allocation is being used. */
\r
751 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
753 if( pxNewTCB != NULL )
\r
755 /* Allocate space for the stack used by the task being created.
\r
756 The base of the stack memory stored in the TCB so the task can
\r
757 be deleted later if required. */
\r
758 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
760 if( pxNewTCB->pxStack == NULL )
\r
762 /* Could not allocate the stack. Delete the allocated TCB. */
\r
763 vPortFree( pxNewTCB );
\r
768 #else /* portSTACK_GROWTH */
\r
770 StackType_t *pxStack;
\r
772 /* Allocate space for the stack used by the task being created. */
\r
773 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
775 if( pxStack != NULL )
\r
777 /* Allocate space for the TCB. */
\r
778 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
780 if( pxNewTCB != NULL )
\r
782 /* Store the stack location in the TCB. */
\r
783 pxNewTCB->pxStack = pxStack;
\r
787 /* The stack cannot be used as the TCB was not created. Free
\r
789 vPortFree( pxStack );
\r
797 #endif /* portSTACK_GROWTH */
\r
799 if( pxNewTCB != NULL )
\r
801 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
803 /* Tasks can be created statically or dynamically, so note this
\r
804 task was created dynamically in case it is later deleted. */
\r
805 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
807 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
809 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
810 prvAddNewTaskToReadyList( pxNewTCB );
\r
815 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
821 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
822 /*-----------------------------------------------------------*/
\r
824 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
825 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
826 const uint32_t ulStackDepth,
\r
827 void * const pvParameters,
\r
828 UBaseType_t uxPriority,
\r
829 TaskHandle_t * const pxCreatedTask,
\r
831 const MemoryRegion_t * const xRegions )
\r
833 StackType_t *pxTopOfStack;
\r
836 #if( portUSING_MPU_WRAPPERS == 1 )
\r
837 /* Should the task be created in privileged mode? */
\r
838 BaseType_t xRunPrivileged;
\r
839 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
841 xRunPrivileged = pdTRUE;
\r
845 xRunPrivileged = pdFALSE;
\r
847 uxPriority &= ~portPRIVILEGE_BIT;
\r
848 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
850 configASSERT( pcName );
\r
852 /* Avoid dependency on memset() if it is not required. */
\r
853 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
855 /* Fill the stack with a known value to assist debugging. */
\r
856 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
858 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
860 /* Calculate the top of stack address. This depends on whether the stack
\r
861 grows from high memory to low (as per the 80x86) or vice versa.
\r
862 portSTACK_GROWTH is used to make the result positive or negative as required
\r
864 #if( portSTACK_GROWTH < 0 )
\r
866 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
867 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
869 /* Check the alignment of the calculated top of stack is correct. */
\r
870 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
872 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
874 /* Also record the stack's high address, which may assist
\r
876 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
878 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
880 #else /* portSTACK_GROWTH */
\r
882 pxTopOfStack = pxNewTCB->pxStack;
\r
884 /* Check the alignment of the stack buffer is correct. */
\r
885 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
887 /* The other extreme of the stack space is required if stack checking is
\r
889 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
891 #endif /* portSTACK_GROWTH */
\r
893 /* Store the task name in the TCB. */
\r
894 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
896 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
898 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
899 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
900 string is not accessible (extremely unlikely). */
\r
901 if( pcName[ x ] == ( char ) 0x00 )
\r
907 mtCOVERAGE_TEST_MARKER();
\r
911 /* Ensure the name string is terminated in the case that the string length
\r
912 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
913 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
915 /* This is used as an array index so must ensure it's not too large. First
\r
916 remove the privilege bit if one is present. */
\r
917 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
919 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
923 mtCOVERAGE_TEST_MARKER();
\r
926 pxNewTCB->uxPriority = uxPriority;
\r
927 #if ( configUSE_MUTEXES == 1 )
\r
929 pxNewTCB->uxBasePriority = uxPriority;
\r
930 pxNewTCB->uxMutexesHeld = 0;
\r
932 #endif /* configUSE_MUTEXES */
\r
934 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
935 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
937 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
938 back to the containing TCB from a generic item in a list. */
\r
939 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
941 /* Event lists are always in priority order. */
\r
942 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
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
945 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
947 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
949 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
951 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
953 pxNewTCB->pxTaskTag = NULL;
\r
955 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
957 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
959 pxNewTCB->ulRunTimeCounter = 0UL;
\r
961 #endif /* configGENERATE_RUN_TIME_STATS */
\r
963 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
965 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
969 /* Avoid compiler warning about unreferenced parameter. */
\r
974 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
976 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
978 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
983 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
985 pxNewTCB->ulNotifiedValue = 0;
\r
986 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
990 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
992 /* Initialise this task's Newlib reent structure. */
\r
993 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
997 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
999 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1003 /* Initialize the TCB stack to look as if the task was already running,
\r
1004 but had been interrupted by the scheduler. The return address is set
\r
1005 to the start of the task function. Once the stack has been initialised
\r
1006 the top of stack variable is updated. */
\r
1007 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1009 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1011 #else /* portUSING_MPU_WRAPPERS */
\r
1013 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1015 #endif /* portUSING_MPU_WRAPPERS */
\r
1017 if( pxCreatedTask != NULL )
\r
1019 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1020 change the created task's priority, delete the created task, etc.*/
\r
1021 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1025 mtCOVERAGE_TEST_MARKER();
\r
1028 /*-----------------------------------------------------------*/
\r
1030 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1032 /* Ensure interrupts don't access the task lists while the lists are being
\r
1034 taskENTER_CRITICAL();
\r
1036 uxCurrentNumberOfTasks++;
\r
1037 if( pxCurrentTCB == NULL )
\r
1039 /* There are no other tasks, or all the other tasks are in
\r
1040 the suspended state - make this the current task. */
\r
1041 pxCurrentTCB = pxNewTCB;
\r
1043 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1045 /* This is the first task to be created so do the preliminary
\r
1046 initialisation required. We will not recover if this call
\r
1047 fails, but we will report the failure. */
\r
1048 prvInitialiseTaskLists();
\r
1052 mtCOVERAGE_TEST_MARKER();
\r
1057 /* If the scheduler is not already running, make this task the
\r
1058 current task if it is the highest priority task to be created
\r
1060 if( xSchedulerRunning == pdFALSE )
\r
1062 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1064 pxCurrentTCB = pxNewTCB;
\r
1068 mtCOVERAGE_TEST_MARKER();
\r
1073 mtCOVERAGE_TEST_MARKER();
\r
1079 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1081 /* Add a counter into the TCB for tracing only. */
\r
1082 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1084 #endif /* configUSE_TRACE_FACILITY */
\r
1085 traceTASK_CREATE( pxNewTCB );
\r
1087 prvAddTaskToReadyList( pxNewTCB );
\r
1089 portSETUP_TCB( pxNewTCB );
\r
1091 taskEXIT_CRITICAL();
\r
1093 if( xSchedulerRunning != pdFALSE )
\r
1095 /* If the created task is of a higher priority than the current task
\r
1096 then it should run now. */
\r
1097 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1099 taskYIELD_IF_USING_PREEMPTION();
\r
1103 mtCOVERAGE_TEST_MARKER();
\r
1108 mtCOVERAGE_TEST_MARKER();
\r
1111 /*-----------------------------------------------------------*/
\r
1113 #if ( INCLUDE_vTaskDelete == 1 )
\r
1115 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1119 taskENTER_CRITICAL();
\r
1121 /* If null is passed in here then it is the calling task that is
\r
1123 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1125 /* Remove task from the ready list. */
\r
1126 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1128 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1132 mtCOVERAGE_TEST_MARKER();
\r
1135 /* Is the task waiting on an event also? */
\r
1136 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1138 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1142 mtCOVERAGE_TEST_MARKER();
\r
1145 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1146 detect that the task lists need re-generating. This is done before
\r
1147 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1151 if( pxTCB == pxCurrentTCB )
\r
1153 /* A task is deleting itself. This cannot complete within the
\r
1154 task itself, as a context switch to another task is required.
\r
1155 Place the task in the termination list. The idle task will
\r
1156 check the termination list and free up any memory allocated by
\r
1157 the scheduler for the TCB and stack of the deleted task. */
\r
1158 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1160 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1161 there is a task that has been deleted and that it should therefore
\r
1162 check the xTasksWaitingTermination list. */
\r
1163 ++uxDeletedTasksWaitingCleanUp;
\r
1165 /* The pre-delete hook is primarily for the Windows simulator,
\r
1166 in which Windows specific clean up operations are performed,
\r
1167 after which it is not possible to yield away from this task -
\r
1168 hence xYieldPending is used to latch that a context switch is
\r
1170 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1174 --uxCurrentNumberOfTasks;
\r
1175 prvDeleteTCB( pxTCB );
\r
1177 /* Reset the next expected unblock time in case it referred to
\r
1178 the task that has just been deleted. */
\r
1179 prvResetNextTaskUnblockTime();
\r
1182 traceTASK_DELETE( pxTCB );
\r
1184 taskEXIT_CRITICAL();
\r
1186 /* Force a reschedule if it is the currently running task that has just
\r
1188 if( xSchedulerRunning != pdFALSE )
\r
1190 if( pxTCB == pxCurrentTCB )
\r
1192 configASSERT( uxSchedulerSuspended == 0 );
\r
1193 portYIELD_WITHIN_API();
\r
1197 mtCOVERAGE_TEST_MARKER();
\r
1202 #endif /* INCLUDE_vTaskDelete */
\r
1203 /*-----------------------------------------------------------*/
\r
1205 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1207 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1209 TickType_t xTimeToWake;
\r
1210 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1212 configASSERT( pxPreviousWakeTime );
\r
1213 configASSERT( ( xTimeIncrement > 0U ) );
\r
1214 configASSERT( uxSchedulerSuspended == 0 );
\r
1216 vTaskSuspendAll();
\r
1218 /* Minor optimisation. The tick count cannot change in this
\r
1220 const TickType_t xConstTickCount = xTickCount;
\r
1222 /* Generate the tick time at which the task wants to wake. */
\r
1223 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1225 if( xConstTickCount < *pxPreviousWakeTime )
\r
1227 /* The tick count has overflowed since this function was
\r
1228 lasted called. In this case the only time we should ever
\r
1229 actually delay is if the wake time has also overflowed,
\r
1230 and the wake time is greater than the tick time. When this
\r
1231 is the case it is as if neither time had overflowed. */
\r
1232 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1234 xShouldDelay = pdTRUE;
\r
1238 mtCOVERAGE_TEST_MARKER();
\r
1243 /* The tick time has not overflowed. In this case we will
\r
1244 delay if either the wake time has overflowed, and/or the
\r
1245 tick time is less than the wake time. */
\r
1246 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1248 xShouldDelay = pdTRUE;
\r
1252 mtCOVERAGE_TEST_MARKER();
\r
1256 /* Update the wake time ready for the next call. */
\r
1257 *pxPreviousWakeTime = xTimeToWake;
\r
1259 if( xShouldDelay != pdFALSE )
\r
1261 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1263 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1264 the time to wake, so subtract the current tick count. */
\r
1265 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1269 mtCOVERAGE_TEST_MARKER();
\r
1272 xAlreadyYielded = xTaskResumeAll();
\r
1274 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1275 have put ourselves to sleep. */
\r
1276 if( xAlreadyYielded == pdFALSE )
\r
1278 portYIELD_WITHIN_API();
\r
1282 mtCOVERAGE_TEST_MARKER();
\r
1286 #endif /* INCLUDE_vTaskDelayUntil */
\r
1287 /*-----------------------------------------------------------*/
\r
1289 #if ( INCLUDE_vTaskDelay == 1 )
\r
1291 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1293 BaseType_t xAlreadyYielded = pdFALSE;
\r
1295 /* A delay time of zero just forces a reschedule. */
\r
1296 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1298 configASSERT( uxSchedulerSuspended == 0 );
\r
1299 vTaskSuspendAll();
\r
1301 traceTASK_DELAY();
\r
1303 /* A task that is removed from the event list while the
\r
1304 scheduler is suspended will not get placed in the ready
\r
1305 list or removed from the blocked list until the scheduler
\r
1308 This task cannot be in an event list as it is the currently
\r
1309 executing task. */
\r
1310 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1312 xAlreadyYielded = xTaskResumeAll();
\r
1316 mtCOVERAGE_TEST_MARKER();
\r
1319 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1320 have put ourselves to sleep. */
\r
1321 if( xAlreadyYielded == pdFALSE )
\r
1323 portYIELD_WITHIN_API();
\r
1327 mtCOVERAGE_TEST_MARKER();
\r
1331 #endif /* INCLUDE_vTaskDelay */
\r
1332 /*-----------------------------------------------------------*/
\r
1334 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1336 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1338 eTaskState eReturn;
\r
1339 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1340 const TCB_t * const pxTCB = xTask;
\r
1342 configASSERT( pxTCB );
\r
1344 if( pxTCB == pxCurrentTCB )
\r
1346 /* The task calling this function is querying its own state. */
\r
1347 eReturn = eRunning;
\r
1351 taskENTER_CRITICAL();
\r
1353 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1354 pxDelayedList = pxDelayedTaskList;
\r
1355 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1357 taskEXIT_CRITICAL();
\r
1359 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1361 /* The task being queried is referenced from one of the Blocked
\r
1363 eReturn = eBlocked;
\r
1366 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1367 else if( pxStateList == &xSuspendedTaskList )
\r
1369 /* The task being queried is referenced from the suspended
\r
1370 list. Is it genuinely suspended or is it blocked
\r
1372 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1374 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1376 /* The task does not appear on the event list item of
\r
1377 and of the RTOS objects, but could still be in the
\r
1378 blocked state if it is waiting on its notification
\r
1379 rather than waiting on an object. */
\r
1380 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1382 eReturn = eBlocked;
\r
1386 eReturn = eSuspended;
\r
1391 eReturn = eSuspended;
\r
1397 eReturn = eBlocked;
\r
1402 #if ( INCLUDE_vTaskDelete == 1 )
\r
1403 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1405 /* The task being queried is referenced from the deleted
\r
1406 tasks list, or it is not referenced from any lists at
\r
1408 eReturn = eDeleted;
\r
1412 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1414 /* If the task is not in any other state, it must be in the
\r
1415 Ready (including pending ready) state. */
\r
1421 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1423 #endif /* INCLUDE_eTaskGetState */
\r
1424 /*-----------------------------------------------------------*/
\r
1426 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1428 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1430 TCB_t const *pxTCB;
\r
1431 UBaseType_t uxReturn;
\r
1433 taskENTER_CRITICAL();
\r
1435 /* If null is passed in here then it is the priority of the task
\r
1436 that called uxTaskPriorityGet() that is being queried. */
\r
1437 pxTCB = prvGetTCBFromHandle( xTask );
\r
1438 uxReturn = pxTCB->uxPriority;
\r
1440 taskEXIT_CRITICAL();
\r
1445 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1446 /*-----------------------------------------------------------*/
\r
1448 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1450 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1452 TCB_t const *pxTCB;
\r
1453 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1455 /* RTOS ports that support interrupt nesting have the concept of a
\r
1456 maximum system call (or maximum API call) interrupt priority.
\r
1457 Interrupts that are above the maximum system call priority are keep
\r
1458 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1459 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1460 is defined in FreeRTOSConfig.h then
\r
1461 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1462 failure if a FreeRTOS API function is called from an interrupt that has
\r
1463 been assigned a priority above the configured maximum system call
\r
1464 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1465 from interrupts that have been assigned a priority at or (logically)
\r
1466 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1467 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1468 simple as possible. More information (albeit Cortex-M specific) is
\r
1469 provided on the following link:
\r
1470 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1471 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1473 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1475 /* If null is passed in here then it is the priority of the calling
\r
1476 task that is being queried. */
\r
1477 pxTCB = prvGetTCBFromHandle( xTask );
\r
1478 uxReturn = pxTCB->uxPriority;
\r
1480 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1485 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1486 /*-----------------------------------------------------------*/
\r
1488 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1490 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1493 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1494 BaseType_t xYieldRequired = pdFALSE;
\r
1496 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1498 /* Ensure the new priority is valid. */
\r
1499 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1501 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1505 mtCOVERAGE_TEST_MARKER();
\r
1508 taskENTER_CRITICAL();
\r
1510 /* If null is passed in here then it is the priority of the calling
\r
1511 task that is being changed. */
\r
1512 pxTCB = prvGetTCBFromHandle( xTask );
\r
1514 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1516 #if ( configUSE_MUTEXES == 1 )
\r
1518 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1522 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1526 if( uxCurrentBasePriority != uxNewPriority )
\r
1528 /* The priority change may have readied a task of higher
\r
1529 priority than the calling task. */
\r
1530 if( uxNewPriority > uxCurrentBasePriority )
\r
1532 if( pxTCB != pxCurrentTCB )
\r
1534 /* The priority of a task other than the currently
\r
1535 running task is being raised. Is the priority being
\r
1536 raised above that of the running task? */
\r
1537 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1539 xYieldRequired = pdTRUE;
\r
1543 mtCOVERAGE_TEST_MARKER();
\r
1548 /* The priority of the running task is being raised,
\r
1549 but the running task must already be the highest
\r
1550 priority task able to run so no yield is required. */
\r
1553 else if( pxTCB == pxCurrentTCB )
\r
1555 /* Setting the priority of the running task down means
\r
1556 there may now be another task of higher priority that
\r
1557 is ready to execute. */
\r
1558 xYieldRequired = pdTRUE;
\r
1562 /* Setting the priority of any other task down does not
\r
1563 require a yield as the running task must be above the
\r
1564 new priority of the task being modified. */
\r
1567 /* Remember the ready list the task might be referenced from
\r
1568 before its uxPriority member is changed so the
\r
1569 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1570 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1572 #if ( configUSE_MUTEXES == 1 )
\r
1574 /* Only change the priority being used if the task is not
\r
1575 currently using an inherited priority. */
\r
1576 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1578 pxTCB->uxPriority = uxNewPriority;
\r
1582 mtCOVERAGE_TEST_MARKER();
\r
1585 /* The base priority gets set whatever. */
\r
1586 pxTCB->uxBasePriority = uxNewPriority;
\r
1590 pxTCB->uxPriority = uxNewPriority;
\r
1594 /* Only reset the event list item value if the value is not
\r
1595 being used for anything else. */
\r
1596 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1598 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
1602 mtCOVERAGE_TEST_MARKER();
\r
1605 /* If the task is in the blocked or suspended list we need do
\r
1606 nothing more than change its priority variable. However, if
\r
1607 the task is in a ready list it needs to be removed and placed
\r
1608 in the list appropriate to its new priority. */
\r
1609 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1611 /* The task is currently in its ready list - remove before
\r
1612 adding it to it's new ready list. As we are in a critical
\r
1613 section we can do this even if the scheduler is suspended. */
\r
1614 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1616 /* It is known that the task is in its ready list so
\r
1617 there is no need to check again and the port level
\r
1618 reset macro can be called directly. */
\r
1619 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1623 mtCOVERAGE_TEST_MARKER();
\r
1625 prvAddTaskToReadyList( pxTCB );
\r
1629 mtCOVERAGE_TEST_MARKER();
\r
1632 if( xYieldRequired != pdFALSE )
\r
1634 taskYIELD_IF_USING_PREEMPTION();
\r
1638 mtCOVERAGE_TEST_MARKER();
\r
1641 /* Remove compiler warning about unused variables when the port
\r
1642 optimised task selection is not being used. */
\r
1643 ( void ) uxPriorityUsedOnEntry;
\r
1646 taskEXIT_CRITICAL();
\r
1649 #endif /* INCLUDE_vTaskPrioritySet */
\r
1650 /*-----------------------------------------------------------*/
\r
1652 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1654 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1658 taskENTER_CRITICAL();
\r
1660 /* If null is passed in here then it is the running task that is
\r
1661 being suspended. */
\r
1662 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1664 traceTASK_SUSPEND( pxTCB );
\r
1666 /* Remove task from the ready/delayed list and place in the
\r
1667 suspended list. */
\r
1668 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1670 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1674 mtCOVERAGE_TEST_MARKER();
\r
1677 /* Is the task waiting on an event also? */
\r
1678 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1680 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1684 mtCOVERAGE_TEST_MARKER();
\r
1687 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1689 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1691 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1693 /* The task was blocked to wait for a notification, but is
\r
1694 now suspended, so no notification was received. */
\r
1695 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1700 taskEXIT_CRITICAL();
\r
1702 if( xSchedulerRunning != pdFALSE )
\r
1704 /* Reset the next expected unblock time in case it referred to the
\r
1705 task that is now in the Suspended state. */
\r
1706 taskENTER_CRITICAL();
\r
1708 prvResetNextTaskUnblockTime();
\r
1710 taskEXIT_CRITICAL();
\r
1714 mtCOVERAGE_TEST_MARKER();
\r
1717 if( pxTCB == pxCurrentTCB )
\r
1719 if( xSchedulerRunning != pdFALSE )
\r
1721 /* The current task has just been suspended. */
\r
1722 configASSERT( uxSchedulerSuspended == 0 );
\r
1723 portYIELD_WITHIN_API();
\r
1727 /* The scheduler is not running, but the task that was pointed
\r
1728 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1729 must be adjusted to point to a different task. */
\r
1730 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1732 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1733 NULL so when the next task is created pxCurrentTCB will
\r
1734 be set to point to it no matter what its relative priority
\r
1736 pxCurrentTCB = NULL;
\r
1740 vTaskSwitchContext();
\r
1746 mtCOVERAGE_TEST_MARKER();
\r
1750 #endif /* INCLUDE_vTaskSuspend */
\r
1751 /*-----------------------------------------------------------*/
\r
1753 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1755 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1757 BaseType_t xReturn = pdFALSE;
\r
1758 const TCB_t * const pxTCB = xTask;
\r
1760 /* Accesses xPendingReadyList so must be called from a critical
\r
1763 /* It does not make sense to check if the calling task is suspended. */
\r
1764 configASSERT( xTask );
\r
1766 /* Is the task being resumed actually in the suspended list? */
\r
1767 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1769 /* Has the task already been resumed from within an ISR? */
\r
1770 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1772 /* Is it in the suspended list because it is in the Suspended
\r
1773 state, or because is is blocked with no timeout? */
\r
1774 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1780 mtCOVERAGE_TEST_MARKER();
\r
1785 mtCOVERAGE_TEST_MARKER();
\r
1790 mtCOVERAGE_TEST_MARKER();
\r
1794 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1796 #endif /* INCLUDE_vTaskSuspend */
\r
1797 /*-----------------------------------------------------------*/
\r
1799 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1801 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1803 TCB_t * const pxTCB = xTaskToResume;
\r
1805 /* It does not make sense to resume the calling task. */
\r
1806 configASSERT( xTaskToResume );
\r
1808 /* The parameter cannot be NULL as it is impossible to resume the
\r
1809 currently executing task. */
\r
1810 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1812 taskENTER_CRITICAL();
\r
1814 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1816 traceTASK_RESUME( pxTCB );
\r
1818 /* The ready list can be accessed even if the scheduler is
\r
1819 suspended because this is inside a critical section. */
\r
1820 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1821 prvAddTaskToReadyList( pxTCB );
\r
1823 /* A higher priority task may have just been resumed. */
\r
1824 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1826 /* This yield may not cause the task just resumed to run,
\r
1827 but will leave the lists in the correct state for the
\r
1829 taskYIELD_IF_USING_PREEMPTION();
\r
1833 mtCOVERAGE_TEST_MARKER();
\r
1838 mtCOVERAGE_TEST_MARKER();
\r
1841 taskEXIT_CRITICAL();
\r
1845 mtCOVERAGE_TEST_MARKER();
\r
1849 #endif /* INCLUDE_vTaskSuspend */
\r
1851 /*-----------------------------------------------------------*/
\r
1853 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1855 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1857 BaseType_t xYieldRequired = pdFALSE;
\r
1858 TCB_t * const pxTCB = xTaskToResume;
\r
1859 UBaseType_t uxSavedInterruptStatus;
\r
1861 configASSERT( xTaskToResume );
\r
1863 /* RTOS ports that support interrupt nesting have the concept of a
\r
1864 maximum system call (or maximum API call) interrupt priority.
\r
1865 Interrupts that are above the maximum system call priority are keep
\r
1866 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1867 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1868 is defined in FreeRTOSConfig.h then
\r
1869 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1870 failure if a FreeRTOS API function is called from an interrupt that has
\r
1871 been assigned a priority above the configured maximum system call
\r
1872 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1873 from interrupts that have been assigned a priority at or (logically)
\r
1874 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1875 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1876 simple as possible. More information (albeit Cortex-M specific) is
\r
1877 provided on the following link:
\r
1878 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1879 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1881 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1883 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1885 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1887 /* Check the ready lists can be accessed. */
\r
1888 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1890 /* Ready lists can be accessed so move the task from the
\r
1891 suspended list to the ready list directly. */
\r
1892 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1894 xYieldRequired = pdTRUE;
\r
1898 mtCOVERAGE_TEST_MARKER();
\r
1901 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1902 prvAddTaskToReadyList( pxTCB );
\r
1906 /* The delayed or ready lists cannot be accessed so the task
\r
1907 is held in the pending ready list until the scheduler is
\r
1909 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1914 mtCOVERAGE_TEST_MARKER();
\r
1917 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1919 return xYieldRequired;
\r
1922 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1923 /*-----------------------------------------------------------*/
\r
1925 void vTaskStartScheduler( void )
\r
1927 BaseType_t xReturn;
\r
1929 /* Add the idle task at the lowest priority. */
\r
1930 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1932 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1933 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1934 uint32_t ulIdleTaskStackSize;
\r
1936 /* The Idle task is created using user provided RAM - obtain the
\r
1937 address of the RAM then create the idle task. */
\r
1938 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1939 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1940 configIDLE_TASK_NAME,
\r
1941 ulIdleTaskStackSize,
\r
1942 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1943 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1944 pxIdleTaskStackBuffer,
\r
1945 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1947 if( xIdleTaskHandle != NULL )
\r
1958 /* The Idle task is being created using dynamically allocated RAM. */
\r
1959 xReturn = xTaskCreate( prvIdleTask,
\r
1960 configIDLE_TASK_NAME,
\r
1961 configMINIMAL_STACK_SIZE,
\r
1963 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1964 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1966 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1968 #if ( configUSE_TIMERS == 1 )
\r
1970 if( xReturn == pdPASS )
\r
1972 xReturn = xTimerCreateTimerTask();
\r
1976 mtCOVERAGE_TEST_MARKER();
\r
1979 #endif /* configUSE_TIMERS */
\r
1981 if( xReturn == pdPASS )
\r
1983 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1984 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1985 the only macro called by the function. */
\r
1986 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1988 freertos_tasks_c_additions_init();
\r
1992 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1993 before or during the call to xPortStartScheduler(). The stacks of
\r
1994 the created tasks contain a status word with interrupts switched on
\r
1995 so interrupts will automatically get re-enabled when the first task
\r
1997 portDISABLE_INTERRUPTS();
\r
1999 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2001 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2002 structure specific to the task that will run first. */
\r
2003 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2005 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2007 xNextTaskUnblockTime = portMAX_DELAY;
\r
2008 xSchedulerRunning = pdTRUE;
\r
2009 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2011 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2012 macro must be defined to configure the timer/counter used to generate
\r
2013 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2014 is set to 0 and the following line fails to build then ensure you do not
\r
2015 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2016 FreeRTOSConfig.h file. */
\r
2017 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2019 traceTASK_SWITCHED_IN();
\r
2021 /* Setting up the timer tick is hardware specific and thus in the
\r
2022 portable interface. */
\r
2023 if( xPortStartScheduler() != pdFALSE )
\r
2025 /* Should not reach here as if the scheduler is running the
\r
2026 function will not return. */
\r
2030 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2035 /* This line will only be reached if the kernel could not be started,
\r
2036 because there was not enough FreeRTOS heap to create the idle task
\r
2037 or the timer task. */
\r
2038 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2041 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2042 meaning xIdleTaskHandle is not used anywhere else. */
\r
2043 ( void ) xIdleTaskHandle;
\r
2045 /*-----------------------------------------------------------*/
\r
2047 void vTaskEndScheduler( void )
\r
2049 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2050 routine so the original ISRs can be restored if necessary. The port
\r
2051 layer must ensure interrupts enable bit is left in the correct state. */
\r
2052 portDISABLE_INTERRUPTS();
\r
2053 xSchedulerRunning = pdFALSE;
\r
2054 vPortEndScheduler();
\r
2056 /*----------------------------------------------------------*/
\r
2058 void vTaskSuspendAll( void )
\r
2060 /* A critical section is not required as the variable is of type
\r
2061 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2062 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2063 http://goo.gl/wu4acr */
\r
2064 ++uxSchedulerSuspended;
\r
2066 /*----------------------------------------------------------*/
\r
2068 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2070 static TickType_t prvGetExpectedIdleTime( void )
\r
2072 TickType_t xReturn;
\r
2073 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2075 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2076 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2077 task that are in the Ready state, even though the idle task is
\r
2079 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2081 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2083 uxHigherPriorityReadyTasks = pdTRUE;
\r
2088 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2090 /* When port optimised task selection is used the uxTopReadyPriority
\r
2091 variable is used as a bit map. If bits other than the least
\r
2092 significant bit are set then there are tasks that have a priority
\r
2093 above the idle priority that are in the Ready state. This takes
\r
2094 care of the case where the co-operative scheduler is in use. */
\r
2095 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2097 uxHigherPriorityReadyTasks = pdTRUE;
\r
2102 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2106 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2108 /* There are other idle priority tasks in the ready state. If
\r
2109 time slicing is used then the very next tick interrupt must be
\r
2113 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2115 /* There are tasks in the Ready state that have a priority above the
\r
2116 idle priority. This path can only be reached if
\r
2117 configUSE_PREEMPTION is 0. */
\r
2122 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2128 #endif /* configUSE_TICKLESS_IDLE */
\r
2129 /*----------------------------------------------------------*/
\r
2131 BaseType_t xTaskResumeAll( void )
\r
2133 TCB_t *pxTCB = NULL;
\r
2134 BaseType_t xAlreadyYielded = pdFALSE;
\r
2136 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2137 previous call to vTaskSuspendAll(). */
\r
2138 configASSERT( uxSchedulerSuspended );
\r
2140 /* It is possible that an ISR caused a task to be removed from an event
\r
2141 list while the scheduler was suspended. If this was the case then the
\r
2142 removed task will have been added to the xPendingReadyList. Once the
\r
2143 scheduler has been resumed it is safe to move all the pending ready
\r
2144 tasks from this list into their appropriate ready list. */
\r
2145 taskENTER_CRITICAL();
\r
2147 --uxSchedulerSuspended;
\r
2149 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2151 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2153 /* Move any readied tasks from the pending list into the
\r
2154 appropriate ready list. */
\r
2155 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2157 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
2158 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2159 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2160 prvAddTaskToReadyList( pxTCB );
\r
2162 /* If the moved task has a priority higher than the current
\r
2163 task then a yield must be performed. */
\r
2164 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2166 xYieldPending = pdTRUE;
\r
2170 mtCOVERAGE_TEST_MARKER();
\r
2174 if( pxTCB != NULL )
\r
2176 /* A task was unblocked while the scheduler was suspended,
\r
2177 which may have prevented the next unblock time from being
\r
2178 re-calculated, in which case re-calculate it now. Mainly
\r
2179 important for low power tickless implementations, where
\r
2180 this can prevent an unnecessary exit from low power
\r
2182 prvResetNextTaskUnblockTime();
\r
2185 /* If any ticks occurred while the scheduler was suspended then
\r
2186 they should be processed now. This ensures the tick count does
\r
2187 not slip, and that any delayed tasks are resumed at the correct
\r
2190 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2192 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2196 if( xTaskIncrementTick() != pdFALSE )
\r
2198 xYieldPending = pdTRUE;
\r
2202 mtCOVERAGE_TEST_MARKER();
\r
2205 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2207 uxPendedTicks = 0;
\r
2211 mtCOVERAGE_TEST_MARKER();
\r
2215 if( xYieldPending != pdFALSE )
\r
2217 #if( configUSE_PREEMPTION != 0 )
\r
2219 xAlreadyYielded = pdTRUE;
\r
2222 taskYIELD_IF_USING_PREEMPTION();
\r
2226 mtCOVERAGE_TEST_MARKER();
\r
2232 mtCOVERAGE_TEST_MARKER();
\r
2235 taskEXIT_CRITICAL();
\r
2237 return xAlreadyYielded;
\r
2239 /*-----------------------------------------------------------*/
\r
2241 TickType_t xTaskGetTickCount( void )
\r
2243 TickType_t xTicks;
\r
2245 /* Critical section required if running on a 16 bit processor. */
\r
2246 portTICK_TYPE_ENTER_CRITICAL();
\r
2248 xTicks = xTickCount;
\r
2250 portTICK_TYPE_EXIT_CRITICAL();
\r
2254 /*-----------------------------------------------------------*/
\r
2256 TickType_t xTaskGetTickCountFromISR( void )
\r
2258 TickType_t xReturn;
\r
2259 UBaseType_t uxSavedInterruptStatus;
\r
2261 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2262 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2263 above the maximum system call priority are kept permanently enabled, even
\r
2264 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2265 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2266 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2267 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2268 assigned a priority above the configured maximum system call priority.
\r
2269 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2270 that have been assigned a priority at or (logically) below the maximum
\r
2271 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2272 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2273 More information (albeit Cortex-M specific) is provided on the following
\r
2274 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2275 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2277 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2279 xReturn = xTickCount;
\r
2281 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2285 /*-----------------------------------------------------------*/
\r
2287 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2289 /* A critical section is not required because the variables are of type
\r
2291 return uxCurrentNumberOfTasks;
\r
2293 /*-----------------------------------------------------------*/
\r
2295 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2299 /* If null is passed in here then the name of the calling task is being
\r
2301 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2302 configASSERT( pxTCB );
\r
2303 return &( pxTCB->pcTaskName[ 0 ] );
\r
2305 /*-----------------------------------------------------------*/
\r
2307 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2309 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2311 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2314 BaseType_t xBreakLoop;
\r
2316 /* This function is called with the scheduler suspended. */
\r
2318 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2320 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
2324 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
2326 /* Check each character in the name looking for a match or
\r
2328 xBreakLoop = pdFALSE;
\r
2329 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2331 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2333 if( cNextChar != pcNameToQuery[ x ] )
\r
2335 /* Characters didn't match. */
\r
2336 xBreakLoop = pdTRUE;
\r
2338 else if( cNextChar == ( char ) 0x00 )
\r
2340 /* Both strings terminated, a match must have been
\r
2342 pxReturn = pxNextTCB;
\r
2343 xBreakLoop = pdTRUE;
\r
2347 mtCOVERAGE_TEST_MARKER();
\r
2350 if( xBreakLoop != pdFALSE )
\r
2356 if( pxReturn != NULL )
\r
2358 /* The handle has been found. */
\r
2362 } while( pxNextTCB != pxFirstTCB );
\r
2366 mtCOVERAGE_TEST_MARKER();
\r
2372 #endif /* INCLUDE_xTaskGetHandle */
\r
2373 /*-----------------------------------------------------------*/
\r
2375 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2377 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2379 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2382 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2383 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2385 vTaskSuspendAll();
\r
2387 /* Search the ready lists. */
\r
2391 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2393 if( pxTCB != NULL )
\r
2395 /* Found the handle. */
\r
2399 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2401 /* Search the delayed lists. */
\r
2402 if( pxTCB == NULL )
\r
2404 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2407 if( pxTCB == NULL )
\r
2409 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2412 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2414 if( pxTCB == NULL )
\r
2416 /* Search the suspended list. */
\r
2417 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2422 #if( INCLUDE_vTaskDelete == 1 )
\r
2424 if( pxTCB == NULL )
\r
2426 /* Search the deleted list. */
\r
2427 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2432 ( void ) xTaskResumeAll();
\r
2437 #endif /* INCLUDE_xTaskGetHandle */
\r
2438 /*-----------------------------------------------------------*/
\r
2440 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2442 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2444 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2446 vTaskSuspendAll();
\r
2448 /* Is there a space in the array for each task in the system? */
\r
2449 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2451 /* Fill in an TaskStatus_t structure with information on each
\r
2452 task in the Ready state. */
\r
2456 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2458 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2460 /* Fill in an TaskStatus_t structure with information on each
\r
2461 task in the Blocked state. */
\r
2462 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2463 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2465 #if( INCLUDE_vTaskDelete == 1 )
\r
2467 /* Fill in an TaskStatus_t structure with information on
\r
2468 each task that has been deleted but not yet cleaned up. */
\r
2469 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2473 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2475 /* Fill in an TaskStatus_t structure with information on
\r
2476 each task in the Suspended state. */
\r
2477 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2481 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2483 if( pulTotalRunTime != NULL )
\r
2485 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2486 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2488 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2494 if( pulTotalRunTime != NULL )
\r
2496 *pulTotalRunTime = 0;
\r
2503 mtCOVERAGE_TEST_MARKER();
\r
2506 ( void ) xTaskResumeAll();
\r
2511 #endif /* configUSE_TRACE_FACILITY */
\r
2512 /*----------------------------------------------------------*/
\r
2514 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2516 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2518 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2519 started, then xIdleTaskHandle will be NULL. */
\r
2520 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2521 return xIdleTaskHandle;
\r
2524 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2525 /*----------------------------------------------------------*/
\r
2527 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2528 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2529 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2531 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2533 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2535 /* Correct the tick count value after a period during which the tick
\r
2536 was suppressed. Note this does *not* call the tick hook function for
\r
2537 each stepped tick. */
\r
2538 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2539 xTickCount += xTicksToJump;
\r
2540 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2543 #endif /* configUSE_TICKLESS_IDLE */
\r
2544 /*----------------------------------------------------------*/
\r
2546 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2548 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2550 TCB_t *pxTCB = xTask;
\r
2551 BaseType_t xReturn;
\r
2553 configASSERT( pxTCB );
\r
2555 vTaskSuspendAll();
\r
2557 /* A task can only be prematurely removed from the Blocked state if
\r
2558 it is actually in the Blocked state. */
\r
2559 if( eTaskGetState( xTask ) == eBlocked )
\r
2563 /* Remove the reference to the task from the blocked list. An
\r
2564 interrupt won't touch the xStateListItem because the
\r
2565 scheduler is suspended. */
\r
2566 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2568 /* Is the task waiting on an event also? If so remove it from
\r
2569 the event list too. Interrupts can touch the event list item,
\r
2570 even though the scheduler is suspended, so a critical section
\r
2572 taskENTER_CRITICAL();
\r
2574 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2576 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2577 pxTCB->ucDelayAborted = pdTRUE;
\r
2581 mtCOVERAGE_TEST_MARKER();
\r
2584 taskEXIT_CRITICAL();
\r
2586 /* Place the unblocked task into the appropriate ready list. */
\r
2587 prvAddTaskToReadyList( pxTCB );
\r
2589 /* A task being unblocked cannot cause an immediate context
\r
2590 switch if preemption is turned off. */
\r
2591 #if ( configUSE_PREEMPTION == 1 )
\r
2593 /* Preemption is on, but a context switch should only be
\r
2594 performed if the unblocked task has a priority that is
\r
2595 equal to or higher than the currently executing task. */
\r
2596 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2598 /* Pend the yield to be performed when the scheduler
\r
2599 is unsuspended. */
\r
2600 xYieldPending = pdTRUE;
\r
2604 mtCOVERAGE_TEST_MARKER();
\r
2607 #endif /* configUSE_PREEMPTION */
\r
2614 ( void ) xTaskResumeAll();
\r
2619 #endif /* INCLUDE_xTaskAbortDelay */
\r
2620 /*----------------------------------------------------------*/
\r
2622 BaseType_t xTaskIncrementTick( void )
\r
2625 TickType_t xItemValue;
\r
2626 BaseType_t xSwitchRequired = pdFALSE;
\r
2628 /* Called by the portable layer each time a tick interrupt occurs.
\r
2629 Increments the tick then checks to see if the new tick value will cause any
\r
2630 tasks to be unblocked. */
\r
2631 traceTASK_INCREMENT_TICK( xTickCount );
\r
2632 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2634 /* Minor optimisation. The tick count cannot change in this
\r
2636 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2638 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2639 delayed lists if it wraps to 0. */
\r
2640 xTickCount = xConstTickCount;
\r
2642 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2644 taskSWITCH_DELAYED_LISTS();
\r
2648 mtCOVERAGE_TEST_MARKER();
\r
2651 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2652 the queue in the order of their wake time - meaning once one task
\r
2653 has been found whose block time has not expired there is no need to
\r
2654 look any further down the list. */
\r
2655 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2659 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2661 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2662 to the maximum possible value so it is extremely
\r
2664 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2665 next time through. */
\r
2666 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2671 /* The delayed list is not empty, get the value of the
\r
2672 item at the head of the delayed list. This is the time
\r
2673 at which the task at the head of the delayed list must
\r
2674 be removed from the Blocked state. */
\r
2675 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
2676 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2678 if( xConstTickCount < xItemValue )
\r
2680 /* It is not time to unblock this item yet, but the
\r
2681 item value is the time at which the task at the head
\r
2682 of the blocked list must be removed from the Blocked
\r
2683 state - so record the item value in
\r
2684 xNextTaskUnblockTime. */
\r
2685 xNextTaskUnblockTime = xItemValue;
\r
2686 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2690 mtCOVERAGE_TEST_MARKER();
\r
2693 /* It is time to remove the item from the Blocked state. */
\r
2694 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2696 /* Is the task waiting on an event also? If so remove
\r
2697 it from the event list. */
\r
2698 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2700 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2704 mtCOVERAGE_TEST_MARKER();
\r
2707 /* Place the unblocked task into the appropriate ready
\r
2709 prvAddTaskToReadyList( pxTCB );
\r
2711 /* A task being unblocked cannot cause an immediate
\r
2712 context switch if preemption is turned off. */
\r
2713 #if ( configUSE_PREEMPTION == 1 )
\r
2715 /* Preemption is on, but a context switch should
\r
2716 only be performed if the unblocked task has a
\r
2717 priority that is equal to or higher than the
\r
2718 currently executing task. */
\r
2719 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2721 xSwitchRequired = pdTRUE;
\r
2725 mtCOVERAGE_TEST_MARKER();
\r
2728 #endif /* configUSE_PREEMPTION */
\r
2733 /* Tasks of equal priority to the currently running task will share
\r
2734 processing time (time slice) if preemption is on, and the application
\r
2735 writer has not explicitly turned time slicing off. */
\r
2736 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2738 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2740 xSwitchRequired = pdTRUE;
\r
2744 mtCOVERAGE_TEST_MARKER();
\r
2747 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2749 #if ( configUSE_TICK_HOOK == 1 )
\r
2751 /* Guard against the tick hook being called when the pended tick
\r
2752 count is being unwound (when the scheduler is being unlocked). */
\r
2753 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2755 vApplicationTickHook();
\r
2759 mtCOVERAGE_TEST_MARKER();
\r
2762 #endif /* configUSE_TICK_HOOK */
\r
2768 /* The tick hook gets called at regular intervals, even if the
\r
2769 scheduler is locked. */
\r
2770 #if ( configUSE_TICK_HOOK == 1 )
\r
2772 vApplicationTickHook();
\r
2777 #if ( configUSE_PREEMPTION == 1 )
\r
2779 if( xYieldPending != pdFALSE )
\r
2781 xSwitchRequired = pdTRUE;
\r
2785 mtCOVERAGE_TEST_MARKER();
\r
2788 #endif /* configUSE_PREEMPTION */
\r
2790 return xSwitchRequired;
\r
2792 /*-----------------------------------------------------------*/
\r
2794 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2796 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2800 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2802 if( xTask == NULL )
\r
2804 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2811 /* Save the hook function in the TCB. A critical section is required as
\r
2812 the value can be accessed from an interrupt. */
\r
2813 taskENTER_CRITICAL();
\r
2815 xTCB->pxTaskTag = pxHookFunction;
\r
2817 taskEXIT_CRITICAL();
\r
2820 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2821 /*-----------------------------------------------------------*/
\r
2823 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2825 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2828 TaskHookFunction_t xReturn;
\r
2830 /* If xTask is NULL then we are setting our own task hook. */
\r
2831 if( xTask == NULL )
\r
2833 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2840 /* Save the hook function in the TCB. A critical section is required as
\r
2841 the value can be accessed from an interrupt. */
\r
2842 taskENTER_CRITICAL();
\r
2844 xReturn = xTCB->pxTaskTag;
\r
2846 taskEXIT_CRITICAL();
\r
2851 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2852 /*-----------------------------------------------------------*/
\r
2854 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2856 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2859 BaseType_t xReturn;
\r
2861 /* If xTask is NULL then we are calling our own task hook. */
\r
2862 if( xTask == NULL )
\r
2864 xTCB = pxCurrentTCB;
\r
2871 if( xTCB->pxTaskTag != NULL )
\r
2873 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2883 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2884 /*-----------------------------------------------------------*/
\r
2886 void vTaskSwitchContext( void )
\r
2888 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2890 /* The scheduler is currently suspended - do not allow a context
\r
2892 xYieldPending = pdTRUE;
\r
2896 xYieldPending = pdFALSE;
\r
2897 traceTASK_SWITCHED_OUT();
\r
2899 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2901 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
2902 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
2904 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2905 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2907 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2910 /* Add the amount of time the task has been running to the
\r
2911 accumulated time so far. The time the task started running was
\r
2912 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2913 protection here so count values are only valid until the timer
\r
2914 overflows. The guard against negative values is to protect
\r
2915 against suspect run time stat counter implementations - which
\r
2916 are provided by the application, not the kernel. */
\r
2917 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2919 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2923 mtCOVERAGE_TEST_MARKER();
\r
2925 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2927 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2929 /* Check for stack overflow, if configured. */
\r
2930 taskCHECK_FOR_STACK_OVERFLOW();
\r
2932 /* Before the currently running task is switched out, save its errno. */
\r
2933 #if( configUSE_POSIX_ERRNO == 1 )
\r
2935 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
2939 /* Select a new task to run using either the generic C or port
\r
2940 optimised asm code. */
\r
2941 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
2942 traceTASK_SWITCHED_IN();
\r
2944 /* After the new task is switched in, update the global errno. */
\r
2945 #if( configUSE_POSIX_ERRNO == 1 )
\r
2947 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
2951 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2953 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2954 structure specific to this task. */
\r
2955 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2957 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2960 /*-----------------------------------------------------------*/
\r
2962 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2964 configASSERT( pxEventList );
\r
2966 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2967 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2969 /* Place the event list item of the TCB in the appropriate event list.
\r
2970 This is placed in the list in priority order so the highest priority task
\r
2971 is the first to be woken by the event. The queue that contains the event
\r
2972 list is locked, preventing simultaneous access from interrupts. */
\r
2973 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2975 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2977 /*-----------------------------------------------------------*/
\r
2979 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2981 configASSERT( pxEventList );
\r
2983 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2984 the event groups implementation. */
\r
2985 configASSERT( uxSchedulerSuspended != 0 );
\r
2987 /* Store the item value in the event list item. It is safe to access the
\r
2988 event list item here as interrupts won't access the event list item of a
\r
2989 task that is not in the Blocked state. */
\r
2990 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2992 /* Place the event list item of the TCB at the end of the appropriate event
\r
2993 list. It is safe to access the event list here because it is part of an
\r
2994 event group implementation - and interrupts don't access event groups
\r
2995 directly (instead they access them indirectly by pending function calls to
\r
2996 the task level). */
\r
2997 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2999 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3001 /*-----------------------------------------------------------*/
\r
3003 #if( configUSE_TIMERS == 1 )
\r
3005 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
3007 configASSERT( pxEventList );
\r
3009 /* This function should not be called by application code hence the
\r
3010 'Restricted' in its name. It is not part of the public API. It is
\r
3011 designed for use by kernel code, and has special calling requirements -
\r
3012 it should be called with the scheduler suspended. */
\r
3015 /* Place the event list item of the TCB in the appropriate event list.
\r
3016 In this case it is assume that this is the only task that is going to
\r
3017 be waiting on this event list, so the faster vListInsertEnd() function
\r
3018 can be used in place of vListInsert. */
\r
3019 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3021 /* If the task should block indefinitely then set the block time to a
\r
3022 value that will be recognised as an indefinite delay inside the
\r
3023 prvAddCurrentTaskToDelayedList() function. */
\r
3024 if( xWaitIndefinitely != pdFALSE )
\r
3026 xTicksToWait = portMAX_DELAY;
\r
3029 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3030 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3033 #endif /* configUSE_TIMERS */
\r
3034 /*-----------------------------------------------------------*/
\r
3036 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3038 TCB_t *pxUnblockedTCB;
\r
3039 BaseType_t xReturn;
\r
3041 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3042 called from a critical section within an ISR. */
\r
3044 /* The event list is sorted in priority order, so the first in the list can
\r
3045 be removed as it is known to be the highest priority. Remove the TCB from
\r
3046 the delayed list, and add it to the ready list.
\r
3048 If an event is for a queue that is locked then this function will never
\r
3049 get called - the lock count on the queue will get modified instead. This
\r
3050 means exclusive access to the event list is guaranteed here.
\r
3052 This function assumes that a check has already been made to ensure that
\r
3053 pxEventList is not empty. */
\r
3054 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
3055 configASSERT( pxUnblockedTCB );
\r
3056 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3058 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3060 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3061 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3065 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3066 pending until the scheduler is resumed. */
\r
3067 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3070 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3072 /* Return true if the task removed from the event list has a higher
\r
3073 priority than the calling task. This allows the calling task to know if
\r
3074 it should force a context switch now. */
\r
3077 /* Mark that a yield is pending in case the user is not using the
\r
3078 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3079 xYieldPending = pdTRUE;
\r
3083 xReturn = pdFALSE;
\r
3086 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3088 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3089 might be set to the blocked task's time out time. If the task is
\r
3090 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3091 normally left unchanged, because it is automatically reset to a new
\r
3092 value when the tick count equals xNextTaskUnblockTime. However if
\r
3093 tickless idling is used it might be more important to enter sleep mode
\r
3094 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3095 ensure it is updated at the earliest possible time. */
\r
3096 prvResetNextTaskUnblockTime();
\r
3102 /*-----------------------------------------------------------*/
\r
3104 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3106 TCB_t *pxUnblockedTCB;
\r
3108 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3109 the event flags implementation. */
\r
3110 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3112 /* Store the new item value in the event list. */
\r
3113 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3115 /* Remove the event list form the event flag. Interrupts do not access
\r
3117 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
3118 configASSERT( pxUnblockedTCB );
\r
3119 ( void ) uxListRemove( pxEventListItem );
\r
3121 /* Remove the task from the delayed list and add it to the ready list. The
\r
3122 scheduler is suspended so interrupts will not be accessing the ready
\r
3124 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3125 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3127 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3129 /* The unblocked task has a priority above that of the calling task, so
\r
3130 a context switch is required. This function is called with the
\r
3131 scheduler suspended so xYieldPending is set so the context switch
\r
3132 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3133 xYieldPending = pdTRUE;
\r
3136 /*-----------------------------------------------------------*/
\r
3138 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3140 configASSERT( pxTimeOut );
\r
3141 taskENTER_CRITICAL();
\r
3143 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3144 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3146 taskEXIT_CRITICAL();
\r
3148 /*-----------------------------------------------------------*/
\r
3150 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3152 /* For internal use only as it does not use a critical section. */
\r
3153 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3154 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3156 /*-----------------------------------------------------------*/
\r
3158 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3160 BaseType_t xReturn;
\r
3162 configASSERT( pxTimeOut );
\r
3163 configASSERT( pxTicksToWait );
\r
3165 taskENTER_CRITICAL();
\r
3167 /* Minor optimisation. The tick count cannot change in this block. */
\r
3168 const TickType_t xConstTickCount = xTickCount;
\r
3169 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3171 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3172 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3174 /* The delay was aborted, which is not the same as a time out,
\r
3175 but has the same result. */
\r
3176 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3182 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3183 if( *pxTicksToWait == portMAX_DELAY )
\r
3185 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3186 specified is the maximum block time then the task should block
\r
3187 indefinitely, and therefore never time out. */
\r
3188 xReturn = pdFALSE;
\r
3193 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3195 /* The tick count is greater than the time at which
\r
3196 vTaskSetTimeout() was called, but has also overflowed since
\r
3197 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3198 around and gone past again. This passed since vTaskSetTimeout()
\r
3202 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3204 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3205 *pxTicksToWait -= xElapsedTime;
\r
3206 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3207 xReturn = pdFALSE;
\r
3211 *pxTicksToWait = 0;
\r
3215 taskEXIT_CRITICAL();
\r
3219 /*-----------------------------------------------------------*/
\r
3221 void vTaskMissedYield( void )
\r
3223 xYieldPending = pdTRUE;
\r
3225 /*-----------------------------------------------------------*/
\r
3227 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3229 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3231 UBaseType_t uxReturn;
\r
3232 TCB_t const *pxTCB;
\r
3234 if( xTask != NULL )
\r
3237 uxReturn = pxTCB->uxTaskNumber;
\r
3247 #endif /* configUSE_TRACE_FACILITY */
\r
3248 /*-----------------------------------------------------------*/
\r
3250 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3252 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3256 if( xTask != NULL )
\r
3259 pxTCB->uxTaskNumber = uxHandle;
\r
3263 #endif /* configUSE_TRACE_FACILITY */
\r
3266 * -----------------------------------------------------------
\r
3268 * ----------------------------------------------------------
\r
3270 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3271 * language extensions. The equivalent prototype for this function is:
\r
3273 * void prvIdleTask( void *pvParameters );
\r
3276 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3278 /* Stop warnings. */
\r
3279 ( void ) pvParameters;
\r
3281 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3282 SCHEDULER IS STARTED. **/
\r
3284 /* In case a task that has a secure context deletes itself, in which case
\r
3285 the idle task is responsible for deleting the task's secure context, if
\r
3287 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3291 /* See if any tasks have deleted themselves - if so then the idle task
\r
3292 is responsible for freeing the deleted task's TCB and stack. */
\r
3293 prvCheckTasksWaitingTermination();
\r
3295 #if ( configUSE_PREEMPTION == 0 )
\r
3297 /* If we are not using preemption we keep forcing a task switch to
\r
3298 see if any other task has become available. If we are using
\r
3299 preemption we don't need to do this as any task becoming available
\r
3300 will automatically get the processor anyway. */
\r
3303 #endif /* configUSE_PREEMPTION */
\r
3305 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3307 /* When using preemption tasks of equal priority will be
\r
3308 timesliced. If a task that is sharing the idle priority is ready
\r
3309 to run then the idle task should yield before the end of the
\r
3312 A critical region is not required here as we are just reading from
\r
3313 the list, and an occasional incorrect value will not matter. If
\r
3314 the ready list at the idle priority contains more than one task
\r
3315 then a task other than the idle task is ready to execute. */
\r
3316 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3322 mtCOVERAGE_TEST_MARKER();
\r
3325 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3327 #if ( configUSE_IDLE_HOOK == 1 )
\r
3329 extern void vApplicationIdleHook( void );
\r
3331 /* Call the user defined function from within the idle task. This
\r
3332 allows the application designer to add background functionality
\r
3333 without the overhead of a separate task.
\r
3334 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3335 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3336 vApplicationIdleHook();
\r
3338 #endif /* configUSE_IDLE_HOOK */
\r
3340 /* This conditional compilation should use inequality to 0, not equality
\r
3341 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3342 user defined low power mode implementations require
\r
3343 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3344 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3346 TickType_t xExpectedIdleTime;
\r
3348 /* It is not desirable to suspend then resume the scheduler on
\r
3349 each iteration of the idle task. Therefore, a preliminary
\r
3350 test of the expected idle time is performed without the
\r
3351 scheduler suspended. The result here is not necessarily
\r
3353 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3355 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3357 vTaskSuspendAll();
\r
3359 /* Now the scheduler is suspended, the expected idle
\r
3360 time can be sampled again, and this time its value can
\r
3362 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3363 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3365 /* Define the following macro to set xExpectedIdleTime to 0
\r
3366 if the application does not want
\r
3367 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3368 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3370 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3372 traceLOW_POWER_IDLE_BEGIN();
\r
3373 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3374 traceLOW_POWER_IDLE_END();
\r
3378 mtCOVERAGE_TEST_MARKER();
\r
3381 ( void ) xTaskResumeAll();
\r
3385 mtCOVERAGE_TEST_MARKER();
\r
3388 #endif /* configUSE_TICKLESS_IDLE */
\r
3391 /*-----------------------------------------------------------*/
\r
3393 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3395 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3397 /* The idle task exists in addition to the application tasks. */
\r
3398 const UBaseType_t uxNonApplicationTasks = 1;
\r
3399 eSleepModeStatus eReturn = eStandardSleep;
\r
3401 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3403 /* A task was made ready while the scheduler was suspended. */
\r
3404 eReturn = eAbortSleep;
\r
3406 else if( xYieldPending != pdFALSE )
\r
3408 /* A yield was pended while the scheduler was suspended. */
\r
3409 eReturn = eAbortSleep;
\r
3413 /* If all the tasks are in the suspended list (which might mean they
\r
3414 have an infinite block time rather than actually being suspended)
\r
3415 then it is safe to turn all clocks off and just wait for external
\r
3417 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3419 eReturn = eNoTasksWaitingTimeout;
\r
3423 mtCOVERAGE_TEST_MARKER();
\r
3430 #endif /* configUSE_TICKLESS_IDLE */
\r
3431 /*-----------------------------------------------------------*/
\r
3433 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3435 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3439 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3441 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3442 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3446 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3447 /*-----------------------------------------------------------*/
\r
3449 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3451 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3453 void *pvReturn = NULL;
\r
3456 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3458 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3459 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3469 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3470 /*-----------------------------------------------------------*/
\r
3472 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3474 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3478 /* If null is passed in here then we are modifying the MPU settings of
\r
3479 the calling task. */
\r
3480 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3482 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3485 #endif /* portUSING_MPU_WRAPPERS */
\r
3486 /*-----------------------------------------------------------*/
\r
3488 static void prvInitialiseTaskLists( void )
\r
3490 UBaseType_t uxPriority;
\r
3491 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
\r
3492 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
3494 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3496 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3499 vListInitialise( &xDelayedTaskList1 );
\r
3500 vListInitialise( &xDelayedTaskList2 );
\r
3501 vListInitialise( &xPendingReadyList );
\r
3503 #if ( INCLUDE_vTaskDelete == 1 )
\r
3505 vListInitialise( &xTasksWaitingTermination );
\r
3507 #endif /* INCLUDE_vTaskDelete */
\r
3509 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3511 vListInitialise( &xSuspendedTaskList );
\r
3513 #endif /* INCLUDE_vTaskSuspend */
\r
3515 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3517 pxDelayedTaskList = &xDelayedTaskList1;
\r
3518 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3520 /*-----------------------------------------------------------*/
\r
3522 static void prvCheckTasksWaitingTermination( void )
\r
3525 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3527 #if ( INCLUDE_vTaskDelete == 1 )
\r
3531 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3532 being called too often in the idle task. */
\r
3533 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3535 taskENTER_CRITICAL();
\r
3537 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
3538 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3539 --uxCurrentNumberOfTasks;
\r
3540 --uxDeletedTasksWaitingCleanUp;
\r
3542 taskEXIT_CRITICAL();
\r
3544 prvDeleteTCB( pxTCB );
\r
3547 #endif /* INCLUDE_vTaskDelete */
\r
3549 /*-----------------------------------------------------------*/
\r
3551 #if( configUSE_TRACE_FACILITY == 1 )
\r
3553 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3557 /* xTask is NULL then get the state of the calling task. */
\r
3558 pxTCB = prvGetTCBFromHandle( xTask );
\r
3560 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3561 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3562 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3563 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3564 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3566 #if ( configUSE_MUTEXES == 1 )
\r
3568 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3572 pxTaskStatus->uxBasePriority = 0;
\r
3576 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3578 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3582 pxTaskStatus->ulRunTimeCounter = 0;
\r
3586 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3587 value of eState passed into this function is eInvalid - otherwise the
\r
3588 state is just set to whatever is passed in. */
\r
3589 if( eState != eInvalid )
\r
3591 if( pxTCB == pxCurrentTCB )
\r
3593 pxTaskStatus->eCurrentState = eRunning;
\r
3597 pxTaskStatus->eCurrentState = eState;
\r
3599 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3601 /* If the task is in the suspended list then there is a
\r
3602 chance it is actually just blocked indefinitely - so really
\r
3603 it should be reported as being in the Blocked state. */
\r
3604 if( eState == eSuspended )
\r
3606 vTaskSuspendAll();
\r
3608 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3610 pxTaskStatus->eCurrentState = eBlocked;
\r
3613 ( void ) xTaskResumeAll();
\r
3616 #endif /* INCLUDE_vTaskSuspend */
\r
3621 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3624 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3625 parameter is provided to allow it to be skipped. */
\r
3626 if( xGetFreeStackSpace != pdFALSE )
\r
3628 #if ( portSTACK_GROWTH > 0 )
\r
3630 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3634 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3640 pxTaskStatus->usStackHighWaterMark = 0;
\r
3644 #endif /* configUSE_TRACE_FACILITY */
\r
3645 /*-----------------------------------------------------------*/
\r
3647 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3649 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3651 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3652 UBaseType_t uxTask = 0;
\r
3654 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3656 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
3658 /* Populate an TaskStatus_t structure within the
\r
3659 pxTaskStatusArray array for each task that is referenced from
\r
3660 pxList. See the definition of TaskStatus_t in task.h for the
\r
3661 meaning of each TaskStatus_t structure member. */
\r
3664 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
3665 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3667 } while( pxNextTCB != pxFirstTCB );
\r
3671 mtCOVERAGE_TEST_MARKER();
\r
3677 #endif /* configUSE_TRACE_FACILITY */
\r
3678 /*-----------------------------------------------------------*/
\r
3680 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3682 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3684 uint32_t ulCount = 0U;
\r
3686 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3688 pucStackByte -= portSTACK_GROWTH;
\r
3692 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3694 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3697 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3698 /*-----------------------------------------------------------*/
\r
3700 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3702 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3705 uint8_t *pucEndOfStack;
\r
3706 UBaseType_t uxReturn;
\r
3708 pxTCB = prvGetTCBFromHandle( xTask );
\r
3710 #if portSTACK_GROWTH < 0
\r
3712 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3716 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3720 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3725 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3726 /*-----------------------------------------------------------*/
\r
3728 #if ( INCLUDE_vTaskDelete == 1 )
\r
3730 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3732 /* This call is required specifically for the TriCore port. It must be
\r
3733 above the vPortFree() calls. The call is also used by ports/demos that
\r
3734 want to allocate and clean RAM statically. */
\r
3735 portCLEAN_UP_TCB( pxTCB );
\r
3737 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3738 to the task to free any memory allocated at the application level. */
\r
3739 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3741 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3743 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3745 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3747 /* The task can only have been allocated dynamically - free both
\r
3748 the stack and TCB. */
\r
3749 vPortFree( pxTCB->pxStack );
\r
3750 vPortFree( pxTCB );
\r
3752 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3754 /* The task could have been allocated statically or dynamically, so
\r
3755 check what was statically allocated before trying to free the
\r
3757 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3759 /* Both the stack and TCB were allocated dynamically, so both
\r
3761 vPortFree( pxTCB->pxStack );
\r
3762 vPortFree( pxTCB );
\r
3764 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3766 /* Only the stack was statically allocated, so the TCB is the
\r
3767 only memory that must be freed. */
\r
3768 vPortFree( pxTCB );
\r
3772 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3773 nothing needs to be freed. */
\r
3774 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3775 mtCOVERAGE_TEST_MARKER();
\r
3778 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3781 #endif /* INCLUDE_vTaskDelete */
\r
3782 /*-----------------------------------------------------------*/
\r
3784 static void prvResetNextTaskUnblockTime( void )
\r
3788 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3790 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3791 the maximum possible value so it is extremely unlikely that the
\r
3792 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3793 there is an item in the delayed list. */
\r
3794 xNextTaskUnblockTime = portMAX_DELAY;
\r
3798 /* The new current delayed list is not empty, get the value of
\r
3799 the item at the head of the delayed list. This is the time at
\r
3800 which the task at the head of the delayed list should be removed
\r
3801 from the Blocked state. */
\r
3802 ( 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
3803 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3806 /*-----------------------------------------------------------*/
\r
3808 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3810 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3812 TaskHandle_t xReturn;
\r
3814 /* A critical section is not required as this is not called from
\r
3815 an interrupt and the current TCB will always be the same for any
\r
3816 individual execution thread. */
\r
3817 xReturn = pxCurrentTCB;
\r
3822 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3823 /*-----------------------------------------------------------*/
\r
3825 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3827 BaseType_t xTaskGetSchedulerState( void )
\r
3829 BaseType_t xReturn;
\r
3831 if( xSchedulerRunning == pdFALSE )
\r
3833 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3837 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3839 xReturn = taskSCHEDULER_RUNNING;
\r
3843 xReturn = taskSCHEDULER_SUSPENDED;
\r
3850 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3851 /*-----------------------------------------------------------*/
\r
3853 #if ( configUSE_MUTEXES == 1 )
\r
3855 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3857 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3858 BaseType_t xReturn = pdFALSE;
\r
3860 /* If the mutex was given back by an interrupt while the queue was
\r
3861 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3862 needed as interrupts can no longer use mutexes? */
\r
3863 if( pxMutexHolder != NULL )
\r
3865 /* If the holder of the mutex has a priority below the priority of
\r
3866 the task attempting to obtain the mutex then it will temporarily
\r
3867 inherit the priority of the task attempting to obtain the mutex. */
\r
3868 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3870 /* Adjust the mutex holder state to account for its new
\r
3871 priority. Only reset the event list item value if the value is
\r
3872 not being used for anything else. */
\r
3873 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3875 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
3879 mtCOVERAGE_TEST_MARKER();
\r
3882 /* If the task being modified is in the ready state it will need
\r
3883 to be moved into a new list. */
\r
3884 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3886 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3888 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3892 mtCOVERAGE_TEST_MARKER();
\r
3895 /* Inherit the priority before being moved into the new list. */
\r
3896 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3897 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3901 /* Just inherit the priority. */
\r
3902 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3905 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3907 /* Inheritance occurred. */
\r
3912 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3914 /* The base priority of the mutex holder is lower than the
\r
3915 priority of the task attempting to take the mutex, but the
\r
3916 current priority of the mutex holder is not lower than the
\r
3917 priority of the task attempting to take the mutex.
\r
3918 Therefore the mutex holder must have already inherited a
\r
3919 priority, but inheritance would have occurred if that had
\r
3920 not been the case. */
\r
3925 mtCOVERAGE_TEST_MARKER();
\r
3931 mtCOVERAGE_TEST_MARKER();
\r
3937 #endif /* configUSE_MUTEXES */
\r
3938 /*-----------------------------------------------------------*/
\r
3940 #if ( configUSE_MUTEXES == 1 )
\r
3942 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3944 TCB_t * const pxTCB = pxMutexHolder;
\r
3945 BaseType_t xReturn = pdFALSE;
\r
3947 if( pxMutexHolder != NULL )
\r
3949 /* A task can only have an inherited priority if it holds the mutex.
\r
3950 If the mutex is held by a task then it cannot be given from an
\r
3951 interrupt, and if a mutex is given by the holding task then it must
\r
3952 be the running state task. */
\r
3953 configASSERT( pxTCB == pxCurrentTCB );
\r
3954 configASSERT( pxTCB->uxMutexesHeld );
\r
3955 ( pxTCB->uxMutexesHeld )--;
\r
3957 /* Has the holder of the mutex inherited the priority of another
\r
3959 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3961 /* Only disinherit if no other mutexes are held. */
\r
3962 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3964 /* A task can only have an inherited priority if it holds
\r
3965 the mutex. If the mutex is held by a task then it cannot be
\r
3966 given from an interrupt, and if a mutex is given by the
\r
3967 holding task then it must be the running state task. Remove
\r
3968 the holding task from the ready list. */
\r
3969 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3971 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3975 mtCOVERAGE_TEST_MARKER();
\r
3978 /* Disinherit the priority before adding the task into the
\r
3979 new ready list. */
\r
3980 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3981 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3983 /* Reset the event list item value. It cannot be in use for
\r
3984 any other purpose if this task is running, and it must be
\r
3985 running to give back the mutex. */
\r
3986 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
3987 prvAddTaskToReadyList( pxTCB );
\r
3989 /* Return true to indicate that a context switch is required.
\r
3990 This is only actually required in the corner case whereby
\r
3991 multiple mutexes were held and the mutexes were given back
\r
3992 in an order different to that in which they were taken.
\r
3993 If a context switch did not occur when the first mutex was
\r
3994 returned, even if a task was waiting on it, then a context
\r
3995 switch should occur when the last mutex is returned whether
\r
3996 a task is waiting on it or not. */
\r
4001 mtCOVERAGE_TEST_MARKER();
\r
4006 mtCOVERAGE_TEST_MARKER();
\r
4011 mtCOVERAGE_TEST_MARKER();
\r
4017 #endif /* configUSE_MUTEXES */
\r
4018 /*-----------------------------------------------------------*/
\r
4020 #if ( configUSE_MUTEXES == 1 )
\r
4022 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4024 TCB_t * const pxTCB = pxMutexHolder;
\r
4025 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4026 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4028 if( pxMutexHolder != NULL )
\r
4030 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4032 configASSERT( pxTCB->uxMutexesHeld );
\r
4034 /* Determine the priority to which the priority of the task that
\r
4035 holds the mutex should be set. This will be the greater of the
\r
4036 holding task's base priority and the priority of the highest
\r
4037 priority task that is waiting to obtain the mutex. */
\r
4038 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4040 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4044 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4047 /* Does the priority need to change? */
\r
4048 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4050 /* Only disinherit if no other mutexes are held. This is a
\r
4051 simplification in the priority inheritance implementation. If
\r
4052 the task that holds the mutex is also holding other mutexes then
\r
4053 the other mutexes may have caused the priority inheritance. */
\r
4054 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4056 /* If a task has timed out because it already holds the
\r
4057 mutex it was trying to obtain then it cannot of inherited
\r
4058 its own priority. */
\r
4059 configASSERT( pxTCB != pxCurrentTCB );
\r
4061 /* Disinherit the priority, remembering the previous
\r
4062 priority to facilitate determining the subject task's
\r
4064 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4065 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4066 pxTCB->uxPriority = uxPriorityToUse;
\r
4068 /* Only reset the event list item value if the value is not
\r
4069 being used for anything else. */
\r
4070 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4072 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
4076 mtCOVERAGE_TEST_MARKER();
\r
4079 /* If the running task is not the task that holds the mutex
\r
4080 then the task that holds the mutex could be in either the
\r
4081 Ready, Blocked or Suspended states. Only remove the task
\r
4082 from its current state list if it is in the Ready state as
\r
4083 the task's priority is going to change and there is one
\r
4084 Ready list per priority. */
\r
4085 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4087 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4089 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4093 mtCOVERAGE_TEST_MARKER();
\r
4096 prvAddTaskToReadyList( pxTCB );
\r
4100 mtCOVERAGE_TEST_MARKER();
\r
4105 mtCOVERAGE_TEST_MARKER();
\r
4110 mtCOVERAGE_TEST_MARKER();
\r
4115 mtCOVERAGE_TEST_MARKER();
\r
4119 #endif /* configUSE_MUTEXES */
\r
4120 /*-----------------------------------------------------------*/
\r
4122 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4124 void vTaskEnterCritical( void )
\r
4126 portDISABLE_INTERRUPTS();
\r
4128 if( xSchedulerRunning != pdFALSE )
\r
4130 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4132 /* This is not the interrupt safe version of the enter critical
\r
4133 function so assert() if it is being called from an interrupt
\r
4134 context. Only API functions that end in "FromISR" can be used in an
\r
4135 interrupt. Only assert if the critical nesting count is 1 to
\r
4136 protect against recursive calls if the assert function also uses a
\r
4137 critical section. */
\r
4138 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4140 portASSERT_IF_IN_ISR();
\r
4145 mtCOVERAGE_TEST_MARKER();
\r
4149 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4150 /*-----------------------------------------------------------*/
\r
4152 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4154 void vTaskExitCritical( void )
\r
4156 if( xSchedulerRunning != pdFALSE )
\r
4158 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4160 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4162 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4164 portENABLE_INTERRUPTS();
\r
4168 mtCOVERAGE_TEST_MARKER();
\r
4173 mtCOVERAGE_TEST_MARKER();
\r
4178 mtCOVERAGE_TEST_MARKER();
\r
4182 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4183 /*-----------------------------------------------------------*/
\r
4185 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4187 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4191 /* Start by copying the entire string. */
\r
4192 strcpy( pcBuffer, pcTaskName );
\r
4194 /* Pad the end of the string with spaces to ensure columns line up when
\r
4196 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4198 pcBuffer[ x ] = ' ';
\r
4202 pcBuffer[ x ] = ( char ) 0x00;
\r
4204 /* Return the new end of string. */
\r
4205 return &( pcBuffer[ x ] );
\r
4208 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4209 /*-----------------------------------------------------------*/
\r
4211 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4213 void vTaskList( char * pcWriteBuffer )
\r
4215 TaskStatus_t *pxTaskStatusArray;
\r
4216 UBaseType_t uxArraySize, x;
\r
4222 * This function is provided for convenience only, and is used by many
\r
4223 * of the demo applications. Do not consider it to be part of the
\r
4226 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4227 * uxTaskGetSystemState() output into a human readable table that
\r
4228 * displays task names, states and stack usage.
\r
4230 * vTaskList() has a dependency on the sprintf() C library function that
\r
4231 * might bloat the code size, use a lot of stack, and provide different
\r
4232 * results on different platforms. An alternative, tiny, third party,
\r
4233 * and limited functionality implementation of sprintf() is provided in
\r
4234 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4235 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4236 * snprintf() implementation!).
\r
4238 * It is recommended that production systems call uxTaskGetSystemState()
\r
4239 * directly to get access to raw stats data, rather than indirectly
\r
4240 * through a call to vTaskList().
\r
4244 /* Make sure the write buffer does not contain a string. */
\r
4245 *pcWriteBuffer = ( char ) 0x00;
\r
4247 /* Take a snapshot of the number of tasks in case it changes while this
\r
4248 function is executing. */
\r
4249 uxArraySize = uxCurrentNumberOfTasks;
\r
4251 /* Allocate an array index for each task. NOTE! if
\r
4252 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4253 equate to NULL. */
\r
4254 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
4256 if( pxTaskStatusArray != NULL )
\r
4258 /* Generate the (binary) data. */
\r
4259 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4261 /* Create a human readable table from the binary data. */
\r
4262 for( x = 0; x < uxArraySize; x++ )
\r
4264 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4266 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4269 case eReady: cStatus = tskREADY_CHAR;
\r
4272 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4275 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4278 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4281 case eInvalid: /* Fall through. */
\r
4282 default: /* Should not get here, but it is included
\r
4283 to prevent static checking errors. */
\r
4284 cStatus = ( char ) 0x00;
\r
4288 /* Write the task name to the string, padding with spaces so it
\r
4289 can be printed in tabular form more easily. */
\r
4290 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4292 /* Write the rest of the string. */
\r
4293 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
4294 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
4297 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4298 is 0 then vPortFree() will be #defined to nothing. */
\r
4299 vPortFree( pxTaskStatusArray );
\r
4303 mtCOVERAGE_TEST_MARKER();
\r
4307 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4308 /*----------------------------------------------------------*/
\r
4310 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4312 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4314 TaskStatus_t *pxTaskStatusArray;
\r
4315 UBaseType_t uxArraySize, x;
\r
4316 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4318 #if( configUSE_TRACE_FACILITY != 1 )
\r
4320 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4327 * This function is provided for convenience only, and is used by many
\r
4328 * of the demo applications. Do not consider it to be part of the
\r
4331 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4332 * of the uxTaskGetSystemState() output into a human readable table that
\r
4333 * displays the amount of time each task has spent in the Running state
\r
4334 * in both absolute and percentage terms.
\r
4336 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4337 * function that might bloat the code size, use a lot of stack, and
\r
4338 * provide different results on different platforms. An alternative,
\r
4339 * tiny, third party, and limited functionality implementation of
\r
4340 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4341 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4342 * a full snprintf() implementation!).
\r
4344 * It is recommended that production systems call uxTaskGetSystemState()
\r
4345 * directly to get access to raw stats data, rather than indirectly
\r
4346 * through a call to vTaskGetRunTimeStats().
\r
4349 /* Make sure the write buffer does not contain a string. */
\r
4350 *pcWriteBuffer = ( char ) 0x00;
\r
4352 /* Take a snapshot of the number of tasks in case it changes while this
\r
4353 function is executing. */
\r
4354 uxArraySize = uxCurrentNumberOfTasks;
\r
4356 /* Allocate an array index for each task. NOTE! If
\r
4357 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4358 equate to NULL. */
\r
4359 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
4361 if( pxTaskStatusArray != NULL )
\r
4363 /* Generate the (binary) data. */
\r
4364 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4366 /* For percentage calculations. */
\r
4367 ulTotalTime /= 100UL;
\r
4369 /* Avoid divide by zero errors. */
\r
4370 if( ulTotalTime > 0UL )
\r
4372 /* Create a human readable table from the binary data. */
\r
4373 for( x = 0; x < uxArraySize; x++ )
\r
4375 /* What percentage of the total run time has the task used?
\r
4376 This will always be rounded down to the nearest integer.
\r
4377 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4378 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4380 /* Write the task name to the string, padding with
\r
4381 spaces so it can be printed in tabular form more
\r
4383 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4385 if( ulStatsAsPercentage > 0UL )
\r
4387 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4389 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4393 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4394 printf() library can be used. */
\r
4395 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
4401 /* If the percentage is zero here then the task has
\r
4402 consumed less than 1% of the total run time. */
\r
4403 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4405 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4409 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4410 printf() library can be used. */
\r
4411 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
4416 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
4421 mtCOVERAGE_TEST_MARKER();
\r
4424 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4425 is 0 then vPortFree() will be #defined to nothing. */
\r
4426 vPortFree( pxTaskStatusArray );
\r
4430 mtCOVERAGE_TEST_MARKER();
\r
4434 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4435 /*-----------------------------------------------------------*/
\r
4437 TickType_t uxTaskResetEventItemValue( void )
\r
4439 TickType_t uxReturn;
\r
4441 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4443 /* Reset the event list item to its normal value - so it can be used with
\r
4444 queues and semaphores. */
\r
4445 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
4449 /*-----------------------------------------------------------*/
\r
4451 #if ( configUSE_MUTEXES == 1 )
\r
4453 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4455 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4456 then pxCurrentTCB will be NULL. */
\r
4457 if( pxCurrentTCB != NULL )
\r
4459 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4462 return pxCurrentTCB;
\r
4465 #endif /* configUSE_MUTEXES */
\r
4466 /*-----------------------------------------------------------*/
\r
4468 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4470 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4472 uint32_t ulReturn;
\r
4474 taskENTER_CRITICAL();
\r
4476 /* Only block if the notification count is not already non-zero. */
\r
4477 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4479 /* Mark this task as waiting for a notification. */
\r
4480 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4482 if( xTicksToWait > ( TickType_t ) 0 )
\r
4484 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4485 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4487 /* All ports are written to allow a yield in a critical
\r
4488 section (some will yield immediately, others wait until the
\r
4489 critical section exits) - but it is not something that
\r
4490 application code should ever do. */
\r
4491 portYIELD_WITHIN_API();
\r
4495 mtCOVERAGE_TEST_MARKER();
\r
4500 mtCOVERAGE_TEST_MARKER();
\r
4503 taskEXIT_CRITICAL();
\r
4505 taskENTER_CRITICAL();
\r
4507 traceTASK_NOTIFY_TAKE();
\r
4508 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4510 if( ulReturn != 0UL )
\r
4512 if( xClearCountOnExit != pdFALSE )
\r
4514 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4518 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4523 mtCOVERAGE_TEST_MARKER();
\r
4526 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4528 taskEXIT_CRITICAL();
\r
4533 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4534 /*-----------------------------------------------------------*/
\r
4536 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4538 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4540 BaseType_t xReturn;
\r
4542 taskENTER_CRITICAL();
\r
4544 /* Only block if a notification is not already pending. */
\r
4545 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4547 /* Clear bits in the task's notification value as bits may get
\r
4548 set by the notifying task or interrupt. This can be used to
\r
4549 clear the value to zero. */
\r
4550 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4552 /* Mark this task as waiting for a notification. */
\r
4553 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4555 if( xTicksToWait > ( TickType_t ) 0 )
\r
4557 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4558 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4560 /* All ports are written to allow a yield in a critical
\r
4561 section (some will yield immediately, others wait until the
\r
4562 critical section exits) - but it is not something that
\r
4563 application code should ever do. */
\r
4564 portYIELD_WITHIN_API();
\r
4568 mtCOVERAGE_TEST_MARKER();
\r
4573 mtCOVERAGE_TEST_MARKER();
\r
4576 taskEXIT_CRITICAL();
\r
4578 taskENTER_CRITICAL();
\r
4580 traceTASK_NOTIFY_WAIT();
\r
4582 if( pulNotificationValue != NULL )
\r
4584 /* Output the current notification value, which may or may not
\r
4586 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4589 /* If ucNotifyValue is set then either the task never entered the
\r
4590 blocked state (because a notification was already pending) or the
\r
4591 task unblocked because of a notification. Otherwise the task
\r
4592 unblocked because of a timeout. */
\r
4593 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4595 /* A notification was not received. */
\r
4596 xReturn = pdFALSE;
\r
4600 /* A notification was already pending or a notification was
\r
4601 received while the task was waiting. */
\r
4602 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4606 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4608 taskEXIT_CRITICAL();
\r
4613 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4614 /*-----------------------------------------------------------*/
\r
4616 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4618 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4621 BaseType_t xReturn = pdPASS;
\r
4622 uint8_t ucOriginalNotifyState;
\r
4624 configASSERT( xTaskToNotify );
\r
4625 pxTCB = xTaskToNotify;
\r
4627 taskENTER_CRITICAL();
\r
4629 if( pulPreviousNotificationValue != NULL )
\r
4631 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4634 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4636 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4641 pxTCB->ulNotifiedValue |= ulValue;
\r
4645 ( pxTCB->ulNotifiedValue )++;
\r
4648 case eSetValueWithOverwrite :
\r
4649 pxTCB->ulNotifiedValue = ulValue;
\r
4652 case eSetValueWithoutOverwrite :
\r
4653 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4655 pxTCB->ulNotifiedValue = ulValue;
\r
4659 /* The value could not be written to the task. */
\r
4665 /* The task is being notified without its notify value being
\r
4670 /* Should not get here if all enums are handled.
\r
4671 Artificially force an assert by testing a value the
\r
4672 compiler can't assume is const. */
\r
4673 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4678 traceTASK_NOTIFY();
\r
4680 /* If the task is in the blocked state specifically to wait for a
\r
4681 notification then unblock it now. */
\r
4682 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4684 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4685 prvAddTaskToReadyList( pxTCB );
\r
4687 /* The task should not have been on an event list. */
\r
4688 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4690 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4692 /* If a task is blocked waiting for a notification then
\r
4693 xNextTaskUnblockTime might be set to the blocked task's time
\r
4694 out time. If the task is unblocked for a reason other than
\r
4695 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4696 because it will automatically get reset to a new value when
\r
4697 the tick count equals xNextTaskUnblockTime. However if
\r
4698 tickless idling is used it might be more important to enter
\r
4699 sleep mode at the earliest possible time - so reset
\r
4700 xNextTaskUnblockTime here to ensure it is updated at the
\r
4701 earliest possible time. */
\r
4702 prvResetNextTaskUnblockTime();
\r
4706 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4708 /* The notified task has a priority above the currently
\r
4709 executing task so a yield is required. */
\r
4710 taskYIELD_IF_USING_PREEMPTION();
\r
4714 mtCOVERAGE_TEST_MARKER();
\r
4719 mtCOVERAGE_TEST_MARKER();
\r
4722 taskEXIT_CRITICAL();
\r
4727 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4728 /*-----------------------------------------------------------*/
\r
4730 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4732 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4735 uint8_t ucOriginalNotifyState;
\r
4736 BaseType_t xReturn = pdPASS;
\r
4737 UBaseType_t uxSavedInterruptStatus;
\r
4739 configASSERT( xTaskToNotify );
\r
4741 /* RTOS ports that support interrupt nesting have the concept of a
\r
4742 maximum system call (or maximum API call) interrupt priority.
\r
4743 Interrupts that are above the maximum system call priority are keep
\r
4744 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4745 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4746 is defined in FreeRTOSConfig.h then
\r
4747 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4748 failure if a FreeRTOS API function is called from an interrupt that has
\r
4749 been assigned a priority above the configured maximum system call
\r
4750 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4751 from interrupts that have been assigned a priority at or (logically)
\r
4752 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4753 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4754 simple as possible. More information (albeit Cortex-M specific) is
\r
4755 provided on the following link:
\r
4756 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4757 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4759 pxTCB = xTaskToNotify;
\r
4761 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4763 if( pulPreviousNotificationValue != NULL )
\r
4765 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4768 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4769 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4774 pxTCB->ulNotifiedValue |= ulValue;
\r
4778 ( pxTCB->ulNotifiedValue )++;
\r
4781 case eSetValueWithOverwrite :
\r
4782 pxTCB->ulNotifiedValue = ulValue;
\r
4785 case eSetValueWithoutOverwrite :
\r
4786 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4788 pxTCB->ulNotifiedValue = ulValue;
\r
4792 /* The value could not be written to the task. */
\r
4798 /* The task is being notified without its notify value being
\r
4803 /* Should not get here if all enums are handled.
\r
4804 Artificially force an assert by testing a value the
\r
4805 compiler can't assume is const. */
\r
4806 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4810 traceTASK_NOTIFY_FROM_ISR();
\r
4812 /* If the task is in the blocked state specifically to wait for a
\r
4813 notification then unblock it now. */
\r
4814 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4816 /* The task should not have been on an event list. */
\r
4817 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4819 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4821 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4822 prvAddTaskToReadyList( pxTCB );
\r
4826 /* The delayed and ready lists cannot be accessed, so hold
\r
4827 this task pending until the scheduler is resumed. */
\r
4828 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4831 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4833 /* The notified task has a priority above the currently
\r
4834 executing task so a yield is required. */
\r
4835 if( pxHigherPriorityTaskWoken != NULL )
\r
4837 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4840 /* Mark that a yield is pending in case the user is not
\r
4841 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4842 safe FreeRTOS function. */
\r
4843 xYieldPending = pdTRUE;
\r
4847 mtCOVERAGE_TEST_MARKER();
\r
4851 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4856 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4857 /*-----------------------------------------------------------*/
\r
4859 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4861 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4864 uint8_t ucOriginalNotifyState;
\r
4865 UBaseType_t uxSavedInterruptStatus;
\r
4867 configASSERT( xTaskToNotify );
\r
4869 /* RTOS ports that support interrupt nesting have the concept of a
\r
4870 maximum system call (or maximum API call) interrupt priority.
\r
4871 Interrupts that are above the maximum system call priority are keep
\r
4872 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4873 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4874 is defined in FreeRTOSConfig.h then
\r
4875 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4876 failure if a FreeRTOS API function is called from an interrupt that has
\r
4877 been assigned a priority above the configured maximum system call
\r
4878 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4879 from interrupts that have been assigned a priority at or (logically)
\r
4880 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4881 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4882 simple as possible. More information (albeit Cortex-M specific) is
\r
4883 provided on the following link:
\r
4884 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4885 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4887 pxTCB = xTaskToNotify;
\r
4889 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4891 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4892 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4894 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4896 ( pxTCB->ulNotifiedValue )++;
\r
4898 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4900 /* If the task is in the blocked state specifically to wait for a
\r
4901 notification then unblock it now. */
\r
4902 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4904 /* The task should not have been on an event list. */
\r
4905 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4907 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4909 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4910 prvAddTaskToReadyList( pxTCB );
\r
4914 /* The delayed and ready lists cannot be accessed, so hold
\r
4915 this task pending until the scheduler is resumed. */
\r
4916 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4919 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4921 /* The notified task has a priority above the currently
\r
4922 executing task so a yield is required. */
\r
4923 if( pxHigherPriorityTaskWoken != NULL )
\r
4925 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4928 /* Mark that a yield is pending in case the user is not
\r
4929 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4930 safe FreeRTOS function. */
\r
4931 xYieldPending = pdTRUE;
\r
4935 mtCOVERAGE_TEST_MARKER();
\r
4939 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4942 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4944 /*-----------------------------------------------------------*/
\r
4946 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4948 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4951 BaseType_t xReturn;
\r
4953 /* If null is passed in here then it is the calling task that is having
\r
4954 its notification state cleared. */
\r
4955 pxTCB = prvGetTCBFromHandle( xTask );
\r
4957 taskENTER_CRITICAL();
\r
4959 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4961 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4969 taskEXIT_CRITICAL();
\r
4974 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4975 /*-----------------------------------------------------------*/
\r
4978 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4980 TickType_t xTimeToWake;
\r
4981 const TickType_t xConstTickCount = xTickCount;
\r
4983 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4985 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4986 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4987 when the task leaves the Blocked state. */
\r
4988 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4992 /* Remove the task from the ready list before adding it to the blocked list
\r
4993 as the same list item is used for both lists. */
\r
4994 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4996 /* The current task must be in a ready list, so there is no need to
\r
4997 check, and the port reset macro can be called directly. */
\r
4998 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
5002 mtCOVERAGE_TEST_MARKER();
\r
5005 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5007 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5009 /* Add the task to the suspended task list instead of a delayed task
\r
5010 list to ensure it is not woken by a timing event. It will block
\r
5012 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5016 /* Calculate the time at which the task should be woken if the event
\r
5017 does not occur. This may overflow but this doesn't matter, the
\r
5018 kernel will manage it correctly. */
\r
5019 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5021 /* The list item will be inserted in wake time order. */
\r
5022 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5024 if( xTimeToWake < xConstTickCount )
\r
5026 /* Wake time has overflowed. Place this item in the overflow
\r
5028 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5032 /* The wake time has not overflowed, so the current block list
\r
5034 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5036 /* If the task entering the blocked state was placed at the
\r
5037 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5038 needs to be updated too. */
\r
5039 if( xTimeToWake < xNextTaskUnblockTime )
\r
5041 xNextTaskUnblockTime = xTimeToWake;
\r
5045 mtCOVERAGE_TEST_MARKER();
\r
5050 #else /* INCLUDE_vTaskSuspend */
\r
5052 /* Calculate the time at which the task should be woken if the event
\r
5053 does not occur. This may overflow but this doesn't matter, the kernel
\r
5054 will manage it correctly. */
\r
5055 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5057 /* The list item will be inserted in wake time order. */
\r
5058 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5060 if( xTimeToWake < xConstTickCount )
\r
5062 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5063 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5067 /* The wake time has not overflowed, so the current block list is used. */
\r
5068 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5070 /* If the task entering the blocked state was placed at the head of the
\r
5071 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5073 if( xTimeToWake < xNextTaskUnblockTime )
\r
5075 xNextTaskUnblockTime = xTimeToWake;
\r
5079 mtCOVERAGE_TEST_MARKER();
\r
5083 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5084 ( void ) xCanBlockIndefinitely;
\r
5086 #endif /* INCLUDE_vTaskSuspend */
\r
5089 /* Code below here allows additional code to be inserted into this source file,
\r
5090 especially where access to file scope functions and data is needed (for example
\r
5091 when performing module tests). */
\r
5093 #ifdef FREERTOS_MODULE_TEST
\r
5094 #include "tasks_test_access_functions.h"
\r
5098 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5100 #include "freertos_tasks_c_additions.h"
\r
5102 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5103 static void freertos_tasks_c_additions_init( void )
\r
5105 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob