2 FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 #if( configUSE_PREEMPTION == 0 )
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102 /* If the cooperative scheduler is being used then a yield should not be
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103 performed just because a higher priority task has been woken. */
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104 #define taskYIELD_IF_USING_PREEMPTION()
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106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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109 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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115 * The value used to fill the stack of a task when the task is created. This
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116 * is used purely for checking the high water mark for tasks.
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118 #define tskSTACK_FILL_BYTE ( 0xa5U )
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120 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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121 dynamically allocated RAM, in which case when any task is deleted it is known
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122 that both the task's stack and TCB need to be freed. Sometimes the
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123 FreeRTOSConfig.h settings only allow a task to be created using statically
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124 allocated RAM, in which case when any task is deleted it is known that neither
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125 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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126 settings allow a task to be created using either statically or dynamically
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127 allocated RAM, in which case a member of the TCB is used to record whether the
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128 stack and/or TCB were allocated statically or dynamically, so when a task is
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129 deleted the RAM that was allocated dynamically is freed again and no attempt is
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130 made to free the RAM that was allocated statically.
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131 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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132 task to be created using either statically or dynamically allocated RAM. Note
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133 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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134 a statically allocated stack and a dynamically allocated TCB.
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135 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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136 changed then the definition of StaticTask_t must also be updated. */
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137 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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138 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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139 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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140 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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142 /* If any of the following are set then task stacks are filled with a known
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143 value so the high water mark can be determined. If none of the following are
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144 set then don't fill the stack so there is no unnecessary dependency on memset. */
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145 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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146 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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148 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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152 * Macros used by vListTask to indicate which state a task is in.
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154 #define tskBLOCKED_CHAR ( 'B' )
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155 #define tskREADY_CHAR ( 'R' )
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156 #define tskDELETED_CHAR ( 'D' )
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157 #define tskSUSPENDED_CHAR ( 'S' )
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160 * Some kernel aware debuggers require the data the debugger needs access to be
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161 * global, rather than file scope.
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163 #ifdef portREMOVE_STATIC_QUALIFIER
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167 /* The name allocated to the Idle task. This can be overridden by defining
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168 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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169 #ifndef configIDLE_TASK_NAME
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170 #define configIDLE_TASK_NAME "IDLE"
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173 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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175 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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176 performed in a generic way that is not optimised to any particular
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177 microcontroller architecture. */
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179 /* uxTopReadyPriority holds the priority of the highest priority ready
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181 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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183 if( ( uxPriority ) > uxTopReadyPriority ) \
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185 uxTopReadyPriority = ( uxPriority ); \
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187 } /* taskRECORD_READY_PRIORITY */
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189 /*-----------------------------------------------------------*/
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191 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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193 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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195 /* Find the highest priority queue that contains ready tasks. */ \
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196 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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198 configASSERT( uxTopPriority ); \
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202 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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203 the same priority get an equal share of the processor time. */ \
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204 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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205 uxTopReadyPriority = uxTopPriority; \
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206 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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208 /*-----------------------------------------------------------*/
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210 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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211 they are only required when a port optimised method of task selection is
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213 #define taskRESET_READY_PRIORITY( uxPriority )
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214 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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216 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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218 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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219 performed in a way that is tailored to the particular microcontroller
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220 architecture being used. */
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222 /* A port optimised version is provided. Call the port defined macros. */
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223 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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225 /*-----------------------------------------------------------*/
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227 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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229 UBaseType_t uxTopPriority; \
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231 /* Find the highest priority list that contains ready tasks. */ \
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232 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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233 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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234 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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235 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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237 /*-----------------------------------------------------------*/
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239 /* A port optimised version is provided, call it only if the TCB being reset
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240 is being referenced from a ready list. If it is referenced from a delayed
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241 or suspended list then it won't be in a ready list. */
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242 #define taskRESET_READY_PRIORITY( uxPriority ) \
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244 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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246 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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250 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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252 /*-----------------------------------------------------------*/
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254 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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255 count overflows. */
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256 #define taskSWITCH_DELAYED_LISTS() \
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260 /* The delayed tasks list should be empty when the lists are switched. */ \
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261 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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263 pxTemp = pxDelayedTaskList; \
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264 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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265 pxOverflowDelayedTaskList = pxTemp; \
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266 xNumOfOverflows++; \
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267 prvResetNextTaskUnblockTime(); \
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270 /*-----------------------------------------------------------*/
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273 * Place the task represented by pxTCB into the appropriate ready list for
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274 * the task. It is inserted at the end of the list.
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276 #define prvAddTaskToReadyList( pxTCB ) \
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277 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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278 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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279 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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280 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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281 /*-----------------------------------------------------------*/
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284 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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285 * where NULL is used to indicate that the handle of the currently executing
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286 * task should be used in place of the parameter. This macro simply checks to
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287 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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289 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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291 /* The item value of the event list item is normally used to hold the priority
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292 of the task to which it belongs (coded to allow it to be held in reverse
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293 priority order). However, it is occasionally borrowed for other purposes. It
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294 is important its value is not updated due to a task priority change while it is
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295 being used for another purpose. The following bit definition is used to inform
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296 the scheduler that the value should not be changed - in which case it is the
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297 responsibility of whichever module is using the value to ensure it gets set back
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298 to its original value when it is released. */
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299 #if( configUSE_16_BIT_TICKS == 1 )
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300 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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302 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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306 * Task control block. A task control block (TCB) is allocated for each task,
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307 * and stores task state information, including a pointer to the task's context
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308 * (the task's run time environment, including register values)
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310 typedef struct tskTaskControlBlock
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312 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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314 #if ( portUSING_MPU_WRAPPERS == 1 )
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315 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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318 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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319 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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320 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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321 StackType_t *pxStack; /*< Points to the start of the stack. */
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322 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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324 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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325 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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328 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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329 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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332 #if ( configUSE_TRACE_FACILITY == 1 )
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333 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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334 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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337 #if ( configUSE_MUTEXES == 1 )
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338 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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339 UBaseType_t uxMutexesHeld;
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342 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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343 TaskHookFunction_t pxTaskTag;
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346 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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347 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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350 #if( configGENERATE_RUN_TIME_STATS == 1 )
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351 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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354 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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355 /* Allocate a Newlib reent structure that is specific to this task.
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356 Note Newlib support has been included by popular demand, but is not
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357 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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358 responsible for resulting newlib operation. User must be familiar with
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359 newlib and must provide system-wide implementations of the necessary
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360 stubs. Be warned that (at the time of writing) the current newlib design
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361 implements a system-wide malloc() that must be provided with locks. */
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362 struct _reent xNewLib_reent;
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365 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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366 volatile uint32_t ulNotifiedValue;
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367 volatile uint8_t ucNotifyState;
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370 /* See the comments above the definition of
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371 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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372 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
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373 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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376 #if( INCLUDE_xTaskAbortDelay == 1 )
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377 uint8_t ucDelayAborted;
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382 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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383 below to enable the use of older kernel aware debuggers. */
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384 typedef tskTCB TCB_t;
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386 /*lint -save -e956 A manual analysis and inspection has been used to determine
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387 which static variables must be declared volatile. */
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389 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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391 /* Lists for ready and blocked tasks. --------------------*/
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392 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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393 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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394 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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395 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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396 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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397 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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399 #if( INCLUDE_vTaskDelete == 1 )
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401 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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402 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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406 #if ( INCLUDE_vTaskSuspend == 1 )
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408 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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412 /* Other file private variables. --------------------------------*/
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413 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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414 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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415 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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416 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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417 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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418 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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419 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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420 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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421 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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422 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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424 /* Context switches are held pending while the scheduler is suspended. Also,
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425 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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426 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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427 If an interrupt needs to unblock a task while the scheduler is suspended then it
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428 moves the task's event list item into the xPendingReadyList, ready for the
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429 kernel to move the task from the pending ready list into the real ready list
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430 when the scheduler is unsuspended. The pending ready list itself can only be
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431 accessed from a critical section. */
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432 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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434 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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436 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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437 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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443 /*-----------------------------------------------------------*/
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445 /* Callback function prototypes. --------------------------*/
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446 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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448 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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452 #if( configUSE_TICK_HOOK > 0 )
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454 extern void vApplicationTickHook( void );
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458 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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460 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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464 /* File private functions. --------------------------------*/
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467 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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468 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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469 * is in any other state.
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471 #if ( INCLUDE_vTaskSuspend == 1 )
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473 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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475 #endif /* INCLUDE_vTaskSuspend */
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478 * Utility to ready all the lists used by the scheduler. This is called
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479 * automatically upon the creation of the first task.
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481 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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484 * The idle task, which as all tasks is implemented as a never ending loop.
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485 * The idle task is automatically created and added to the ready lists upon
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486 * creation of the first user task.
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488 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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489 * language extensions. The equivalent prototype for this function is:
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491 * void prvIdleTask( void *pvParameters );
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494 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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497 * Utility to free all memory allocated by the scheduler to hold a TCB,
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498 * including the stack pointed to by the TCB.
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500 * This does not free memory allocated by the task itself (i.e. memory
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501 * allocated by calls to pvPortMalloc from within the tasks application code).
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503 #if ( INCLUDE_vTaskDelete == 1 )
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505 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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510 * Used only by the idle task. This checks to see if anything has been placed
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511 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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512 * and its TCB deleted.
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514 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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517 * The currently executing task is entering the Blocked state. Add the task to
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518 * either the current or the overflow delayed task list.
\r
520 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
\r
523 * Fills an TaskStatus_t structure with information on each task that is
\r
524 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
525 * a suspended list, etc.).
\r
527 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
528 * NORMAL APPLICATION CODE.
\r
530 #if ( configUSE_TRACE_FACILITY == 1 )
\r
532 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
537 * Searches pxList for a task with name pcNameToQuery - returning a handle to
\r
538 * the task if it is found, or NULL if the task is not found.
\r
540 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
542 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
\r
547 * When a task is created, the stack of the task is filled with a known value.
\r
548 * This function determines the 'high water mark' of the task stack by
\r
549 * determining how much of the stack remains at the original preset value.
\r
551 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
553 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
558 * Return the amount of time, in ticks, that will pass before the kernel will
\r
559 * next move a task from the Blocked state to the Running state.
\r
561 * This conditional compilation should use inequality to 0, not equality to 1.
\r
562 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
563 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
564 * set to a value other than 1.
\r
566 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
568 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
573 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
574 * will exit the Blocked state.
\r
576 static void prvResetNextTaskUnblockTime( void );
\r
578 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
581 * Helper function used to pad task names with spaces when printing out
\r
582 * human readable tables of task information.
\r
584 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
589 * Called after a Task_t structure has been allocated either statically or
\r
590 * dynamically to fill in the structure's members.
\r
592 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
593 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
594 const uint32_t ulStackDepth,
\r
595 void * const pvParameters,
\r
596 UBaseType_t uxPriority,
\r
597 TaskHandle_t * const pxCreatedTask,
\r
599 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
602 * Called after a new task has been created and initialised to place the task
\r
603 * under the control of the scheduler.
\r
605 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
608 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
609 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
610 * called by the function.
\r
612 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
614 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
618 /*-----------------------------------------------------------*/
\r
620 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
622 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
623 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
624 const uint32_t ulStackDepth,
\r
625 void * const pvParameters,
\r
626 UBaseType_t uxPriority,
\r
627 StackType_t * const puxStackBuffer,
\r
628 StaticTask_t * const pxTaskBuffer )
\r
631 TaskHandle_t xReturn;
\r
633 configASSERT( puxStackBuffer != NULL );
\r
634 configASSERT( pxTaskBuffer != NULL );
\r
636 #if( configASSERT_DEFINED == 1 )
\r
638 /* Sanity check that the size of the structure used to declare a
\r
639 variable of type StaticTask_t equals the size of the real task
\r
641 volatile size_t xSize = sizeof( StaticTask_t );
\r
642 configASSERT( xSize == sizeof( TCB_t ) );
\r
644 #endif /* configASSERT_DEFINED */
\r
647 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
649 /* The memory used for the task's TCB and stack are passed into this
\r
650 function - use them. */
\r
651 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
652 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
654 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
656 /* Tasks can be created statically or dynamically, so note this
\r
657 task was created statically in case the task is later deleted. */
\r
658 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
660 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
662 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
663 prvAddNewTaskToReadyList( pxNewTCB );
\r
673 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
674 /*-----------------------------------------------------------*/
\r
676 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
678 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
681 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
683 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
684 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
686 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
688 /* Allocate space for the TCB. Where the memory comes from depends
\r
689 on the implementation of the port malloc function and whether or
\r
690 not static allocation is being used. */
\r
691 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
693 /* Store the stack location in the TCB. */
\r
694 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
696 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
698 /* Tasks can be created statically or dynamically, so note this
\r
699 task was created statically in case the task is later deleted. */
\r
700 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
702 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
704 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
705 pxTaskDefinition->pcName,
\r
706 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
707 pxTaskDefinition->pvParameters,
\r
708 pxTaskDefinition->uxPriority,
\r
709 pxCreatedTask, pxNewTCB,
\r
710 pxTaskDefinition->xRegions );
\r
712 prvAddNewTaskToReadyList( pxNewTCB );
\r
719 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
720 /*-----------------------------------------------------------*/
\r
722 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) )
\r
724 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
727 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
729 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
731 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
733 /* Allocate space for the TCB. Where the memory comes from depends
\r
734 on the implementation of the port malloc function and whether or
\r
735 not static allocation is being used. */
\r
736 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
738 if( pxNewTCB != NULL )
\r
740 /* Store the stack location in the TCB. */
\r
741 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
743 /* Tasks can be created statically or dynamically, so note
\r
744 this task had a statically allocated stack in case it is
\r
745 later deleted. The TCB was allocated dynamically. */
\r
746 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
748 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
749 pxTaskDefinition->pcName,
\r
750 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
751 pxTaskDefinition->pvParameters,
\r
752 pxTaskDefinition->uxPriority,
\r
753 pxCreatedTask, pxNewTCB,
\r
754 pxTaskDefinition->xRegions );
\r
756 prvAddNewTaskToReadyList( pxNewTCB );
\r
764 #endif /* portUSING_MPU_WRAPPERS */
\r
765 /*-----------------------------------------------------------*/
\r
767 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
769 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
770 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
771 const configSTACK_DEPTH_TYPE usStackDepth,
\r
772 void * const pvParameters,
\r
773 UBaseType_t uxPriority,
\r
774 TaskHandle_t * const pxCreatedTask )
\r
777 BaseType_t xReturn;
\r
779 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
780 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
781 the TCB then the stack. */
\r
782 #if( portSTACK_GROWTH > 0 )
\r
784 /* Allocate space for the TCB. Where the memory comes from depends on
\r
785 the implementation of the port malloc function and whether or not static
\r
786 allocation is being used. */
\r
787 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
789 if( pxNewTCB != NULL )
\r
791 /* Allocate space for the stack used by the task being created.
\r
792 The base of the stack memory stored in the TCB so the task can
\r
793 be deleted later if required. */
\r
794 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
796 if( pxNewTCB->pxStack == NULL )
\r
798 /* Could not allocate the stack. Delete the allocated TCB. */
\r
799 vPortFree( pxNewTCB );
\r
804 #else /* portSTACK_GROWTH */
\r
806 StackType_t *pxStack;
\r
808 /* Allocate space for the stack used by the task being created. */
\r
809 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
811 if( pxStack != NULL )
\r
813 /* Allocate space for the TCB. */
\r
814 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
816 if( pxNewTCB != NULL )
\r
818 /* Store the stack location in the TCB. */
\r
819 pxNewTCB->pxStack = pxStack;
\r
823 /* The stack cannot be used as the TCB was not created. Free
\r
825 vPortFree( pxStack );
\r
833 #endif /* portSTACK_GROWTH */
\r
835 if( pxNewTCB != NULL )
\r
837 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
839 /* Tasks can be created statically or dynamically, so note this
\r
840 task was created dynamically in case it is later deleted. */
\r
841 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
843 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
845 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
846 prvAddNewTaskToReadyList( pxNewTCB );
\r
851 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
857 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
858 /*-----------------------------------------------------------*/
\r
860 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
861 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
862 const uint32_t ulStackDepth,
\r
863 void * const pvParameters,
\r
864 UBaseType_t uxPriority,
\r
865 TaskHandle_t * const pxCreatedTask,
\r
867 const MemoryRegion_t * const xRegions )
\r
869 StackType_t *pxTopOfStack;
\r
872 #if( portUSING_MPU_WRAPPERS == 1 )
\r
873 /* Should the task be created in privileged mode? */
\r
874 BaseType_t xRunPrivileged;
\r
875 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
877 xRunPrivileged = pdTRUE;
\r
881 xRunPrivileged = pdFALSE;
\r
883 uxPriority &= ~portPRIVILEGE_BIT;
\r
884 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
886 /* Avoid dependency on memset() if it is not required. */
\r
887 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
889 /* Fill the stack with a known value to assist debugging. */
\r
890 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
892 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
894 /* Calculate the top of stack address. This depends on whether the stack
\r
895 grows from high memory to low (as per the 80x86) or vice versa.
\r
896 portSTACK_GROWTH is used to make the result positive or negative as required
\r
898 #if( portSTACK_GROWTH < 0 )
\r
900 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
901 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
903 /* Check the alignment of the calculated top of stack is correct. */
\r
904 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
906 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
908 /* Also record the stack's high address, which may assist
\r
910 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
912 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
914 #else /* portSTACK_GROWTH */
\r
916 pxTopOfStack = pxNewTCB->pxStack;
\r
918 /* Check the alignment of the stack buffer is correct. */
\r
919 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
921 /* The other extreme of the stack space is required if stack checking is
\r
923 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
925 #endif /* portSTACK_GROWTH */
\r
927 /* Store the task name in the TCB. */
\r
928 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
930 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
932 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
933 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
934 string is not accessible (extremely unlikely). */
\r
935 if( pcName[ x ] == 0x00 )
\r
941 mtCOVERAGE_TEST_MARKER();
\r
945 /* Ensure the name string is terminated in the case that the string length
\r
946 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
947 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
949 /* This is used as an array index so must ensure it's not too large. First
\r
950 remove the privilege bit if one is present. */
\r
951 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
953 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
957 mtCOVERAGE_TEST_MARKER();
\r
960 pxNewTCB->uxPriority = uxPriority;
\r
961 #if ( configUSE_MUTEXES == 1 )
\r
963 pxNewTCB->uxBasePriority = uxPriority;
\r
964 pxNewTCB->uxMutexesHeld = 0;
\r
966 #endif /* configUSE_MUTEXES */
\r
968 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
969 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
971 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
972 back to the containing TCB from a generic item in a list. */
\r
973 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
975 /* Event lists are always in priority order. */
\r
976 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
977 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
979 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
981 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
983 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
985 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
987 pxNewTCB->pxTaskTag = NULL;
\r
989 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
991 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
993 pxNewTCB->ulRunTimeCounter = 0UL;
\r
995 #endif /* configGENERATE_RUN_TIME_STATS */
\r
997 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
999 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
1003 /* Avoid compiler warning about unreferenced parameter. */
\r
1004 ( void ) xRegions;
\r
1008 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
1010 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
1012 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
1017 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1019 pxNewTCB->ulNotifiedValue = 0;
\r
1020 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1024 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1026 /* Initialise this task's Newlib reent structure. */
\r
1027 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
1031 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
1033 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1037 /* Initialize the TCB stack to look as if the task was already running,
\r
1038 but had been interrupted by the scheduler. The return address is set
\r
1039 to the start of the task function. Once the stack has been initialised
\r
1040 the top of stack variable is updated. */
\r
1041 #if( portUSING_MPU_WRAPPERS == 1 )
\r
1043 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1045 #else /* portUSING_MPU_WRAPPERS */
\r
1047 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1049 #endif /* portUSING_MPU_WRAPPERS */
\r
1051 if( ( void * ) pxCreatedTask != NULL )
\r
1053 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1054 change the created task's priority, delete the created task, etc.*/
\r
1055 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1059 mtCOVERAGE_TEST_MARKER();
\r
1062 /*-----------------------------------------------------------*/
\r
1064 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1066 /* Ensure interrupts don't access the task lists while the lists are being
\r
1068 taskENTER_CRITICAL();
\r
1070 uxCurrentNumberOfTasks++;
\r
1071 if( pxCurrentTCB == NULL )
\r
1073 /* There are no other tasks, or all the other tasks are in
\r
1074 the suspended state - make this the current task. */
\r
1075 pxCurrentTCB = pxNewTCB;
\r
1077 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1079 /* This is the first task to be created so do the preliminary
\r
1080 initialisation required. We will not recover if this call
\r
1081 fails, but we will report the failure. */
\r
1082 prvInitialiseTaskLists();
\r
1086 mtCOVERAGE_TEST_MARKER();
\r
1091 /* If the scheduler is not already running, make this task the
\r
1092 current task if it is the highest priority task to be created
\r
1094 if( xSchedulerRunning == pdFALSE )
\r
1096 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1098 pxCurrentTCB = pxNewTCB;
\r
1102 mtCOVERAGE_TEST_MARKER();
\r
1107 mtCOVERAGE_TEST_MARKER();
\r
1113 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1115 /* Add a counter into the TCB for tracing only. */
\r
1116 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1118 #endif /* configUSE_TRACE_FACILITY */
\r
1119 traceTASK_CREATE( pxNewTCB );
\r
1121 prvAddTaskToReadyList( pxNewTCB );
\r
1123 portSETUP_TCB( pxNewTCB );
\r
1125 taskEXIT_CRITICAL();
\r
1127 if( xSchedulerRunning != pdFALSE )
\r
1129 /* If the created task is of a higher priority than the current task
\r
1130 then it should run now. */
\r
1131 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1133 taskYIELD_IF_USING_PREEMPTION();
\r
1137 mtCOVERAGE_TEST_MARKER();
\r
1142 mtCOVERAGE_TEST_MARKER();
\r
1145 /*-----------------------------------------------------------*/
\r
1147 #if ( INCLUDE_vTaskDelete == 1 )
\r
1149 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1153 taskENTER_CRITICAL();
\r
1155 /* If null is passed in here then it is the calling task that is
\r
1157 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1159 /* Remove task from the ready list. */
\r
1160 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1162 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1166 mtCOVERAGE_TEST_MARKER();
\r
1169 /* Is the task waiting on an event also? */
\r
1170 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1172 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1176 mtCOVERAGE_TEST_MARKER();
\r
1179 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1180 detect that the task lists need re-generating. This is done before
\r
1181 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1185 if( pxTCB == pxCurrentTCB )
\r
1187 /* A task is deleting itself. This cannot complete within the
\r
1188 task itself, as a context switch to another task is required.
\r
1189 Place the task in the termination list. The idle task will
\r
1190 check the termination list and free up any memory allocated by
\r
1191 the scheduler for the TCB and stack of the deleted task. */
\r
1192 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1194 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1195 there is a task that has been deleted and that it should therefore
\r
1196 check the xTasksWaitingTermination list. */
\r
1197 ++uxDeletedTasksWaitingCleanUp;
\r
1199 /* The pre-delete hook is primarily for the Windows simulator,
\r
1200 in which Windows specific clean up operations are performed,
\r
1201 after which it is not possible to yield away from this task -
\r
1202 hence xYieldPending is used to latch that a context switch is
\r
1204 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1208 --uxCurrentNumberOfTasks;
\r
1209 prvDeleteTCB( pxTCB );
\r
1211 /* Reset the next expected unblock time in case it referred to
\r
1212 the task that has just been deleted. */
\r
1213 prvResetNextTaskUnblockTime();
\r
1216 traceTASK_DELETE( pxTCB );
\r
1218 taskEXIT_CRITICAL();
\r
1220 /* Force a reschedule if it is the currently running task that has just
\r
1222 if( xSchedulerRunning != pdFALSE )
\r
1224 if( pxTCB == pxCurrentTCB )
\r
1226 configASSERT( uxSchedulerSuspended == 0 );
\r
1227 portYIELD_WITHIN_API();
\r
1231 mtCOVERAGE_TEST_MARKER();
\r
1236 #endif /* INCLUDE_vTaskDelete */
\r
1237 /*-----------------------------------------------------------*/
\r
1239 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1241 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1243 TickType_t xTimeToWake;
\r
1244 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1246 configASSERT( pxPreviousWakeTime );
\r
1247 configASSERT( ( xTimeIncrement > 0U ) );
\r
1248 configASSERT( uxSchedulerSuspended == 0 );
\r
1250 vTaskSuspendAll();
\r
1252 /* Minor optimisation. The tick count cannot change in this
\r
1254 const TickType_t xConstTickCount = xTickCount;
\r
1256 /* Generate the tick time at which the task wants to wake. */
\r
1257 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1259 if( xConstTickCount < *pxPreviousWakeTime )
\r
1261 /* The tick count has overflowed since this function was
\r
1262 lasted called. In this case the only time we should ever
\r
1263 actually delay is if the wake time has also overflowed,
\r
1264 and the wake time is greater than the tick time. When this
\r
1265 is the case it is as if neither time had overflowed. */
\r
1266 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1268 xShouldDelay = pdTRUE;
\r
1272 mtCOVERAGE_TEST_MARKER();
\r
1277 /* The tick time has not overflowed. In this case we will
\r
1278 delay if either the wake time has overflowed, and/or the
\r
1279 tick time is less than the wake time. */
\r
1280 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1282 xShouldDelay = pdTRUE;
\r
1286 mtCOVERAGE_TEST_MARKER();
\r
1290 /* Update the wake time ready for the next call. */
\r
1291 *pxPreviousWakeTime = xTimeToWake;
\r
1293 if( xShouldDelay != pdFALSE )
\r
1295 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1297 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1298 the time to wake, so subtract the current tick count. */
\r
1299 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1303 mtCOVERAGE_TEST_MARKER();
\r
1306 xAlreadyYielded = xTaskResumeAll();
\r
1308 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1309 have put ourselves to sleep. */
\r
1310 if( xAlreadyYielded == pdFALSE )
\r
1312 portYIELD_WITHIN_API();
\r
1316 mtCOVERAGE_TEST_MARKER();
\r
1320 #endif /* INCLUDE_vTaskDelayUntil */
\r
1321 /*-----------------------------------------------------------*/
\r
1323 #if ( INCLUDE_vTaskDelay == 1 )
\r
1325 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1327 BaseType_t xAlreadyYielded = pdFALSE;
\r
1329 /* A delay time of zero just forces a reschedule. */
\r
1330 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1332 configASSERT( uxSchedulerSuspended == 0 );
\r
1333 vTaskSuspendAll();
\r
1335 traceTASK_DELAY();
\r
1337 /* A task that is removed from the event list while the
\r
1338 scheduler is suspended will not get placed in the ready
\r
1339 list or removed from the blocked list until the scheduler
\r
1342 This task cannot be in an event list as it is the currently
\r
1343 executing task. */
\r
1344 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1346 xAlreadyYielded = xTaskResumeAll();
\r
1350 mtCOVERAGE_TEST_MARKER();
\r
1353 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1354 have put ourselves to sleep. */
\r
1355 if( xAlreadyYielded == pdFALSE )
\r
1357 portYIELD_WITHIN_API();
\r
1361 mtCOVERAGE_TEST_MARKER();
\r
1365 #endif /* INCLUDE_vTaskDelay */
\r
1366 /*-----------------------------------------------------------*/
\r
1368 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1370 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1372 eTaskState eReturn;
\r
1373 List_t *pxStateList;
\r
1374 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1376 configASSERT( pxTCB );
\r
1378 if( pxTCB == pxCurrentTCB )
\r
1380 /* The task calling this function is querying its own state. */
\r
1381 eReturn = eRunning;
\r
1385 taskENTER_CRITICAL();
\r
1387 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1389 taskEXIT_CRITICAL();
\r
1391 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1393 /* The task being queried is referenced from one of the Blocked
\r
1395 eReturn = eBlocked;
\r
1398 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1399 else if( pxStateList == &xSuspendedTaskList )
\r
1401 /* The task being queried is referenced from the suspended
\r
1402 list. Is it genuinely suspended or is it block
\r
1404 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1406 eReturn = eSuspended;
\r
1410 eReturn = eBlocked;
\r
1415 #if ( INCLUDE_vTaskDelete == 1 )
\r
1416 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1418 /* The task being queried is referenced from the deleted
\r
1419 tasks list, or it is not referenced from any lists at
\r
1421 eReturn = eDeleted;
\r
1425 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1427 /* If the task is not in any other state, it must be in the
\r
1428 Ready (including pending ready) state. */
\r
1434 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1436 #endif /* INCLUDE_eTaskGetState */
\r
1437 /*-----------------------------------------------------------*/
\r
1439 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1441 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1444 UBaseType_t uxReturn;
\r
1446 taskENTER_CRITICAL();
\r
1448 /* If null is passed in here then it is the priority of the that
\r
1449 called uxTaskPriorityGet() that is being queried. */
\r
1450 pxTCB = prvGetTCBFromHandle( xTask );
\r
1451 uxReturn = pxTCB->uxPriority;
\r
1453 taskEXIT_CRITICAL();
\r
1458 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1459 /*-----------------------------------------------------------*/
\r
1461 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1463 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1466 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1468 /* RTOS ports that support interrupt nesting have the concept of a
\r
1469 maximum system call (or maximum API call) interrupt priority.
\r
1470 Interrupts that are above the maximum system call priority are keep
\r
1471 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1472 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1473 is defined in FreeRTOSConfig.h then
\r
1474 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1475 failure if a FreeRTOS API function is called from an interrupt that has
\r
1476 been assigned a priority above the configured maximum system call
\r
1477 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1478 from interrupts that have been assigned a priority at or (logically)
\r
1479 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1480 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1481 simple as possible. More information (albeit Cortex-M specific) is
\r
1482 provided on the following link:
\r
1483 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1484 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1486 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1488 /* If null is passed in here then it is the priority of the calling
\r
1489 task that is being queried. */
\r
1490 pxTCB = prvGetTCBFromHandle( xTask );
\r
1491 uxReturn = pxTCB->uxPriority;
\r
1493 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1498 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1499 /*-----------------------------------------------------------*/
\r
1501 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1503 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1506 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1507 BaseType_t xYieldRequired = pdFALSE;
\r
1509 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1511 /* Ensure the new priority is valid. */
\r
1512 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1514 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1518 mtCOVERAGE_TEST_MARKER();
\r
1521 taskENTER_CRITICAL();
\r
1523 /* If null is passed in here then it is the priority of the calling
\r
1524 task that is being changed. */
\r
1525 pxTCB = prvGetTCBFromHandle( xTask );
\r
1527 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1529 #if ( configUSE_MUTEXES == 1 )
\r
1531 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1535 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1539 if( uxCurrentBasePriority != uxNewPriority )
\r
1541 /* The priority change may have readied a task of higher
\r
1542 priority than the calling task. */
\r
1543 if( uxNewPriority > uxCurrentBasePriority )
\r
1545 if( pxTCB != pxCurrentTCB )
\r
1547 /* The priority of a task other than the currently
\r
1548 running task is being raised. Is the priority being
\r
1549 raised above that of the running task? */
\r
1550 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1552 xYieldRequired = pdTRUE;
\r
1556 mtCOVERAGE_TEST_MARKER();
\r
1561 /* The priority of the running task is being raised,
\r
1562 but the running task must already be the highest
\r
1563 priority task able to run so no yield is required. */
\r
1566 else if( pxTCB == pxCurrentTCB )
\r
1568 /* Setting the priority of the running task down means
\r
1569 there may now be another task of higher priority that
\r
1570 is ready to execute. */
\r
1571 xYieldRequired = pdTRUE;
\r
1575 /* Setting the priority of any other task down does not
\r
1576 require a yield as the running task must be above the
\r
1577 new priority of the task being modified. */
\r
1580 /* Remember the ready list the task might be referenced from
\r
1581 before its uxPriority member is changed so the
\r
1582 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1583 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1585 #if ( configUSE_MUTEXES == 1 )
\r
1587 /* Only change the priority being used if the task is not
\r
1588 currently using an inherited priority. */
\r
1589 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1591 pxTCB->uxPriority = uxNewPriority;
\r
1595 mtCOVERAGE_TEST_MARKER();
\r
1598 /* The base priority gets set whatever. */
\r
1599 pxTCB->uxBasePriority = uxNewPriority;
\r
1603 pxTCB->uxPriority = uxNewPriority;
\r
1607 /* Only reset the event list item value if the value is not
\r
1608 being used for anything else. */
\r
1609 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1611 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
1615 mtCOVERAGE_TEST_MARKER();
\r
1618 /* If the task is in the blocked or suspended list we need do
\r
1619 nothing more than change its priority variable. However, if
\r
1620 the task is in a ready list it needs to be removed and placed
\r
1621 in the list appropriate to its new priority. */
\r
1622 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1624 /* The task is currently in its ready list - remove before
\r
1625 adding it to it's new ready list. As we are in a critical
\r
1626 section we can do this even if the scheduler is suspended. */
\r
1627 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1629 /* It is known that the task is in its ready list so
\r
1630 there is no need to check again and the port level
\r
1631 reset macro can be called directly. */
\r
1632 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1636 mtCOVERAGE_TEST_MARKER();
\r
1638 prvAddTaskToReadyList( pxTCB );
\r
1642 mtCOVERAGE_TEST_MARKER();
\r
1645 if( xYieldRequired != pdFALSE )
\r
1647 taskYIELD_IF_USING_PREEMPTION();
\r
1651 mtCOVERAGE_TEST_MARKER();
\r
1654 /* Remove compiler warning about unused variables when the port
\r
1655 optimised task selection is not being used. */
\r
1656 ( void ) uxPriorityUsedOnEntry;
\r
1659 taskEXIT_CRITICAL();
\r
1662 #endif /* INCLUDE_vTaskPrioritySet */
\r
1663 /*-----------------------------------------------------------*/
\r
1665 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1667 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1671 taskENTER_CRITICAL();
\r
1673 /* If null is passed in here then it is the running task that is
\r
1674 being suspended. */
\r
1675 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1677 traceTASK_SUSPEND( pxTCB );
\r
1679 /* Remove task from the ready/delayed list and place in the
\r
1680 suspended list. */
\r
1681 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1683 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1687 mtCOVERAGE_TEST_MARKER();
\r
1690 /* Is the task waiting on an event also? */
\r
1691 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1693 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1697 mtCOVERAGE_TEST_MARKER();
\r
1700 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1702 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1704 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1706 /* The task was blocked to wait for a notification, but is
\r
1707 now suspended, so no notification was received. */
\r
1708 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1713 taskEXIT_CRITICAL();
\r
1715 if( xSchedulerRunning != pdFALSE )
\r
1717 /* Reset the next expected unblock time in case it referred to the
\r
1718 task that is now in the Suspended state. */
\r
1719 taskENTER_CRITICAL();
\r
1721 prvResetNextTaskUnblockTime();
\r
1723 taskEXIT_CRITICAL();
\r
1727 mtCOVERAGE_TEST_MARKER();
\r
1730 if( pxTCB == pxCurrentTCB )
\r
1732 if( xSchedulerRunning != pdFALSE )
\r
1734 /* The current task has just been suspended. */
\r
1735 configASSERT( uxSchedulerSuspended == 0 );
\r
1736 portYIELD_WITHIN_API();
\r
1740 /* The scheduler is not running, but the task that was pointed
\r
1741 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1742 must be adjusted to point to a different task. */
\r
1743 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1745 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1746 NULL so when the next task is created pxCurrentTCB will
\r
1747 be set to point to it no matter what its relative priority
\r
1749 pxCurrentTCB = NULL;
\r
1753 vTaskSwitchContext();
\r
1759 mtCOVERAGE_TEST_MARKER();
\r
1763 #endif /* INCLUDE_vTaskSuspend */
\r
1764 /*-----------------------------------------------------------*/
\r
1766 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1768 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1770 BaseType_t xReturn = pdFALSE;
\r
1771 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1773 /* Accesses xPendingReadyList so must be called from a critical
\r
1776 /* It does not make sense to check if the calling task is suspended. */
\r
1777 configASSERT( xTask );
\r
1779 /* Is the task being resumed actually in the suspended list? */
\r
1780 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1782 /* Has the task already been resumed from within an ISR? */
\r
1783 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1785 /* Is it in the suspended list because it is in the Suspended
\r
1786 state, or because is is blocked with no timeout? */
\r
1787 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1793 mtCOVERAGE_TEST_MARKER();
\r
1798 mtCOVERAGE_TEST_MARKER();
\r
1803 mtCOVERAGE_TEST_MARKER();
\r
1807 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1809 #endif /* INCLUDE_vTaskSuspend */
\r
1810 /*-----------------------------------------------------------*/
\r
1812 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1814 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1816 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1818 /* It does not make sense to resume the calling task. */
\r
1819 configASSERT( xTaskToResume );
\r
1821 /* The parameter cannot be NULL as it is impossible to resume the
\r
1822 currently executing task. */
\r
1823 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1825 taskENTER_CRITICAL();
\r
1827 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1829 traceTASK_RESUME( pxTCB );
\r
1831 /* The ready list can be accessed even if the scheduler is
\r
1832 suspended because this is inside a critical section. */
\r
1833 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1834 prvAddTaskToReadyList( pxTCB );
\r
1836 /* A higher priority task may have just been resumed. */
\r
1837 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1839 /* This yield may not cause the task just resumed to run,
\r
1840 but will leave the lists in the correct state for the
\r
1842 taskYIELD_IF_USING_PREEMPTION();
\r
1846 mtCOVERAGE_TEST_MARKER();
\r
1851 mtCOVERAGE_TEST_MARKER();
\r
1854 taskEXIT_CRITICAL();
\r
1858 mtCOVERAGE_TEST_MARKER();
\r
1862 #endif /* INCLUDE_vTaskSuspend */
\r
1864 /*-----------------------------------------------------------*/
\r
1866 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1868 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1870 BaseType_t xYieldRequired = pdFALSE;
\r
1871 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1872 UBaseType_t uxSavedInterruptStatus;
\r
1874 configASSERT( xTaskToResume );
\r
1876 /* RTOS ports that support interrupt nesting have the concept of a
\r
1877 maximum system call (or maximum API call) interrupt priority.
\r
1878 Interrupts that are above the maximum system call priority are keep
\r
1879 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1880 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1881 is defined in FreeRTOSConfig.h then
\r
1882 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1883 failure if a FreeRTOS API function is called from an interrupt that has
\r
1884 been assigned a priority above the configured maximum system call
\r
1885 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1886 from interrupts that have been assigned a priority at or (logically)
\r
1887 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1888 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1889 simple as possible. More information (albeit Cortex-M specific) is
\r
1890 provided on the following link:
\r
1891 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1892 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1894 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1896 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1898 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1900 /* Check the ready lists can be accessed. */
\r
1901 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1903 /* Ready lists can be accessed so move the task from the
\r
1904 suspended list to the ready list directly. */
\r
1905 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1907 xYieldRequired = pdTRUE;
\r
1911 mtCOVERAGE_TEST_MARKER();
\r
1914 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1915 prvAddTaskToReadyList( pxTCB );
\r
1919 /* The delayed or ready lists cannot be accessed so the task
\r
1920 is held in the pending ready list until the scheduler is
\r
1922 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1927 mtCOVERAGE_TEST_MARKER();
\r
1930 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1932 return xYieldRequired;
\r
1935 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1936 /*-----------------------------------------------------------*/
\r
1938 void vTaskStartScheduler( void )
\r
1940 BaseType_t xReturn;
\r
1942 /* Add the idle task at the lowest priority. */
\r
1943 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1945 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1946 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1947 uint32_t ulIdleTaskStackSize;
\r
1949 /* The Idle task is created using user provided RAM - obtain the
\r
1950 address of the RAM then create the idle task. */
\r
1951 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1952 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1953 configIDLE_TASK_NAME,
\r
1954 ulIdleTaskStackSize,
\r
1955 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1956 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1957 pxIdleTaskStackBuffer,
\r
1958 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1960 if( xIdleTaskHandle != NULL )
\r
1971 /* The Idle task is being created using dynamically allocated RAM. */
\r
1972 xReturn = xTaskCreate( prvIdleTask,
\r
1973 configIDLE_TASK_NAME,
\r
1974 configMINIMAL_STACK_SIZE,
\r
1976 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
\r
1977 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1979 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1981 #if ( configUSE_TIMERS == 1 )
\r
1983 if( xReturn == pdPASS )
\r
1985 xReturn = xTimerCreateTimerTask();
\r
1989 mtCOVERAGE_TEST_MARKER();
\r
1992 #endif /* configUSE_TIMERS */
\r
1994 if( xReturn == pdPASS )
\r
1996 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1997 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1998 the only macro called by the function. */
\r
1999 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2001 freertos_tasks_c_additions_init();
\r
2005 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2006 before or during the call to xPortStartScheduler(). The stacks of
\r
2007 the created tasks contain a status word with interrupts switched on
\r
2008 so interrupts will automatically get re-enabled when the first task
\r
2010 portDISABLE_INTERRUPTS();
\r
2012 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2014 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2015 structure specific to the task that will run first. */
\r
2016 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2018 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2020 xNextTaskUnblockTime = portMAX_DELAY;
\r
2021 xSchedulerRunning = pdTRUE;
\r
2022 xTickCount = ( TickType_t ) 0U;
\r
2024 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2025 macro must be defined to configure the timer/counter used to generate
\r
2026 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2027 is set to 0 and the following line fails to build then ensure you do not
\r
2028 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2029 FreeRTOSConfig.h file. */
\r
2030 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2032 /* Setting up the timer tick is hardware specific and thus in the
\r
2033 portable interface. */
\r
2034 if( xPortStartScheduler() != pdFALSE )
\r
2036 /* Should not reach here as if the scheduler is running the
\r
2037 function will not return. */
\r
2041 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2046 /* This line will only be reached if the kernel could not be started,
\r
2047 because there was not enough FreeRTOS heap to create the idle task
\r
2048 or the timer task. */
\r
2049 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2052 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2053 meaning xIdleTaskHandle is not used anywhere else. */
\r
2054 ( void ) xIdleTaskHandle;
\r
2056 /*-----------------------------------------------------------*/
\r
2058 void vTaskEndScheduler( void )
\r
2060 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2061 routine so the original ISRs can be restored if necessary. The port
\r
2062 layer must ensure interrupts enable bit is left in the correct state. */
\r
2063 portDISABLE_INTERRUPTS();
\r
2064 xSchedulerRunning = pdFALSE;
\r
2065 vPortEndScheduler();
\r
2067 /*----------------------------------------------------------*/
\r
2069 void vTaskSuspendAll( void )
\r
2071 /* A critical section is not required as the variable is of type
\r
2072 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2073 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2074 http://goo.gl/wu4acr */
\r
2075 ++uxSchedulerSuspended;
\r
2077 /*----------------------------------------------------------*/
\r
2079 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2081 static TickType_t prvGetExpectedIdleTime( void )
\r
2083 TickType_t xReturn;
\r
2084 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2086 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2087 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2088 task that are in the Ready state, even though the idle task is
\r
2090 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2092 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2094 uxHigherPriorityReadyTasks = pdTRUE;
\r
2099 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2101 /* When port optimised task selection is used the uxTopReadyPriority
\r
2102 variable is used as a bit map. If bits other than the least
\r
2103 significant bit are set then there are tasks that have a priority
\r
2104 above the idle priority that are in the Ready state. This takes
\r
2105 care of the case where the co-operative scheduler is in use. */
\r
2106 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2108 uxHigherPriorityReadyTasks = pdTRUE;
\r
2113 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2117 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2119 /* There are other idle priority tasks in the ready state. If
\r
2120 time slicing is used then the very next tick interrupt must be
\r
2124 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2126 /* There are tasks in the Ready state that have a priority above the
\r
2127 idle priority. This path can only be reached if
\r
2128 configUSE_PREEMPTION is 0. */
\r
2133 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2139 #endif /* configUSE_TICKLESS_IDLE */
\r
2140 /*----------------------------------------------------------*/
\r
2142 BaseType_t xTaskResumeAll( void )
\r
2144 TCB_t *pxTCB = NULL;
\r
2145 BaseType_t xAlreadyYielded = pdFALSE;
\r
2147 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2148 previous call to vTaskSuspendAll(). */
\r
2149 configASSERT( uxSchedulerSuspended );
\r
2151 /* It is possible that an ISR caused a task to be removed from an event
\r
2152 list while the scheduler was suspended. If this was the case then the
\r
2153 removed task will have been added to the xPendingReadyList. Once the
\r
2154 scheduler has been resumed it is safe to move all the pending ready
\r
2155 tasks from this list into their appropriate ready list. */
\r
2156 taskENTER_CRITICAL();
\r
2158 --uxSchedulerSuspended;
\r
2160 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2162 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2164 /* Move any readied tasks from the pending list into the
\r
2165 appropriate ready list. */
\r
2166 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2168 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
2169 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2170 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2171 prvAddTaskToReadyList( pxTCB );
\r
2173 /* If the moved task has a priority higher than the current
\r
2174 task then a yield must be performed. */
\r
2175 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2177 xYieldPending = pdTRUE;
\r
2181 mtCOVERAGE_TEST_MARKER();
\r
2185 if( pxTCB != NULL )
\r
2187 /* A task was unblocked while the scheduler was suspended,
\r
2188 which may have prevented the next unblock time from being
\r
2189 re-calculated, in which case re-calculate it now. Mainly
\r
2190 important for low power tickless implementations, where
\r
2191 this can prevent an unnecessary exit from low power
\r
2193 prvResetNextTaskUnblockTime();
\r
2196 /* If any ticks occurred while the scheduler was suspended then
\r
2197 they should be processed now. This ensures the tick count does
\r
2198 not slip, and that any delayed tasks are resumed at the correct
\r
2201 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2203 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2207 if( xTaskIncrementTick() != pdFALSE )
\r
2209 xYieldPending = pdTRUE;
\r
2213 mtCOVERAGE_TEST_MARKER();
\r
2216 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2218 uxPendedTicks = 0;
\r
2222 mtCOVERAGE_TEST_MARKER();
\r
2226 if( xYieldPending != pdFALSE )
\r
2228 #if( configUSE_PREEMPTION != 0 )
\r
2230 xAlreadyYielded = pdTRUE;
\r
2233 taskYIELD_IF_USING_PREEMPTION();
\r
2237 mtCOVERAGE_TEST_MARKER();
\r
2243 mtCOVERAGE_TEST_MARKER();
\r
2246 taskEXIT_CRITICAL();
\r
2248 return xAlreadyYielded;
\r
2250 /*-----------------------------------------------------------*/
\r
2252 TickType_t xTaskGetTickCount( void )
\r
2254 TickType_t xTicks;
\r
2256 /* Critical section required if running on a 16 bit processor. */
\r
2257 portTICK_TYPE_ENTER_CRITICAL();
\r
2259 xTicks = xTickCount;
\r
2261 portTICK_TYPE_EXIT_CRITICAL();
\r
2265 /*-----------------------------------------------------------*/
\r
2267 TickType_t xTaskGetTickCountFromISR( void )
\r
2269 TickType_t xReturn;
\r
2270 UBaseType_t uxSavedInterruptStatus;
\r
2272 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2273 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2274 above the maximum system call priority are kept permanently enabled, even
\r
2275 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2276 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2277 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2278 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2279 assigned a priority above the configured maximum system call priority.
\r
2280 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2281 that have been assigned a priority at or (logically) below the maximum
\r
2282 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2283 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2284 More information (albeit Cortex-M specific) is provided on the following
\r
2285 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2286 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2288 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2290 xReturn = xTickCount;
\r
2292 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2296 /*-----------------------------------------------------------*/
\r
2298 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2300 /* A critical section is not required because the variables are of type
\r
2302 return uxCurrentNumberOfTasks;
\r
2304 /*-----------------------------------------------------------*/
\r
2306 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2310 /* If null is passed in here then the name of the calling task is being
\r
2312 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2313 configASSERT( pxTCB );
\r
2314 return &( pxTCB->pcTaskName[ 0 ] );
\r
2316 /*-----------------------------------------------------------*/
\r
2318 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2320 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2322 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2326 /* This function is called with the scheduler suspended. */
\r
2328 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2330 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2334 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2336 /* Check each character in the name looking for a match or
\r
2338 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2340 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2342 if( cNextChar != pcNameToQuery[ x ] )
\r
2344 /* Characters didn't match. */
\r
2347 else if( cNextChar == 0x00 )
\r
2349 /* Both strings terminated, a match must have been
\r
2351 pxReturn = pxNextTCB;
\r
2356 mtCOVERAGE_TEST_MARKER();
\r
2360 if( pxReturn != NULL )
\r
2362 /* The handle has been found. */
\r
2366 } while( pxNextTCB != pxFirstTCB );
\r
2370 mtCOVERAGE_TEST_MARKER();
\r
2376 #endif /* INCLUDE_xTaskGetHandle */
\r
2377 /*-----------------------------------------------------------*/
\r
2379 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2381 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2383 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2386 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2387 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2389 vTaskSuspendAll();
\r
2391 /* Search the ready lists. */
\r
2395 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2397 if( pxTCB != NULL )
\r
2399 /* Found the handle. */
\r
2403 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2405 /* Search the delayed lists. */
\r
2406 if( pxTCB == NULL )
\r
2408 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2411 if( pxTCB == NULL )
\r
2413 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2416 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2418 if( pxTCB == NULL )
\r
2420 /* Search the suspended list. */
\r
2421 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2426 #if( INCLUDE_vTaskDelete == 1 )
\r
2428 if( pxTCB == NULL )
\r
2430 /* Search the deleted list. */
\r
2431 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2436 ( void ) xTaskResumeAll();
\r
2438 return ( TaskHandle_t ) pxTCB;
\r
2441 #endif /* INCLUDE_xTaskGetHandle */
\r
2442 /*-----------------------------------------------------------*/
\r
2444 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2446 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2448 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2450 vTaskSuspendAll();
\r
2452 /* Is there a space in the array for each task in the system? */
\r
2453 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2455 /* Fill in an TaskStatus_t structure with information on each
\r
2456 task in the Ready state. */
\r
2460 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2462 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2464 /* Fill in an TaskStatus_t structure with information on each
\r
2465 task in the Blocked state. */
\r
2466 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2467 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2469 #if( INCLUDE_vTaskDelete == 1 )
\r
2471 /* Fill in an TaskStatus_t structure with information on
\r
2472 each task that has been deleted but not yet cleaned up. */
\r
2473 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2477 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2479 /* Fill in an TaskStatus_t structure with information on
\r
2480 each task in the Suspended state. */
\r
2481 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2485 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2487 if( pulTotalRunTime != NULL )
\r
2489 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2490 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2492 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2498 if( pulTotalRunTime != NULL )
\r
2500 *pulTotalRunTime = 0;
\r
2507 mtCOVERAGE_TEST_MARKER();
\r
2510 ( void ) xTaskResumeAll();
\r
2515 #endif /* configUSE_TRACE_FACILITY */
\r
2516 /*----------------------------------------------------------*/
\r
2518 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2520 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2522 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2523 started, then xIdleTaskHandle will be NULL. */
\r
2524 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2525 return xIdleTaskHandle;
\r
2528 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2529 /*----------------------------------------------------------*/
\r
2531 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2532 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2533 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2535 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2537 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2539 /* Correct the tick count value after a period during which the tick
\r
2540 was suppressed. Note this does *not* call the tick hook function for
\r
2541 each stepped tick. */
\r
2542 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2543 xTickCount += xTicksToJump;
\r
2544 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2547 #endif /* configUSE_TICKLESS_IDLE */
\r
2548 /*----------------------------------------------------------*/
\r
2550 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2552 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2554 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2555 BaseType_t xReturn;
\r
2557 configASSERT( pxTCB );
\r
2559 vTaskSuspendAll();
\r
2561 /* A task can only be prematurely removed from the Blocked state if
\r
2562 it is actually in the Blocked state. */
\r
2563 if( eTaskGetState( xTask ) == eBlocked )
\r
2567 /* Remove the reference to the task from the blocked list. An
\r
2568 interrupt won't touch the xStateListItem because the
\r
2569 scheduler is suspended. */
\r
2570 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2572 /* Is the task waiting on an event also? If so remove it from
\r
2573 the event list too. Interrupts can touch the event list item,
\r
2574 even though the scheduler is suspended, so a critical section
\r
2576 taskENTER_CRITICAL();
\r
2578 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2580 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2581 pxTCB->ucDelayAborted = pdTRUE;
\r
2585 mtCOVERAGE_TEST_MARKER();
\r
2588 taskEXIT_CRITICAL();
\r
2590 /* Place the unblocked task into the appropriate ready list. */
\r
2591 prvAddTaskToReadyList( pxTCB );
\r
2593 /* A task being unblocked cannot cause an immediate context
\r
2594 switch if preemption is turned off. */
\r
2595 #if ( configUSE_PREEMPTION == 1 )
\r
2597 /* Preemption is on, but a context switch should only be
\r
2598 performed if the unblocked task has a priority that is
\r
2599 equal to or higher than the currently executing task. */
\r
2600 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2602 /* Pend the yield to be performed when the scheduler
\r
2603 is unsuspended. */
\r
2604 xYieldPending = pdTRUE;
\r
2608 mtCOVERAGE_TEST_MARKER();
\r
2611 #endif /* configUSE_PREEMPTION */
\r
2618 ( void ) xTaskResumeAll();
\r
2623 #endif /* INCLUDE_xTaskAbortDelay */
\r
2624 /*----------------------------------------------------------*/
\r
2626 BaseType_t xTaskIncrementTick( void )
\r
2629 TickType_t xItemValue;
\r
2630 BaseType_t xSwitchRequired = pdFALSE;
\r
2632 /* Called by the portable layer each time a tick interrupt occurs.
\r
2633 Increments the tick then checks to see if the new tick value will cause any
\r
2634 tasks to be unblocked. */
\r
2635 traceTASK_INCREMENT_TICK( xTickCount );
\r
2636 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2638 /* Minor optimisation. The tick count cannot change in this
\r
2640 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2642 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2643 delayed lists if it wraps to 0. */
\r
2644 xTickCount = xConstTickCount;
\r
2646 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2648 taskSWITCH_DELAYED_LISTS();
\r
2652 mtCOVERAGE_TEST_MARKER();
\r
2655 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2656 the queue in the order of their wake time - meaning once one task
\r
2657 has been found whose block time has not expired there is no need to
\r
2658 look any further down the list. */
\r
2659 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2663 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2665 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2666 to the maximum possible value so it is extremely
\r
2668 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2669 next time through. */
\r
2670 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2675 /* The delayed list is not empty, get the value of the
\r
2676 item at the head of the delayed list. This is the time
\r
2677 at which the task at the head of the delayed list must
\r
2678 be removed from the Blocked state. */
\r
2679 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2680 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2682 if( xConstTickCount < xItemValue )
\r
2684 /* It is not time to unblock this item yet, but the
\r
2685 item value is the time at which the task at the head
\r
2686 of the blocked list must be removed from the Blocked
\r
2687 state - so record the item value in
\r
2688 xNextTaskUnblockTime. */
\r
2689 xNextTaskUnblockTime = xItemValue;
\r
2694 mtCOVERAGE_TEST_MARKER();
\r
2697 /* It is time to remove the item from the Blocked state. */
\r
2698 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2700 /* Is the task waiting on an event also? If so remove
\r
2701 it from the event list. */
\r
2702 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2704 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2708 mtCOVERAGE_TEST_MARKER();
\r
2711 /* Place the unblocked task into the appropriate ready
\r
2713 prvAddTaskToReadyList( pxTCB );
\r
2715 /* A task being unblocked cannot cause an immediate
\r
2716 context switch if preemption is turned off. */
\r
2717 #if ( configUSE_PREEMPTION == 1 )
\r
2719 /* Preemption is on, but a context switch should
\r
2720 only be performed if the unblocked task has a
\r
2721 priority that is equal to or higher than the
\r
2722 currently executing task. */
\r
2723 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2725 xSwitchRequired = pdTRUE;
\r
2729 mtCOVERAGE_TEST_MARKER();
\r
2732 #endif /* configUSE_PREEMPTION */
\r
2737 /* Tasks of equal priority to the currently running task will share
\r
2738 processing time (time slice) if preemption is on, and the application
\r
2739 writer has not explicitly turned time slicing off. */
\r
2740 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2742 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2744 xSwitchRequired = pdTRUE;
\r
2748 mtCOVERAGE_TEST_MARKER();
\r
2751 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2753 #if ( configUSE_TICK_HOOK == 1 )
\r
2755 /* Guard against the tick hook being called when the pended tick
\r
2756 count is being unwound (when the scheduler is being unlocked). */
\r
2757 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2759 vApplicationTickHook();
\r
2763 mtCOVERAGE_TEST_MARKER();
\r
2766 #endif /* configUSE_TICK_HOOK */
\r
2772 /* The tick hook gets called at regular intervals, even if the
\r
2773 scheduler is locked. */
\r
2774 #if ( configUSE_TICK_HOOK == 1 )
\r
2776 vApplicationTickHook();
\r
2781 #if ( configUSE_PREEMPTION == 1 )
\r
2783 if( xYieldPending != pdFALSE )
\r
2785 xSwitchRequired = pdTRUE;
\r
2789 mtCOVERAGE_TEST_MARKER();
\r
2792 #endif /* configUSE_PREEMPTION */
\r
2794 return xSwitchRequired;
\r
2796 /*-----------------------------------------------------------*/
\r
2798 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2800 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2804 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2806 if( xTask == NULL )
\r
2808 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2812 xTCB = ( TCB_t * ) xTask;
\r
2815 /* Save the hook function in the TCB. A critical section is required as
\r
2816 the value can be accessed from an interrupt. */
\r
2817 taskENTER_CRITICAL();
\r
2818 xTCB->pxTaskTag = pxHookFunction;
\r
2819 taskEXIT_CRITICAL();
\r
2822 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2823 /*-----------------------------------------------------------*/
\r
2825 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2827 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2830 TaskHookFunction_t xReturn;
\r
2832 /* If xTask is NULL then we are setting our own task hook. */
\r
2833 if( xTask == NULL )
\r
2835 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2839 xTCB = ( TCB_t * ) xTask;
\r
2842 /* Save the hook function in the TCB. A critical section is required as
\r
2843 the value can be accessed from an interrupt. */
\r
2844 taskENTER_CRITICAL();
\r
2846 xReturn = xTCB->pxTaskTag;
\r
2848 taskEXIT_CRITICAL();
\r
2853 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2854 /*-----------------------------------------------------------*/
\r
2856 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2858 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2861 BaseType_t xReturn;
\r
2863 /* If xTask is NULL then we are calling our own task hook. */
\r
2864 if( xTask == NULL )
\r
2866 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2870 xTCB = ( TCB_t * ) xTask;
\r
2873 if( xTCB->pxTaskTag != NULL )
\r
2875 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2885 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2886 /*-----------------------------------------------------------*/
\r
2888 void vTaskSwitchContext( void )
\r
2890 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2892 /* The scheduler is currently suspended - do not allow a context
\r
2894 xYieldPending = pdTRUE;
\r
2898 xYieldPending = pdFALSE;
\r
2899 traceTASK_SWITCHED_OUT();
\r
2901 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2903 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2904 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2906 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2909 /* Add the amount of time the task has been running to the
\r
2910 accumulated time so far. The time the task started running was
\r
2911 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2912 protection here so count values are only valid until the timer
\r
2913 overflows. The guard against negative values is to protect
\r
2914 against suspect run time stat counter implementations - which
\r
2915 are provided by the application, not the kernel. */
\r
2916 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2918 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2922 mtCOVERAGE_TEST_MARKER();
\r
2924 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2926 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2928 /* Check for stack overflow, if configured. */
\r
2929 taskCHECK_FOR_STACK_OVERFLOW();
\r
2931 /* Select a new task to run using either the generic C or port
\r
2932 optimised asm code. */
\r
2933 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2934 traceTASK_SWITCHED_IN();
\r
2936 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2938 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2939 structure specific to this task. */
\r
2940 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2942 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2945 /*-----------------------------------------------------------*/
\r
2947 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2949 configASSERT( pxEventList );
\r
2951 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2952 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2954 /* Place the event list item of the TCB in the appropriate event list.
\r
2955 This is placed in the list in priority order so the highest priority task
\r
2956 is the first to be woken by the event. The queue that contains the event
\r
2957 list is locked, preventing simultaneous access from interrupts. */
\r
2958 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2960 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2962 /*-----------------------------------------------------------*/
\r
2964 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2966 configASSERT( pxEventList );
\r
2968 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2969 the event groups implementation. */
\r
2970 configASSERT( uxSchedulerSuspended != 0 );
\r
2972 /* Store the item value in the event list item. It is safe to access the
\r
2973 event list item here as interrupts won't access the event list item of a
\r
2974 task that is not in the Blocked state. */
\r
2975 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2977 /* Place the event list item of the TCB at the end of the appropriate event
\r
2978 list. It is safe to access the event list here because it is part of an
\r
2979 event group implementation - and interrupts don't access event groups
\r
2980 directly (instead they access them indirectly by pending function calls to
\r
2981 the task level). */
\r
2982 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2984 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2986 /*-----------------------------------------------------------*/
\r
2988 #if( configUSE_TIMERS == 1 )
\r
2990 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2992 configASSERT( pxEventList );
\r
2994 /* This function should not be called by application code hence the
\r
2995 'Restricted' in its name. It is not part of the public API. It is
\r
2996 designed for use by kernel code, and has special calling requirements -
\r
2997 it should be called with the scheduler suspended. */
\r
3000 /* Place the event list item of the TCB in the appropriate event list.
\r
3001 In this case it is assume that this is the only task that is going to
\r
3002 be waiting on this event list, so the faster vListInsertEnd() function
\r
3003 can be used in place of vListInsert. */
\r
3004 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3006 /* If the task should block indefinitely then set the block time to a
\r
3007 value that will be recognised as an indefinite delay inside the
\r
3008 prvAddCurrentTaskToDelayedList() function. */
\r
3009 if( xWaitIndefinitely != pdFALSE )
\r
3011 xTicksToWait = portMAX_DELAY;
\r
3014 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3015 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3018 #endif /* configUSE_TIMERS */
\r
3019 /*-----------------------------------------------------------*/
\r
3021 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3023 TCB_t *pxUnblockedTCB;
\r
3024 BaseType_t xReturn;
\r
3026 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3027 called from a critical section within an ISR. */
\r
3029 /* The event list is sorted in priority order, so the first in the list can
\r
3030 be removed as it is known to be the highest priority. Remove the TCB from
\r
3031 the delayed list, and add it to the ready list.
\r
3033 If an event is for a queue that is locked then this function will never
\r
3034 get called - the lock count on the queue will get modified instead. This
\r
3035 means exclusive access to the event list is guaranteed here.
\r
3037 This function assumes that a check has already been made to ensure that
\r
3038 pxEventList is not empty. */
\r
3039 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
3040 configASSERT( pxUnblockedTCB );
\r
3041 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3043 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3045 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3046 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3050 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3051 pending until the scheduler is resumed. */
\r
3052 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3055 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3057 /* Return true if the task removed from the event list has a higher
\r
3058 priority than the calling task. This allows the calling task to know if
\r
3059 it should force a context switch now. */
\r
3062 /* Mark that a yield is pending in case the user is not using the
\r
3063 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3064 xYieldPending = pdTRUE;
\r
3068 xReturn = pdFALSE;
\r
3071 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3073 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3074 might be set to the blocked task's time out time. If the task is
\r
3075 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3076 normally left unchanged, because it is automatically reset to a new
\r
3077 value when the tick count equals xNextTaskUnblockTime. However if
\r
3078 tickless idling is used it might be more important to enter sleep mode
\r
3079 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3080 ensure it is updated at the earliest possible time. */
\r
3081 prvResetNextTaskUnblockTime();
\r
3087 /*-----------------------------------------------------------*/
\r
3089 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3091 TCB_t *pxUnblockedTCB;
\r
3093 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3094 the event flags implementation. */
\r
3095 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3097 /* Store the new item value in the event list. */
\r
3098 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3100 /* Remove the event list form the event flag. Interrupts do not access
\r
3102 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
3103 configASSERT( pxUnblockedTCB );
\r
3104 ( void ) uxListRemove( pxEventListItem );
\r
3106 /* Remove the task from the delayed list and add it to the ready list. The
\r
3107 scheduler is suspended so interrupts will not be accessing the ready
\r
3109 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3110 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3112 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3114 /* The unblocked task has a priority above that of the calling task, so
\r
3115 a context switch is required. This function is called with the
\r
3116 scheduler suspended so xYieldPending is set so the context switch
\r
3117 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3118 xYieldPending = pdTRUE;
\r
3121 /*-----------------------------------------------------------*/
\r
3123 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3125 configASSERT( pxTimeOut );
\r
3126 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3127 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3129 /*-----------------------------------------------------------*/
\r
3131 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3133 BaseType_t xReturn;
\r
3135 configASSERT( pxTimeOut );
\r
3136 configASSERT( pxTicksToWait );
\r
3138 taskENTER_CRITICAL();
\r
3140 /* Minor optimisation. The tick count cannot change in this block. */
\r
3141 const TickType_t xConstTickCount = xTickCount;
\r
3142 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3144 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3145 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
3147 /* The delay was aborted, which is not the same as a time out,
\r
3148 but has the same result. */
\r
3149 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3155 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3156 if( *pxTicksToWait == portMAX_DELAY )
\r
3158 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3159 specified is the maximum block time then the task should block
\r
3160 indefinitely, and therefore never time out. */
\r
3161 xReturn = pdFALSE;
\r
3166 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3168 /* The tick count is greater than the time at which
\r
3169 vTaskSetTimeout() was called, but has also overflowed since
\r
3170 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3171 around and gone past again. This passed since vTaskSetTimeout()
\r
3175 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3177 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3178 *pxTicksToWait -= xElapsedTime;
\r
3179 vTaskSetTimeOutState( pxTimeOut );
\r
3180 xReturn = pdFALSE;
\r
3187 taskEXIT_CRITICAL();
\r
3191 /*-----------------------------------------------------------*/
\r
3193 void vTaskMissedYield( void )
\r
3195 xYieldPending = pdTRUE;
\r
3197 /*-----------------------------------------------------------*/
\r
3199 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3201 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3203 UBaseType_t uxReturn;
\r
3206 if( xTask != NULL )
\r
3208 pxTCB = ( TCB_t * ) xTask;
\r
3209 uxReturn = pxTCB->uxTaskNumber;
\r
3219 #endif /* configUSE_TRACE_FACILITY */
\r
3220 /*-----------------------------------------------------------*/
\r
3222 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3224 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3228 if( xTask != NULL )
\r
3230 pxTCB = ( TCB_t * ) xTask;
\r
3231 pxTCB->uxTaskNumber = uxHandle;
\r
3235 #endif /* configUSE_TRACE_FACILITY */
\r
3238 * -----------------------------------------------------------
\r
3240 * ----------------------------------------------------------
\r
3242 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3243 * language extensions. The equivalent prototype for this function is:
\r
3245 * void prvIdleTask( void *pvParameters );
\r
3248 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3250 /* Stop warnings. */
\r
3251 ( void ) pvParameters;
\r
3253 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3254 SCHEDULER IS STARTED. **/
\r
3258 /* See if any tasks have deleted themselves - if so then the idle task
\r
3259 is responsible for freeing the deleted task's TCB and stack. */
\r
3260 prvCheckTasksWaitingTermination();
\r
3262 #if ( configUSE_PREEMPTION == 0 )
\r
3264 /* If we are not using preemption we keep forcing a task switch to
\r
3265 see if any other task has become available. If we are using
\r
3266 preemption we don't need to do this as any task becoming available
\r
3267 will automatically get the processor anyway. */
\r
3270 #endif /* configUSE_PREEMPTION */
\r
3272 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3274 /* When using preemption tasks of equal priority will be
\r
3275 timesliced. If a task that is sharing the idle priority is ready
\r
3276 to run then the idle task should yield before the end of the
\r
3279 A critical region is not required here as we are just reading from
\r
3280 the list, and an occasional incorrect value will not matter. If
\r
3281 the ready list at the idle priority contains more than one task
\r
3282 then a task other than the idle task is ready to execute. */
\r
3283 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3289 mtCOVERAGE_TEST_MARKER();
\r
3292 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3294 #if ( configUSE_IDLE_HOOK == 1 )
\r
3296 extern void vApplicationIdleHook( void );
\r
3298 /* Call the user defined function from within the idle task. This
\r
3299 allows the application designer to add background functionality
\r
3300 without the overhead of a separate task.
\r
3301 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3302 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3303 vApplicationIdleHook();
\r
3305 #endif /* configUSE_IDLE_HOOK */
\r
3307 /* This conditional compilation should use inequality to 0, not equality
\r
3308 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3309 user defined low power mode implementations require
\r
3310 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3311 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3313 TickType_t xExpectedIdleTime;
\r
3315 /* It is not desirable to suspend then resume the scheduler on
\r
3316 each iteration of the idle task. Therefore, a preliminary
\r
3317 test of the expected idle time is performed without the
\r
3318 scheduler suspended. The result here is not necessarily
\r
3320 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3322 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3324 vTaskSuspendAll();
\r
3326 /* Now the scheduler is suspended, the expected idle
\r
3327 time can be sampled again, and this time its value can
\r
3329 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3330 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3332 /* Define the following macro to set xExpectedIdleTime to 0
\r
3333 if the application does not want
\r
3334 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3335 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3337 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3339 traceLOW_POWER_IDLE_BEGIN();
\r
3340 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3341 traceLOW_POWER_IDLE_END();
\r
3345 mtCOVERAGE_TEST_MARKER();
\r
3348 ( void ) xTaskResumeAll();
\r
3352 mtCOVERAGE_TEST_MARKER();
\r
3355 #endif /* configUSE_TICKLESS_IDLE */
\r
3358 /*-----------------------------------------------------------*/
\r
3360 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3362 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3364 /* The idle task exists in addition to the application tasks. */
\r
3365 const UBaseType_t uxNonApplicationTasks = 1;
\r
3366 eSleepModeStatus eReturn = eStandardSleep;
\r
3368 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3370 /* A task was made ready while the scheduler was suspended. */
\r
3371 eReturn = eAbortSleep;
\r
3373 else if( xYieldPending != pdFALSE )
\r
3375 /* A yield was pended while the scheduler was suspended. */
\r
3376 eReturn = eAbortSleep;
\r
3380 /* If all the tasks are in the suspended list (which might mean they
\r
3381 have an infinite block time rather than actually being suspended)
\r
3382 then it is safe to turn all clocks off and just wait for external
\r
3384 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3386 eReturn = eNoTasksWaitingTimeout;
\r
3390 mtCOVERAGE_TEST_MARKER();
\r
3397 #endif /* configUSE_TICKLESS_IDLE */
\r
3398 /*-----------------------------------------------------------*/
\r
3400 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3402 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3406 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3408 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3409 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3413 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3414 /*-----------------------------------------------------------*/
\r
3416 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3418 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3420 void *pvReturn = NULL;
\r
3423 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3425 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3426 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3436 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3437 /*-----------------------------------------------------------*/
\r
3439 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3441 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3445 /* If null is passed in here then we are modifying the MPU settings of
\r
3446 the calling task. */
\r
3447 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3449 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3452 #endif /* portUSING_MPU_WRAPPERS */
\r
3453 /*-----------------------------------------------------------*/
\r
3455 static void prvInitialiseTaskLists( void )
\r
3457 UBaseType_t uxPriority;
\r
3459 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3461 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3464 vListInitialise( &xDelayedTaskList1 );
\r
3465 vListInitialise( &xDelayedTaskList2 );
\r
3466 vListInitialise( &xPendingReadyList );
\r
3468 #if ( INCLUDE_vTaskDelete == 1 )
\r
3470 vListInitialise( &xTasksWaitingTermination );
\r
3472 #endif /* INCLUDE_vTaskDelete */
\r
3474 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3476 vListInitialise( &xSuspendedTaskList );
\r
3478 #endif /* INCLUDE_vTaskSuspend */
\r
3480 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3482 pxDelayedTaskList = &xDelayedTaskList1;
\r
3483 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3485 /*-----------------------------------------------------------*/
\r
3487 static void prvCheckTasksWaitingTermination( void )
\r
3490 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3492 #if ( INCLUDE_vTaskDelete == 1 )
\r
3494 BaseType_t xListIsEmpty;
\r
3496 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3497 too often in the idle task. */
\r
3498 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3500 vTaskSuspendAll();
\r
3502 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3504 ( void ) xTaskResumeAll();
\r
3506 if( xListIsEmpty == pdFALSE )
\r
3510 taskENTER_CRITICAL();
\r
3512 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3513 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3514 --uxCurrentNumberOfTasks;
\r
3515 --uxDeletedTasksWaitingCleanUp;
\r
3517 taskEXIT_CRITICAL();
\r
3519 prvDeleteTCB( pxTCB );
\r
3523 mtCOVERAGE_TEST_MARKER();
\r
3527 #endif /* INCLUDE_vTaskDelete */
\r
3529 /*-----------------------------------------------------------*/
\r
3531 #if( configUSE_TRACE_FACILITY == 1 )
\r
3533 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3537 /* xTask is NULL then get the state of the calling task. */
\r
3538 pxTCB = prvGetTCBFromHandle( xTask );
\r
3540 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3541 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3542 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3543 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3544 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3546 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3548 /* If the task is in the suspended list then there is a chance it is
\r
3549 actually just blocked indefinitely - so really it should be reported as
\r
3550 being in the Blocked state. */
\r
3551 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3553 vTaskSuspendAll();
\r
3555 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3557 pxTaskStatus->eCurrentState = eBlocked;
\r
3560 ( void ) xTaskResumeAll();
\r
3563 #endif /* INCLUDE_vTaskSuspend */
\r
3565 #if ( configUSE_MUTEXES == 1 )
\r
3567 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3571 pxTaskStatus->uxBasePriority = 0;
\r
3575 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3577 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3581 pxTaskStatus->ulRunTimeCounter = 0;
\r
3585 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3586 of eState passed into this function is eInvalid - otherwise the state is
\r
3587 just set to whatever is passed in. */
\r
3588 if( eState != eInvalid )
\r
3590 pxTaskStatus->eCurrentState = eState;
\r
3594 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3597 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3598 parameter is provided to allow it to be skipped. */
\r
3599 if( xGetFreeStackSpace != pdFALSE )
\r
3601 #if ( portSTACK_GROWTH > 0 )
\r
3603 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3607 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3613 pxTaskStatus->usStackHighWaterMark = 0;
\r
3617 #endif /* configUSE_TRACE_FACILITY */
\r
3618 /*-----------------------------------------------------------*/
\r
3620 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3622 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3624 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3625 UBaseType_t uxTask = 0;
\r
3627 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3629 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3631 /* Populate an TaskStatus_t structure within the
\r
3632 pxTaskStatusArray array for each task that is referenced from
\r
3633 pxList. See the definition of TaskStatus_t in task.h for the
\r
3634 meaning of each TaskStatus_t structure member. */
\r
3637 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3638 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3640 } while( pxNextTCB != pxFirstTCB );
\r
3644 mtCOVERAGE_TEST_MARKER();
\r
3650 #endif /* configUSE_TRACE_FACILITY */
\r
3651 /*-----------------------------------------------------------*/
\r
3653 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3655 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3657 uint32_t ulCount = 0U;
\r
3659 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3661 pucStackByte -= portSTACK_GROWTH;
\r
3665 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3667 return ( uint16_t ) ulCount;
\r
3670 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3671 /*-----------------------------------------------------------*/
\r
3673 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3675 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3678 uint8_t *pucEndOfStack;
\r
3679 UBaseType_t uxReturn;
\r
3681 pxTCB = prvGetTCBFromHandle( xTask );
\r
3683 #if portSTACK_GROWTH < 0
\r
3685 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3689 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3693 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3698 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3699 /*-----------------------------------------------------------*/
\r
3701 #if ( INCLUDE_vTaskDelete == 1 )
\r
3703 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3705 /* This call is required specifically for the TriCore port. It must be
\r
3706 above the vPortFree() calls. The call is also used by ports/demos that
\r
3707 want to allocate and clean RAM statically. */
\r
3708 portCLEAN_UP_TCB( pxTCB );
\r
3710 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3711 to the task to free any memory allocated at the application level. */
\r
3712 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3714 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3716 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3718 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3720 /* The task can only have been allocated dynamically - free both
\r
3721 the stack and TCB. */
\r
3722 vPortFree( pxTCB->pxStack );
\r
3723 vPortFree( pxTCB );
\r
3725 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 Macro has been consolidated for readability reasons. */
\r
3727 /* The task could have been allocated statically or dynamically, so
\r
3728 check what was statically allocated before trying to free the
\r
3730 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3732 /* Both the stack and TCB were allocated dynamically, so both
\r
3734 vPortFree( pxTCB->pxStack );
\r
3735 vPortFree( pxTCB );
\r
3737 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3739 /* Only the stack was statically allocated, so the TCB is the
\r
3740 only memory that must be freed. */
\r
3741 vPortFree( pxTCB );
\r
3745 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3746 nothing needs to be freed. */
\r
3747 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
\r
3748 mtCOVERAGE_TEST_MARKER();
\r
3751 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3754 #endif /* INCLUDE_vTaskDelete */
\r
3755 /*-----------------------------------------------------------*/
\r
3757 static void prvResetNextTaskUnblockTime( void )
\r
3761 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3763 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3764 the maximum possible value so it is extremely unlikely that the
\r
3765 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3766 there is an item in the delayed list. */
\r
3767 xNextTaskUnblockTime = portMAX_DELAY;
\r
3771 /* The new current delayed list is not empty, get the value of
\r
3772 the item at the head of the delayed list. This is the time at
\r
3773 which the task at the head of the delayed list should be removed
\r
3774 from the Blocked state. */
\r
3775 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3776 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3779 /*-----------------------------------------------------------*/
\r
3781 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3783 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3785 TaskHandle_t xReturn;
\r
3787 /* A critical section is not required as this is not called from
\r
3788 an interrupt and the current TCB will always be the same for any
\r
3789 individual execution thread. */
\r
3790 xReturn = pxCurrentTCB;
\r
3795 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3796 /*-----------------------------------------------------------*/
\r
3798 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3800 BaseType_t xTaskGetSchedulerState( void )
\r
3802 BaseType_t xReturn;
\r
3804 if( xSchedulerRunning == pdFALSE )
\r
3806 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3810 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3812 xReturn = taskSCHEDULER_RUNNING;
\r
3816 xReturn = taskSCHEDULER_SUSPENDED;
\r
3823 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3824 /*-----------------------------------------------------------*/
\r
3826 #if ( configUSE_MUTEXES == 1 )
\r
3828 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3830 TCB_t * const pxMutexHolderTCB = ( TCB_t * ) pxMutexHolder;
\r
3831 BaseType_t xReturn = pdFALSE;
\r
3833 /* If the mutex was given back by an interrupt while the queue was
\r
3834 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3835 needed as interrupts can no longer use mutexes? */
\r
3836 if( pxMutexHolder != NULL )
\r
3838 /* If the holder of the mutex has a priority below the priority of
\r
3839 the task attempting to obtain the mutex then it will temporarily
\r
3840 inherit the priority of the task attempting to obtain the mutex. */
\r
3841 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3843 /* Adjust the mutex holder state to account for its new
\r
3844 priority. Only reset the event list item value if the value is
\r
3845 not being used for anything else. */
\r
3846 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3848 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
3852 mtCOVERAGE_TEST_MARKER();
\r
3855 /* If the task being modified is in the ready state it will need
\r
3856 to be moved into a new list. */
\r
3857 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3859 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3861 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3865 mtCOVERAGE_TEST_MARKER();
\r
3868 /* Inherit the priority before being moved into the new list. */
\r
3869 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3870 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3874 /* Just inherit the priority. */
\r
3875 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3878 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3880 /* Inheritance occurred. */
\r
3885 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3887 /* The base priority of the mutex holder is lower than the
\r
3888 priority of the task attempting to take the mutex, but the
\r
3889 current priority of the mutex holder is not lower than the
\r
3890 priority of the task attempting to take the mutex.
\r
3891 Therefore the mutex holder must have already inherited a
\r
3892 priority, but inheritance would have occurred if that had
\r
3893 not been the case. */
\r
3898 mtCOVERAGE_TEST_MARKER();
\r
3904 mtCOVERAGE_TEST_MARKER();
\r
3910 #endif /* configUSE_MUTEXES */
\r
3911 /*-----------------------------------------------------------*/
\r
3913 #if ( configUSE_MUTEXES == 1 )
\r
3915 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3917 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3918 BaseType_t xReturn = pdFALSE;
\r
3920 if( pxMutexHolder != NULL )
\r
3922 /* A task can only have an inherited priority if it holds the mutex.
\r
3923 If the mutex is held by a task then it cannot be given from an
\r
3924 interrupt, and if a mutex is given by the holding task then it must
\r
3925 be the running state task. */
\r
3926 configASSERT( pxTCB == pxCurrentTCB );
\r
3927 configASSERT( pxTCB->uxMutexesHeld );
\r
3928 ( pxTCB->uxMutexesHeld )--;
\r
3930 /* Has the holder of the mutex inherited the priority of another
\r
3932 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3934 /* Only disinherit if no other mutexes are held. */
\r
3935 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3937 /* A task can only have an inherited priority if it holds
\r
3938 the mutex. If the mutex is held by a task then it cannot be
\r
3939 given from an interrupt, and if a mutex is given by the
\r
3940 holding task then it must be the running state task. Remove
\r
3941 the holding task from the ready list. */
\r
3942 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3944 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3948 mtCOVERAGE_TEST_MARKER();
\r
3951 /* Disinherit the priority before adding the task into the
\r
3952 new ready list. */
\r
3953 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3954 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3956 /* Reset the event list item value. It cannot be in use for
\r
3957 any other purpose if this task is running, and it must be
\r
3958 running to give back the mutex. */
\r
3959 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
3960 prvAddTaskToReadyList( pxTCB );
\r
3962 /* Return true to indicate that a context switch is required.
\r
3963 This is only actually required in the corner case whereby
\r
3964 multiple mutexes were held and the mutexes were given back
\r
3965 in an order different to that in which they were taken.
\r
3966 If a context switch did not occur when the first mutex was
\r
3967 returned, even if a task was waiting on it, then a context
\r
3968 switch should occur when the last mutex is returned whether
\r
3969 a task is waiting on it or not. */
\r
3974 mtCOVERAGE_TEST_MARKER();
\r
3979 mtCOVERAGE_TEST_MARKER();
\r
3984 mtCOVERAGE_TEST_MARKER();
\r
3990 #endif /* configUSE_MUTEXES */
\r
3991 /*-----------------------------------------------------------*/
\r
3993 #if ( configUSE_MUTEXES == 1 )
\r
3995 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
3997 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3998 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
3999 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4001 if( pxMutexHolder != NULL )
\r
4003 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4005 configASSERT( pxTCB->uxMutexesHeld );
\r
4007 /* Determine the priority to which the priority of the task that
\r
4008 holds the mutex should be set. This will be the greater of the
\r
4009 holding task's base priority and the priority of the highest
\r
4010 priority task that is waiting to obtain the mutex. */
\r
4011 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4013 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4017 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4020 /* Does the priority need to change? */
\r
4021 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4023 /* Only disinherit if no other mutexes are held. This is a
\r
4024 simplification in the priority inheritance implementation. If
\r
4025 the task that holds the mutex is also holding other mutexes then
\r
4026 the other mutexes may have caused the priority inheritance. */
\r
4027 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4029 /* If a task has timed out because it already holds the
\r
4030 mutex it was trying to obtain then it cannot of inherited
\r
4031 its own priority. */
\r
4032 configASSERT( pxTCB != pxCurrentTCB );
\r
4034 /* Disinherit the priority, remembering the previous
\r
4035 priority to facilitate determining the subject task's
\r
4037 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4038 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4039 pxTCB->uxPriority = uxPriorityToUse;
\r
4041 /* Only reset the event list item value if the value is not
\r
4042 being used for anything else. */
\r
4043 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4045 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
4049 mtCOVERAGE_TEST_MARKER();
\r
4052 /* If the running task is not the task that holds the mutex
\r
4053 then the task that holds the mutex could be in either the
\r
4054 Ready, Blocked or Suspended states. Only remove the task
\r
4055 from its current state list if it is in the Ready state as
\r
4056 the task's priority is going to change and there is one
\r
4057 Ready list per priority. */
\r
4058 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4060 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4062 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4066 mtCOVERAGE_TEST_MARKER();
\r
4069 prvAddTaskToReadyList( pxTCB );
\r
4073 mtCOVERAGE_TEST_MARKER();
\r
4078 mtCOVERAGE_TEST_MARKER();
\r
4083 mtCOVERAGE_TEST_MARKER();
\r
4088 mtCOVERAGE_TEST_MARKER();
\r
4092 #endif /* configUSE_MUTEXES */
\r
4093 /*-----------------------------------------------------------*/
\r
4095 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4097 void vTaskEnterCritical( void )
\r
4099 portDISABLE_INTERRUPTS();
\r
4101 if( xSchedulerRunning != pdFALSE )
\r
4103 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4105 /* This is not the interrupt safe version of the enter critical
\r
4106 function so assert() if it is being called from an interrupt
\r
4107 context. Only API functions that end in "FromISR" can be used in an
\r
4108 interrupt. Only assert if the critical nesting count is 1 to
\r
4109 protect against recursive calls if the assert function also uses a
\r
4110 critical section. */
\r
4111 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4113 portASSERT_IF_IN_ISR();
\r
4118 mtCOVERAGE_TEST_MARKER();
\r
4122 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4123 /*-----------------------------------------------------------*/
\r
4125 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4127 void vTaskExitCritical( void )
\r
4129 if( xSchedulerRunning != pdFALSE )
\r
4131 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4133 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4135 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4137 portENABLE_INTERRUPTS();
\r
4141 mtCOVERAGE_TEST_MARKER();
\r
4146 mtCOVERAGE_TEST_MARKER();
\r
4151 mtCOVERAGE_TEST_MARKER();
\r
4155 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4156 /*-----------------------------------------------------------*/
\r
4158 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4160 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4164 /* Start by copying the entire string. */
\r
4165 strcpy( pcBuffer, pcTaskName );
\r
4167 /* Pad the end of the string with spaces to ensure columns line up when
\r
4169 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4171 pcBuffer[ x ] = ' ';
\r
4175 pcBuffer[ x ] = 0x00;
\r
4177 /* Return the new end of string. */
\r
4178 return &( pcBuffer[ x ] );
\r
4181 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4182 /*-----------------------------------------------------------*/
\r
4184 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4186 void vTaskList( char * pcWriteBuffer )
\r
4188 TaskStatus_t *pxTaskStatusArray;
\r
4189 volatile UBaseType_t uxArraySize, x;
\r
4195 * This function is provided for convenience only, and is used by many
\r
4196 * of the demo applications. Do not consider it to be part of the
\r
4199 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4200 * uxTaskGetSystemState() output into a human readable table that
\r
4201 * displays task names, states and stack usage.
\r
4203 * vTaskList() has a dependency on the sprintf() C library function that
\r
4204 * might bloat the code size, use a lot of stack, and provide different
\r
4205 * results on different platforms. An alternative, tiny, third party,
\r
4206 * and limited functionality implementation of sprintf() is provided in
\r
4207 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4208 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4209 * snprintf() implementation!).
\r
4211 * It is recommended that production systems call uxTaskGetSystemState()
\r
4212 * directly to get access to raw stats data, rather than indirectly
\r
4213 * through a call to vTaskList().
\r
4217 /* Make sure the write buffer does not contain a string. */
\r
4218 *pcWriteBuffer = 0x00;
\r
4220 /* Take a snapshot of the number of tasks in case it changes while this
\r
4221 function is executing. */
\r
4222 uxArraySize = uxCurrentNumberOfTasks;
\r
4224 /* Allocate an array index for each task. NOTE! if
\r
4225 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4226 equate to NULL. */
\r
4227 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4229 if( pxTaskStatusArray != NULL )
\r
4231 /* Generate the (binary) data. */
\r
4232 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4234 /* Create a human readable table from the binary data. */
\r
4235 for( x = 0; x < uxArraySize; x++ )
\r
4237 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4239 case eReady: cStatus = tskREADY_CHAR;
\r
4242 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4245 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4248 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4251 default: /* Should not get here, but it is included
\r
4252 to prevent static checking errors. */
\r
4257 /* Write the task name to the string, padding with spaces so it
\r
4258 can be printed in tabular form more easily. */
\r
4259 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4261 /* Write the rest of the string. */
\r
4262 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
4263 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4266 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4267 is 0 then vPortFree() will be #defined to nothing. */
\r
4268 vPortFree( pxTaskStatusArray );
\r
4272 mtCOVERAGE_TEST_MARKER();
\r
4276 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4277 /*----------------------------------------------------------*/
\r
4279 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4281 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4283 TaskStatus_t *pxTaskStatusArray;
\r
4284 volatile UBaseType_t uxArraySize, x;
\r
4285 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4287 #if( configUSE_TRACE_FACILITY != 1 )
\r
4289 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4296 * This function is provided for convenience only, and is used by many
\r
4297 * of the demo applications. Do not consider it to be part of the
\r
4300 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4301 * of the uxTaskGetSystemState() output into a human readable table that
\r
4302 * displays the amount of time each task has spent in the Running state
\r
4303 * in both absolute and percentage terms.
\r
4305 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4306 * function that might bloat the code size, use a lot of stack, and
\r
4307 * provide different results on different platforms. An alternative,
\r
4308 * tiny, third party, and limited functionality implementation of
\r
4309 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4310 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4311 * a full snprintf() implementation!).
\r
4313 * It is recommended that production systems call uxTaskGetSystemState()
\r
4314 * directly to get access to raw stats data, rather than indirectly
\r
4315 * through a call to vTaskGetRunTimeStats().
\r
4318 /* Make sure the write buffer does not contain a string. */
\r
4319 *pcWriteBuffer = 0x00;
\r
4321 /* Take a snapshot of the number of tasks in case it changes while this
\r
4322 function is executing. */
\r
4323 uxArraySize = uxCurrentNumberOfTasks;
\r
4325 /* Allocate an array index for each task. NOTE! If
\r
4326 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4327 equate to NULL. */
\r
4328 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4330 if( pxTaskStatusArray != NULL )
\r
4332 /* Generate the (binary) data. */
\r
4333 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4335 /* For percentage calculations. */
\r
4336 ulTotalTime /= 100UL;
\r
4338 /* Avoid divide by zero errors. */
\r
4339 if( ulTotalTime > 0 )
\r
4341 /* Create a human readable table from the binary data. */
\r
4342 for( x = 0; x < uxArraySize; x++ )
\r
4344 /* What percentage of the total run time has the task used?
\r
4345 This will always be rounded down to the nearest integer.
\r
4346 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4347 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4349 /* Write the task name to the string, padding with
\r
4350 spaces so it can be printed in tabular form more
\r
4352 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4354 if( ulStatsAsPercentage > 0UL )
\r
4356 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4358 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4362 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4363 printf() library can be used. */
\r
4364 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4370 /* If the percentage is zero here then the task has
\r
4371 consumed less than 1% of the total run time. */
\r
4372 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4374 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4378 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4379 printf() library can be used. */
\r
4380 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4385 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4390 mtCOVERAGE_TEST_MARKER();
\r
4393 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4394 is 0 then vPortFree() will be #defined to nothing. */
\r
4395 vPortFree( pxTaskStatusArray );
\r
4399 mtCOVERAGE_TEST_MARKER();
\r
4403 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4404 /*-----------------------------------------------------------*/
\r
4406 TickType_t uxTaskResetEventItemValue( void )
\r
4408 TickType_t uxReturn;
\r
4410 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4412 /* Reset the event list item to its normal value - so it can be used with
\r
4413 queues and semaphores. */
\r
4414 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
4418 /*-----------------------------------------------------------*/
\r
4420 #if ( configUSE_MUTEXES == 1 )
\r
4422 void *pvTaskIncrementMutexHeldCount( void )
\r
4424 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4425 then pxCurrentTCB will be NULL. */
\r
4426 if( pxCurrentTCB != NULL )
\r
4428 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4431 return pxCurrentTCB;
\r
4434 #endif /* configUSE_MUTEXES */
\r
4435 /*-----------------------------------------------------------*/
\r
4437 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4439 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4441 uint32_t ulReturn;
\r
4443 taskENTER_CRITICAL();
\r
4445 /* Only block if the notification count is not already non-zero. */
\r
4446 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4448 /* Mark this task as waiting for a notification. */
\r
4449 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4451 if( xTicksToWait > ( TickType_t ) 0 )
\r
4453 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4454 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4456 /* All ports are written to allow a yield in a critical
\r
4457 section (some will yield immediately, others wait until the
\r
4458 critical section exits) - but it is not something that
\r
4459 application code should ever do. */
\r
4460 portYIELD_WITHIN_API();
\r
4464 mtCOVERAGE_TEST_MARKER();
\r
4469 mtCOVERAGE_TEST_MARKER();
\r
4472 taskEXIT_CRITICAL();
\r
4474 taskENTER_CRITICAL();
\r
4476 traceTASK_NOTIFY_TAKE();
\r
4477 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4479 if( ulReturn != 0UL )
\r
4481 if( xClearCountOnExit != pdFALSE )
\r
4483 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4487 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4492 mtCOVERAGE_TEST_MARKER();
\r
4495 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4497 taskEXIT_CRITICAL();
\r
4502 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4503 /*-----------------------------------------------------------*/
\r
4505 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4507 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4509 BaseType_t xReturn;
\r
4511 taskENTER_CRITICAL();
\r
4513 /* Only block if a notification is not already pending. */
\r
4514 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4516 /* Clear bits in the task's notification value as bits may get
\r
4517 set by the notifying task or interrupt. This can be used to
\r
4518 clear the value to zero. */
\r
4519 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4521 /* Mark this task as waiting for a notification. */
\r
4522 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4524 if( xTicksToWait > ( TickType_t ) 0 )
\r
4526 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4527 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4529 /* All ports are written to allow a yield in a critical
\r
4530 section (some will yield immediately, others wait until the
\r
4531 critical section exits) - but it is not something that
\r
4532 application code should ever do. */
\r
4533 portYIELD_WITHIN_API();
\r
4537 mtCOVERAGE_TEST_MARKER();
\r
4542 mtCOVERAGE_TEST_MARKER();
\r
4545 taskEXIT_CRITICAL();
\r
4547 taskENTER_CRITICAL();
\r
4549 traceTASK_NOTIFY_WAIT();
\r
4551 if( pulNotificationValue != NULL )
\r
4553 /* Output the current notification value, which may or may not
\r
4555 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4558 /* If ucNotifyValue is set then either the task never entered the
\r
4559 blocked state (because a notification was already pending) or the
\r
4560 task unblocked because of a notification. Otherwise the task
\r
4561 unblocked because of a timeout. */
\r
4562 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4564 /* A notification was not received. */
\r
4565 xReturn = pdFALSE;
\r
4569 /* A notification was already pending or a notification was
\r
4570 received while the task was waiting. */
\r
4571 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4575 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4577 taskEXIT_CRITICAL();
\r
4582 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4583 /*-----------------------------------------------------------*/
\r
4585 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4587 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4590 BaseType_t xReturn = pdPASS;
\r
4591 uint8_t ucOriginalNotifyState;
\r
4593 configASSERT( xTaskToNotify );
\r
4594 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4596 taskENTER_CRITICAL();
\r
4598 if( pulPreviousNotificationValue != NULL )
\r
4600 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4603 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4605 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4610 pxTCB->ulNotifiedValue |= ulValue;
\r
4614 ( pxTCB->ulNotifiedValue )++;
\r
4617 case eSetValueWithOverwrite :
\r
4618 pxTCB->ulNotifiedValue = ulValue;
\r
4621 case eSetValueWithoutOverwrite :
\r
4622 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4624 pxTCB->ulNotifiedValue = ulValue;
\r
4628 /* The value could not be written to the task. */
\r
4634 /* The task is being notified without its notify value being
\r
4639 traceTASK_NOTIFY();
\r
4641 /* If the task is in the blocked state specifically to wait for a
\r
4642 notification then unblock it now. */
\r
4643 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4645 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4646 prvAddTaskToReadyList( pxTCB );
\r
4648 /* The task should not have been on an event list. */
\r
4649 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4651 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4653 /* If a task is blocked waiting for a notification then
\r
4654 xNextTaskUnblockTime might be set to the blocked task's time
\r
4655 out time. If the task is unblocked for a reason other than
\r
4656 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4657 because it will automatically get reset to a new value when
\r
4658 the tick count equals xNextTaskUnblockTime. However if
\r
4659 tickless idling is used it might be more important to enter
\r
4660 sleep mode at the earliest possible time - so reset
\r
4661 xNextTaskUnblockTime here to ensure it is updated at the
\r
4662 earliest possible time. */
\r
4663 prvResetNextTaskUnblockTime();
\r
4667 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4669 /* The notified task has a priority above the currently
\r
4670 executing task so a yield is required. */
\r
4671 taskYIELD_IF_USING_PREEMPTION();
\r
4675 mtCOVERAGE_TEST_MARKER();
\r
4680 mtCOVERAGE_TEST_MARKER();
\r
4683 taskEXIT_CRITICAL();
\r
4688 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4689 /*-----------------------------------------------------------*/
\r
4691 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4693 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4696 uint8_t ucOriginalNotifyState;
\r
4697 BaseType_t xReturn = pdPASS;
\r
4698 UBaseType_t uxSavedInterruptStatus;
\r
4700 configASSERT( xTaskToNotify );
\r
4702 /* RTOS ports that support interrupt nesting have the concept of a
\r
4703 maximum system call (or maximum API call) interrupt priority.
\r
4704 Interrupts that are above the maximum system call priority are keep
\r
4705 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4706 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4707 is defined in FreeRTOSConfig.h then
\r
4708 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4709 failure if a FreeRTOS API function is called from an interrupt that has
\r
4710 been assigned a priority above the configured maximum system call
\r
4711 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4712 from interrupts that have been assigned a priority at or (logically)
\r
4713 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4714 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4715 simple as possible. More information (albeit Cortex-M specific) is
\r
4716 provided on the following link:
\r
4717 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4718 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4720 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4722 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4724 if( pulPreviousNotificationValue != NULL )
\r
4726 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4729 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4730 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4735 pxTCB->ulNotifiedValue |= ulValue;
\r
4739 ( pxTCB->ulNotifiedValue )++;
\r
4742 case eSetValueWithOverwrite :
\r
4743 pxTCB->ulNotifiedValue = ulValue;
\r
4746 case eSetValueWithoutOverwrite :
\r
4747 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4749 pxTCB->ulNotifiedValue = ulValue;
\r
4753 /* The value could not be written to the task. */
\r
4759 /* The task is being notified without its notify value being
\r
4764 traceTASK_NOTIFY_FROM_ISR();
\r
4766 /* If the task is in the blocked state specifically to wait for a
\r
4767 notification then unblock it now. */
\r
4768 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4770 /* The task should not have been on an event list. */
\r
4771 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4773 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4775 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4776 prvAddTaskToReadyList( pxTCB );
\r
4780 /* The delayed and ready lists cannot be accessed, so hold
\r
4781 this task pending until the scheduler is resumed. */
\r
4782 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4785 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4787 /* The notified task has a priority above the currently
\r
4788 executing task so a yield is required. */
\r
4789 if( pxHigherPriorityTaskWoken != NULL )
\r
4791 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4795 /* Mark that a yield is pending in case the user is not
\r
4796 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4797 safe FreeRTOS function. */
\r
4798 xYieldPending = pdTRUE;
\r
4803 mtCOVERAGE_TEST_MARKER();
\r
4807 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4812 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4813 /*-----------------------------------------------------------*/
\r
4815 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4817 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4820 uint8_t ucOriginalNotifyState;
\r
4821 UBaseType_t uxSavedInterruptStatus;
\r
4823 configASSERT( xTaskToNotify );
\r
4825 /* RTOS ports that support interrupt nesting have the concept of a
\r
4826 maximum system call (or maximum API call) interrupt priority.
\r
4827 Interrupts that are above the maximum system call priority are keep
\r
4828 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4829 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4830 is defined in FreeRTOSConfig.h then
\r
4831 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4832 failure if a FreeRTOS API function is called from an interrupt that has
\r
4833 been assigned a priority above the configured maximum system call
\r
4834 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4835 from interrupts that have been assigned a priority at or (logically)
\r
4836 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4837 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4838 simple as possible. More information (albeit Cortex-M specific) is
\r
4839 provided on the following link:
\r
4840 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4841 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4843 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4845 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4847 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4848 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4850 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4852 ( pxTCB->ulNotifiedValue )++;
\r
4854 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4856 /* If the task is in the blocked state specifically to wait for a
\r
4857 notification then unblock it now. */
\r
4858 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4860 /* The task should not have been on an event list. */
\r
4861 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4863 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4865 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4866 prvAddTaskToReadyList( pxTCB );
\r
4870 /* The delayed and ready lists cannot be accessed, so hold
\r
4871 this task pending until the scheduler is resumed. */
\r
4872 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4875 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4877 /* The notified task has a priority above the currently
\r
4878 executing task so a yield is required. */
\r
4879 if( pxHigherPriorityTaskWoken != NULL )
\r
4881 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4885 /* Mark that a yield is pending in case the user is not
\r
4886 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4887 safe FreeRTOS function. */
\r
4888 xYieldPending = pdTRUE;
\r
4893 mtCOVERAGE_TEST_MARKER();
\r
4897 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4900 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4902 /*-----------------------------------------------------------*/
\r
4904 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4906 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4909 BaseType_t xReturn;
\r
4911 /* If null is passed in here then it is the calling task that is having
\r
4912 its notification state cleared. */
\r
4913 pxTCB = prvGetTCBFromHandle( xTask );
\r
4915 taskENTER_CRITICAL();
\r
4917 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4919 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4927 taskEXIT_CRITICAL();
\r
4932 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4933 /*-----------------------------------------------------------*/
\r
4936 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4938 TickType_t xTimeToWake;
\r
4939 const TickType_t xConstTickCount = xTickCount;
\r
4941 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4943 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4944 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4945 when the task leaves the Blocked state. */
\r
4946 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4950 /* Remove the task from the ready list before adding it to the blocked list
\r
4951 as the same list item is used for both lists. */
\r
4952 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4954 /* The current task must be in a ready list, so there is no need to
\r
4955 check, and the port reset macro can be called directly. */
\r
4956 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4960 mtCOVERAGE_TEST_MARKER();
\r
4963 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4965 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4967 /* Add the task to the suspended task list instead of a delayed task
\r
4968 list to ensure it is not woken by a timing event. It will block
\r
4970 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4974 /* Calculate the time at which the task should be woken if the event
\r
4975 does not occur. This may overflow but this doesn't matter, the
\r
4976 kernel will manage it correctly. */
\r
4977 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4979 /* The list item will be inserted in wake time order. */
\r
4980 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4982 if( xTimeToWake < xConstTickCount )
\r
4984 /* Wake time has overflowed. Place this item in the overflow
\r
4986 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4990 /* The wake time has not overflowed, so the current block list
\r
4992 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4994 /* If the task entering the blocked state was placed at the
\r
4995 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4996 needs to be updated too. */
\r
4997 if( xTimeToWake < xNextTaskUnblockTime )
\r
4999 xNextTaskUnblockTime = xTimeToWake;
\r
5003 mtCOVERAGE_TEST_MARKER();
\r
5008 #else /* INCLUDE_vTaskSuspend */
\r
5010 /* Calculate the time at which the task should be woken if the event
\r
5011 does not occur. This may overflow but this doesn't matter, the kernel
\r
5012 will manage it correctly. */
\r
5013 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5015 /* The list item will be inserted in wake time order. */
\r
5016 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5018 if( xTimeToWake < xConstTickCount )
\r
5020 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5021 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5025 /* The wake time has not overflowed, so the current block list is used. */
\r
5026 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5028 /* If the task entering the blocked state was placed at the head of the
\r
5029 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5031 if( xTimeToWake < xNextTaskUnblockTime )
\r
5033 xNextTaskUnblockTime = xTimeToWake;
\r
5037 mtCOVERAGE_TEST_MARKER();
\r
5041 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5042 ( void ) xCanBlockIndefinitely;
\r
5044 #endif /* INCLUDE_vTaskSuspend */
\r
5047 /* Code below here allows additional code to be inserted into this source file,
\r
5048 especially where access to file scope functions and data is needed (for example
\r
5049 when performing module tests). */
\r
5051 #ifdef FREERTOS_MODULE_TEST
\r
5052 #include "tasks_test_access_functions.h"
\r
5056 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5058 #include "freertos_tasks_c_additions.h"
\r
5060 static void freertos_tasks_c_additions_init( void )
\r
5062 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5063 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob