2 FreeRTOS V8.2.3 - Copyright (C) 2015 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 /* Sanity check the configuration. */
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102 #if( configUSE_TICKLESS_IDLE != 0 )
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103 #if( INCLUDE_vTaskSuspend != 1 )
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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108 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION != 1 ) )
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109 #error configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h when the MPU is used.
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113 * Defines the size, in words, of the stack allocated to the idle task.
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115 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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117 #if( configUSE_PREEMPTION == 0 )
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118 /* If the cooperative scheduler is being used then a yield should not be
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119 performed just because a higher priority task has been woken. */
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120 #define taskYIELD_IF_USING_PREEMPTION()
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122 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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125 /* Bits that can be set in tskTCB->ucStaticAllocationFlags to indicate that the
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126 stack and TCB were statically allocated respectively. When these are statically
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127 allocated they won't be freed if the task using the stack and TCB gets
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129 #define taskSTATICALLY_ALLOCATED_STACK ( ( uint8_t ) 0x01 )
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130 #define taskSTATICALLY_ALLOCATED_TCB ( ( uint8_t ) 0x02 )
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133 * Task control block. A task control block (TCB) is allocated for each task,
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134 * and stores task state information, including a pointer to the task's context
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135 * (the task's run time environment, including register values)
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137 typedef struct tskTaskControlBlock
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139 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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141 #if ( portUSING_MPU_WRAPPERS == 1 )
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142 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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145 ListItem_t xGenericListItem; /*< 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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146 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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147 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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148 StackType_t *pxStack; /*< Points to the start of the stack. */
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149 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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151 #if ( portSTACK_GROWTH > 0 )
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152 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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155 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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156 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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159 #if ( configUSE_TRACE_FACILITY == 1 )
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160 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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161 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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164 #if ( configUSE_MUTEXES == 1 )
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165 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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166 UBaseType_t uxMutexesHeld;
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169 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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170 TaskHookFunction_t pxTaskTag;
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173 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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174 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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177 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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178 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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181 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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182 /* Allocate a Newlib reent structure that is specific to this task.
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183 Note Newlib support has been included by popular demand, but is not
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184 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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185 responsible for resulting newlib operation. User must be familiar with
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186 newlib and must provide system-wide implementations of the necessary
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187 stubs. Be warned that (at the time of writing) the current newlib design
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188 implements a system-wide malloc() that must be provided with locks. */
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189 struct _reent xNewLib_reent;
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192 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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193 volatile uint32_t ulNotifiedValue;
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194 volatile eNotifyValue eNotifyState;
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197 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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198 uint8_t ucStaticAllocationFlags; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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203 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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204 below to enable the use of older kernel aware debuggers. */
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205 typedef tskTCB TCB_t;
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208 * Some kernel aware debuggers require the data the debugger needs access to to
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209 * be global, rather than file scope.
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211 #ifdef portREMOVE_STATIC_QUALIFIER
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215 /*lint -e956 A manual analysis and inspection has been used to determine which
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216 static variables must be declared volatile. */
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218 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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220 /* Lists for ready and blocked tasks. --------------------*/
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221 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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222 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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223 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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224 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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225 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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226 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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228 #if ( INCLUDE_vTaskDelete == 1 )
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230 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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231 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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235 #if ( INCLUDE_vTaskSuspend == 1 )
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237 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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241 /* Other file private variables. --------------------------------*/
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242 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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244 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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245 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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246 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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247 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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248 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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249 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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250 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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251 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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253 /* Context switches are held pending while the scheduler is suspended. Also,
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254 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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255 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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256 If an interrupt needs to unblock a task while the scheduler is suspended then it
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257 moves the task's event list item into the xPendingReadyList, ready for the
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258 kernel to move the task from the pending ready list into the real ready list
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259 when the scheduler is unsuspended. The pending ready list itself can only be
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260 accessed from a critical section. */
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261 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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263 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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265 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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266 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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272 /* Debugging and trace facilities private variables and macros. ------------*/
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275 * The value used to fill the stack of a task when the task is created. This
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276 * is used purely for checking the high water mark for tasks.
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278 #define tskSTACK_FILL_BYTE ( 0xa5U )
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281 * Macros used by vListTask to indicate which state a task is in.
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283 #define tskBLOCKED_CHAR ( 'B' )
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284 #define tskREADY_CHAR ( 'R' )
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285 #define tskDELETED_CHAR ( 'D' )
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286 #define tskSUSPENDED_CHAR ( 'S' )
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288 /*-----------------------------------------------------------*/
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290 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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292 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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293 performed in a generic way that is not optimised to any particular
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294 microcontroller architecture. */
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296 /* uxTopReadyPriority holds the priority of the highest priority ready
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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300 if( ( uxPriority ) > uxTopReadyPriority ) \
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302 uxTopReadyPriority = ( uxPriority ); \
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304 } /* taskRECORD_READY_PRIORITY */
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306 /*-----------------------------------------------------------*/
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308 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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310 /* Find the highest priority queue that contains ready tasks. */ \
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311 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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313 configASSERT( uxTopReadyPriority ); \
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314 --uxTopReadyPriority; \
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317 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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318 the same priority get an equal share of the processor time. */ \
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319 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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320 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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322 /*-----------------------------------------------------------*/
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324 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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325 they are only required when a port optimised method of task selection is
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327 #define taskRESET_READY_PRIORITY( uxPriority )
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328 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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330 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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332 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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333 performed in a way that is tailored to the particular microcontroller
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334 architecture being used. */
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336 /* A port optimised version is provided. Call the port defined macros. */
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337 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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339 /*-----------------------------------------------------------*/
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341 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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343 UBaseType_t uxTopPriority; \
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345 /* Find the highest priority list that contains ready tasks. */ \
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346 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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347 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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348 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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349 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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351 /*-----------------------------------------------------------*/
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353 /* A port optimised version is provided, call it only if the TCB being reset
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354 is being referenced from a ready list. If it is referenced from a delayed
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355 or suspended list then it won't be in a ready list. */
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356 #define taskRESET_READY_PRIORITY( uxPriority ) \
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358 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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360 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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364 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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366 /*-----------------------------------------------------------*/
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368 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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369 count overflows. */
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370 #define taskSWITCH_DELAYED_LISTS() \
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374 /* The delayed tasks list should be empty when the lists are switched. */ \
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375 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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377 pxTemp = pxDelayedTaskList; \
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378 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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379 pxOverflowDelayedTaskList = pxTemp; \
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380 xNumOfOverflows++; \
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381 prvResetNextTaskUnblockTime(); \
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384 /*-----------------------------------------------------------*/
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387 * Place the task represented by pxTCB into the appropriate ready list for
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388 * the task. It is inserted at the end of the list.
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390 #define prvAddTaskToReadyList( pxTCB ) \
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391 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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392 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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393 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ); \
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394 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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395 /*-----------------------------------------------------------*/
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398 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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399 * where NULL is used to indicate that the handle of the currently executing
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400 * task should be used in place of the parameter. This macro simply checks to
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401 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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403 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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405 /* The item value of the event list item is normally used to hold the priority
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406 of the task to which it belongs (coded to allow it to be held in reverse
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407 priority order). However, it is occasionally borrowed for other purposes. It
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408 is important its value is not updated due to a task priority change while it is
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409 being used for another purpose. The following bit definition is used to inform
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410 the scheduler that the value should not be changed - in which case it is the
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411 responsibility of whichever module is using the value to ensure it gets set back
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412 to its original value when it is released. */
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413 #if( configUSE_16_BIT_TICKS == 1 )
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414 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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416 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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419 /* Callback function prototypes. --------------------------*/
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420 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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421 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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424 #if( configUSE_TICK_HOOK > 0 )
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425 extern void vApplicationTickHook( void );
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428 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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429 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );
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432 /* File private functions. --------------------------------*/
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435 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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436 * into the TCB structure.
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438 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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441 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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442 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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443 * is in any other state.
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445 #if ( INCLUDE_vTaskSuspend == 1 )
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446 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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447 #endif /* INCLUDE_vTaskSuspend */
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450 * Utility to ready all the lists used by the scheduler. This is called
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451 * automatically upon the creation of the first task.
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453 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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456 * The idle task, which as all tasks is implemented as a never ending loop.
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457 * The idle task is automatically created and added to the ready lists upon
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458 * creation of the first user task.
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460 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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461 * language extensions. The equivalent prototype for this function is:
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463 * void prvIdleTask( void *pvParameters );
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466 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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469 * Utility to free all memory allocated by the scheduler to hold a TCB,
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470 * including the stack pointed to by the TCB.
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472 * This does not free memory allocated by the task itself (i.e. memory
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473 * allocated by calls to pvPortMalloc from within the tasks application code).
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475 #if ( INCLUDE_vTaskDelete == 1 )
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477 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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482 * Used only by the idle task. This checks to see if anything has been placed
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483 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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484 * and its TCB deleted.
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486 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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489 * The currently executing task is entering the Blocked state. Add the task to
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490 * either the current or the overflow delayed task list.
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492 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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495 * Allocates memory from the heap for a TCB and associated stack. Checks the
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496 * allocation was successful.
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498 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pucTCBBuffer ) PRIVILEGED_FUNCTION;
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501 * Fills an TaskStatus_t structure with information on each task that is
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502 * referenced from the pxList list (which may be a ready list, a delayed list,
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503 * a suspended list, etc.).
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505 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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506 * NORMAL APPLICATION CODE.
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508 #if ( configUSE_TRACE_FACILITY == 1 )
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510 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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515 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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516 * the task if it is found, or NULL if the task is not found.
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518 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
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520 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] );
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525 * When a task is created, the stack of the task is filled with a known value.
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526 * This function determines the 'high water mark' of the task stack by
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527 * determining how much of the stack remains at the original preset value.
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529 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
531 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
\r
536 * Return the amount of time, in ticks, that will pass before the kernel will
\r
537 * next move a task from the Blocked state to the Running state.
\r
539 * This conditional compilation should use inequality to 0, not equality to 1.
\r
540 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
541 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
542 * set to a value other than 1.
\r
544 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
546 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
551 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
552 * will exit the Blocked state.
\r
554 static void prvResetNextTaskUnblockTime( void );
\r
556 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
559 * Helper function used to pad task names with spaces when printing out
\r
560 * human readable tables of task information.
\r
562 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
\r
565 /*-----------------------------------------------------------*/
\r
567 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
569 BaseType_t xReturn;
\r
571 StackType_t *pxTopOfStack;
\r
573 configASSERT( pxTaskCode );
\r
574 configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );
\r
576 /* Allocate the memory required by the TCB and stack for the new task,
\r
577 checking that the allocation was successful. */
\r
578 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer, ( 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
580 if( pxNewTCB != NULL )
\r
582 #if( portUSING_MPU_WRAPPERS == 1 )
\r
583 /* Should the task be created in privileged mode? */
\r
584 BaseType_t xRunPrivileged;
\r
585 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
587 xRunPrivileged = pdTRUE;
\r
591 xRunPrivileged = pdFALSE;
\r
593 uxPriority &= ~portPRIVILEGE_BIT;
\r
594 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
596 /* Calculate the top of stack address. This depends on whether the
\r
597 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
598 portSTACK_GROWTH is used to make the result positive or negative as
\r
599 required by the port. */
\r
600 #if( portSTACK_GROWTH < 0 )
\r
602 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
603 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
605 /* Check the alignment of the calculated top of stack is correct. */
\r
606 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
608 #else /* portSTACK_GROWTH */
\r
610 pxTopOfStack = pxNewTCB->pxStack;
\r
612 /* Check the alignment of the stack buffer is correct. */
\r
613 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
615 /* If we want to use stack checking on architectures that use
\r
616 a positive stack growth direction then we also need to store the
\r
617 other extreme of the stack space. */
\r
618 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
620 #endif /* portSTACK_GROWTH */
\r
622 /* Setup the newly allocated TCB with the initial state of the task. */
\r
623 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
625 /* Initialize the TCB stack to look as if the task was already running,
\r
626 but had been interrupted by the scheduler. The return address is set
\r
627 to the start of the task function. Once the stack has been initialised
\r
628 the top of stack variable is updated. */
\r
629 #if( portUSING_MPU_WRAPPERS == 1 )
\r
631 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
633 #else /* portUSING_MPU_WRAPPERS */
\r
635 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
637 #endif /* portUSING_MPU_WRAPPERS */
\r
639 if( ( void * ) pxCreatedTask != NULL )
\r
641 /* Pass the TCB out - in an anonymous way. The calling function/
\r
642 task can use this as a handle to delete the task later if
\r
644 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
648 mtCOVERAGE_TEST_MARKER();
\r
651 /* Ensure interrupts don't access the task lists while they are being
\r
653 taskENTER_CRITICAL();
\r
655 uxCurrentNumberOfTasks++;
\r
656 if( pxCurrentTCB == NULL )
\r
658 /* There are no other tasks, or all the other tasks are in
\r
659 the suspended state - make this the current task. */
\r
660 pxCurrentTCB = pxNewTCB;
\r
662 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
664 /* This is the first task to be created so do the preliminary
\r
665 initialisation required. We will not recover if this call
\r
666 fails, but we will report the failure. */
\r
667 prvInitialiseTaskLists();
\r
671 mtCOVERAGE_TEST_MARKER();
\r
676 /* If the scheduler is not already running, make this task the
\r
677 current task if it is the highest priority task to be created
\r
679 if( xSchedulerRunning == pdFALSE )
\r
681 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
683 pxCurrentTCB = pxNewTCB;
\r
687 mtCOVERAGE_TEST_MARKER();
\r
692 mtCOVERAGE_TEST_MARKER();
\r
698 #if ( configUSE_TRACE_FACILITY == 1 )
\r
700 /* Add a counter into the TCB for tracing only. */
\r
701 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
703 #endif /* configUSE_TRACE_FACILITY */
\r
704 traceTASK_CREATE( pxNewTCB );
\r
706 prvAddTaskToReadyList( pxNewTCB );
\r
709 portSETUP_TCB( pxNewTCB );
\r
711 taskEXIT_CRITICAL();
\r
715 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
716 traceTASK_CREATE_FAILED();
\r
719 if( xReturn == pdPASS )
\r
721 if( xSchedulerRunning != pdFALSE )
\r
723 /* If the created task is of a higher priority than the current task
\r
724 then it should run now. */
\r
725 if( pxCurrentTCB->uxPriority < uxPriority )
\r
727 taskYIELD_IF_USING_PREEMPTION();
\r
731 mtCOVERAGE_TEST_MARKER();
\r
736 mtCOVERAGE_TEST_MARKER();
\r
742 /*-----------------------------------------------------------*/
\r
744 #if ( INCLUDE_vTaskDelete == 1 )
\r
746 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
750 taskENTER_CRITICAL();
\r
752 /* If null is passed in here then it is the calling task that is
\r
754 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
756 /* Remove task from the ready list. */
\r
757 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
759 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
763 mtCOVERAGE_TEST_MARKER();
\r
766 /* Is the task waiting on an event also? */
\r
767 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
769 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
773 mtCOVERAGE_TEST_MARKER();
\r
776 if( pxTCB == pxCurrentTCB )
\r
778 /* A task is deleting itself. This cannot complete within the
\r
779 task itself, as a context switch to another task is required.
\r
780 Place the task in the termination list. The idle task will
\r
781 check the termination list and free up any memory allocated by
\r
782 the scheduler for the TCB and stack of the deleted task. */
\r
783 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
785 /* Increment the ucTasksDeleted variable so the idle task knows
\r
786 there is a task that has been deleted and that it should therefore
\r
787 check the xTasksWaitingTermination list. */
\r
788 ++uxDeletedTasksWaitingCleanUp;
\r
792 --uxCurrentNumberOfTasks;
\r
793 prvDeleteTCB( pxTCB );
\r
796 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
797 detect that the task lists need re-generating. */
\r
800 traceTASK_DELETE( pxTCB );
\r
802 taskEXIT_CRITICAL();
\r
804 /* Force a reschedule if it is the currently running task that has just
\r
806 if( xSchedulerRunning != pdFALSE )
\r
808 if( pxTCB == pxCurrentTCB )
\r
810 configASSERT( uxSchedulerSuspended == 0 );
\r
812 /* The pre-delete hook is primarily for the Windows simulator,
\r
813 in which Windows specific clean up operations are performed,
\r
814 after which it is not possible to yield away from this task -
\r
815 hence xYieldPending is used to latch that a context switch is
\r
817 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
818 portYIELD_WITHIN_API();
\r
822 /* Reset the next expected unblock time in case it referred to
\r
823 the task that has just been deleted. */
\r
824 taskENTER_CRITICAL();
\r
826 prvResetNextTaskUnblockTime();
\r
828 taskEXIT_CRITICAL();
\r
833 #endif /* INCLUDE_vTaskDelete */
\r
834 /*-----------------------------------------------------------*/
\r
836 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
838 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
840 TickType_t xTimeToWake;
\r
841 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
843 configASSERT( pxPreviousWakeTime );
\r
844 configASSERT( ( xTimeIncrement > 0U ) );
\r
845 configASSERT( uxSchedulerSuspended == 0 );
\r
849 /* Minor optimisation. The tick count cannot change in this
\r
851 const TickType_t xConstTickCount = xTickCount;
\r
853 /* Generate the tick time at which the task wants to wake. */
\r
854 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
856 if( xConstTickCount < *pxPreviousWakeTime )
\r
858 /* The tick count has overflowed since this function was
\r
859 lasted called. In this case the only time we should ever
\r
860 actually delay is if the wake time has also overflowed,
\r
861 and the wake time is greater than the tick time. When this
\r
862 is the case it is as if neither time had overflowed. */
\r
863 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
865 xShouldDelay = pdTRUE;
\r
869 mtCOVERAGE_TEST_MARKER();
\r
874 /* The tick time has not overflowed. In this case we will
\r
875 delay if either the wake time has overflowed, and/or the
\r
876 tick time is less than the wake time. */
\r
877 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
879 xShouldDelay = pdTRUE;
\r
883 mtCOVERAGE_TEST_MARKER();
\r
887 /* Update the wake time ready for the next call. */
\r
888 *pxPreviousWakeTime = xTimeToWake;
\r
890 if( xShouldDelay != pdFALSE )
\r
892 traceTASK_DELAY_UNTIL();
\r
894 /* Remove the task from the ready list before adding it to the
\r
895 blocked list as the same list item is used for both lists. */
\r
896 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
898 /* The current task must be in a ready list, so there is
\r
899 no need to check, and the port reset macro can be called
\r
901 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
905 mtCOVERAGE_TEST_MARKER();
\r
908 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
912 mtCOVERAGE_TEST_MARKER();
\r
915 xAlreadyYielded = xTaskResumeAll();
\r
917 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
918 have put ourselves to sleep. */
\r
919 if( xAlreadyYielded == pdFALSE )
\r
921 portYIELD_WITHIN_API();
\r
925 mtCOVERAGE_TEST_MARKER();
\r
929 #endif /* INCLUDE_vTaskDelayUntil */
\r
930 /*-----------------------------------------------------------*/
\r
932 #if ( INCLUDE_vTaskDelay == 1 )
\r
934 void vTaskDelay( const TickType_t xTicksToDelay )
\r
936 TickType_t xTimeToWake;
\r
937 BaseType_t xAlreadyYielded = pdFALSE;
\r
940 /* A delay time of zero just forces a reschedule. */
\r
941 if( xTicksToDelay > ( TickType_t ) 0U )
\r
943 configASSERT( uxSchedulerSuspended == 0 );
\r
948 /* A task that is removed from the event list while the
\r
949 scheduler is suspended will not get placed in the ready
\r
950 list or removed from the blocked list until the scheduler
\r
953 This task cannot be in an event list as it is the currently
\r
956 /* Calculate the time to wake - this may overflow but this is
\r
958 xTimeToWake = xTickCount + xTicksToDelay;
\r
960 /* We must remove ourselves from the ready list before adding
\r
961 ourselves to the blocked list as the same list item is used for
\r
963 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
965 /* The current task must be in a ready list, so there is
\r
966 no need to check, and the port reset macro can be called
\r
968 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
972 mtCOVERAGE_TEST_MARKER();
\r
974 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
976 xAlreadyYielded = xTaskResumeAll();
\r
980 mtCOVERAGE_TEST_MARKER();
\r
983 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
984 have put ourselves to sleep. */
\r
985 if( xAlreadyYielded == pdFALSE )
\r
987 portYIELD_WITHIN_API();
\r
991 mtCOVERAGE_TEST_MARKER();
\r
995 #endif /* INCLUDE_vTaskDelay */
\r
996 /*-----------------------------------------------------------*/
\r
998 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1000 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1002 eTaskState eReturn;
\r
1003 List_t *pxStateList;
\r
1004 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1006 configASSERT( pxTCB );
\r
1008 if( pxTCB == pxCurrentTCB )
\r
1010 /* The task calling this function is querying its own state. */
\r
1011 eReturn = eRunning;
\r
1015 taskENTER_CRITICAL();
\r
1017 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1019 taskEXIT_CRITICAL();
\r
1021 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1023 /* The task being queried is referenced from one of the Blocked
\r
1025 eReturn = eBlocked;
\r
1028 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1029 else if( pxStateList == &xSuspendedTaskList )
\r
1031 /* The task being queried is referenced from the suspended
\r
1032 list. Is it genuinely suspended or is it block
\r
1034 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1036 eReturn = eSuspended;
\r
1040 eReturn = eBlocked;
\r
1045 #if ( INCLUDE_vTaskDelete == 1 )
\r
1046 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1048 /* The task being queried is referenced from the deleted
\r
1049 tasks list, or it is not referenced from any lists at
\r
1051 eReturn = eDeleted;
\r
1055 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1057 /* If the task is not in any other state, it must be in the
\r
1058 Ready (including pending ready) state. */
\r
1064 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1066 #endif /* INCLUDE_eTaskGetState */
\r
1067 /*-----------------------------------------------------------*/
\r
1069 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1071 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1074 UBaseType_t uxReturn;
\r
1076 taskENTER_CRITICAL();
\r
1078 /* If null is passed in here then it is the priority of the that
\r
1079 called uxTaskPriorityGet() that is being queried. */
\r
1080 pxTCB = prvGetTCBFromHandle( xTask );
\r
1081 uxReturn = pxTCB->uxPriority;
\r
1083 taskEXIT_CRITICAL();
\r
1088 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1089 /*-----------------------------------------------------------*/
\r
1091 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1093 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1096 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1098 /* RTOS ports that support interrupt nesting have the concept of a
\r
1099 maximum system call (or maximum API call) interrupt priority.
\r
1100 Interrupts that are above the maximum system call priority are keep
\r
1101 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1102 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1103 is defined in FreeRTOSConfig.h then
\r
1104 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1105 failure if a FreeRTOS API function is called from an interrupt that has
\r
1106 been assigned a priority above the configured maximum system call
\r
1107 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1108 from interrupts that have been assigned a priority at or (logically)
\r
1109 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1110 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1111 simple as possible. More information (albeit Cortex-M specific) is
\r
1112 provided on the following link:
\r
1113 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1114 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1116 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1118 /* If null is passed in here then it is the priority of the calling
\r
1119 task that is being queried. */
\r
1120 pxTCB = prvGetTCBFromHandle( xTask );
\r
1121 uxReturn = pxTCB->uxPriority;
\r
1123 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1128 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1129 /*-----------------------------------------------------------*/
\r
1131 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1133 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1136 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1137 BaseType_t xYieldRequired = pdFALSE;
\r
1139 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1141 /* Ensure the new priority is valid. */
\r
1142 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1144 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1148 mtCOVERAGE_TEST_MARKER();
\r
1151 taskENTER_CRITICAL();
\r
1153 /* If null is passed in here then it is the priority of the calling
\r
1154 task that is being changed. */
\r
1155 pxTCB = prvGetTCBFromHandle( xTask );
\r
1157 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1159 #if ( configUSE_MUTEXES == 1 )
\r
1161 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1165 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1169 if( uxCurrentBasePriority != uxNewPriority )
\r
1171 /* The priority change may have readied a task of higher
\r
1172 priority than the calling task. */
\r
1173 if( uxNewPriority > uxCurrentBasePriority )
\r
1175 if( pxTCB != pxCurrentTCB )
\r
1177 /* The priority of a task other than the currently
\r
1178 running task is being raised. Is the priority being
\r
1179 raised above that of the running task? */
\r
1180 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1182 xYieldRequired = pdTRUE;
\r
1186 mtCOVERAGE_TEST_MARKER();
\r
1191 /* The priority of the running task is being raised,
\r
1192 but the running task must already be the highest
\r
1193 priority task able to run so no yield is required. */
\r
1196 else if( pxTCB == pxCurrentTCB )
\r
1198 /* Setting the priority of the running task down means
\r
1199 there may now be another task of higher priority that
\r
1200 is ready to execute. */
\r
1201 xYieldRequired = pdTRUE;
\r
1205 /* Setting the priority of any other task down does not
\r
1206 require a yield as the running task must be above the
\r
1207 new priority of the task being modified. */
\r
1210 /* Remember the ready list the task might be referenced from
\r
1211 before its uxPriority member is changed so the
\r
1212 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1213 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1215 #if ( configUSE_MUTEXES == 1 )
\r
1217 /* Only change the priority being used if the task is not
\r
1218 currently using an inherited priority. */
\r
1219 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1221 pxTCB->uxPriority = uxNewPriority;
\r
1225 mtCOVERAGE_TEST_MARKER();
\r
1228 /* The base priority gets set whatever. */
\r
1229 pxTCB->uxBasePriority = uxNewPriority;
\r
1233 pxTCB->uxPriority = uxNewPriority;
\r
1237 /* Only reset the event list item value if the value is not
\r
1238 being used for anything else. */
\r
1239 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1241 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
1245 mtCOVERAGE_TEST_MARKER();
\r
1248 /* If the task is in the blocked or suspended list we need do
\r
1249 nothing more than change it's priority variable. However, if
\r
1250 the task is in a ready list it needs to be removed and placed
\r
1251 in the list appropriate to its new priority. */
\r
1252 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1254 /* The task is currently in its ready list - remove before adding
\r
1255 it to it's new ready list. As we are in a critical section we
\r
1256 can do this even if the scheduler is suspended. */
\r
1257 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1259 /* It is known that the task is in its ready list so
\r
1260 there is no need to check again and the port level
\r
1261 reset macro can be called directly. */
\r
1262 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1266 mtCOVERAGE_TEST_MARKER();
\r
1268 prvAddTaskToReadyList( pxTCB );
\r
1272 mtCOVERAGE_TEST_MARKER();
\r
1275 if( xYieldRequired == pdTRUE )
\r
1277 taskYIELD_IF_USING_PREEMPTION();
\r
1281 mtCOVERAGE_TEST_MARKER();
\r
1284 /* Remove compiler warning about unused variables when the port
\r
1285 optimised task selection is not being used. */
\r
1286 ( void ) uxPriorityUsedOnEntry;
\r
1289 taskEXIT_CRITICAL();
\r
1292 #endif /* INCLUDE_vTaskPrioritySet */
\r
1293 /*-----------------------------------------------------------*/
\r
1295 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1297 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1301 taskENTER_CRITICAL();
\r
1303 /* If null is passed in here then it is the running task that is
\r
1304 being suspended. */
\r
1305 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1307 traceTASK_SUSPEND( pxTCB );
\r
1309 /* Remove task from the ready/delayed list and place in the
\r
1310 suspended list. */
\r
1311 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1313 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1317 mtCOVERAGE_TEST_MARKER();
\r
1320 /* Is the task waiting on an event also? */
\r
1321 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1323 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1327 mtCOVERAGE_TEST_MARKER();
\r
1330 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1332 taskEXIT_CRITICAL();
\r
1334 if( xSchedulerRunning != pdFALSE )
\r
1336 /* Reset the next expected unblock time in case it referred to the
\r
1337 task that is now in the Suspended state. */
\r
1338 taskENTER_CRITICAL();
\r
1340 prvResetNextTaskUnblockTime();
\r
1342 taskEXIT_CRITICAL();
\r
1346 mtCOVERAGE_TEST_MARKER();
\r
1349 if( pxTCB == pxCurrentTCB )
\r
1351 if( xSchedulerRunning != pdFALSE )
\r
1353 /* The current task has just been suspended. */
\r
1354 configASSERT( uxSchedulerSuspended == 0 );
\r
1355 portYIELD_WITHIN_API();
\r
1359 /* The scheduler is not running, but the task that was pointed
\r
1360 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1361 must be adjusted to point to a different task. */
\r
1362 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1364 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1365 NULL so when the next task is created pxCurrentTCB will
\r
1366 be set to point to it no matter what its relative priority
\r
1368 pxCurrentTCB = NULL;
\r
1372 vTaskSwitchContext();
\r
1378 mtCOVERAGE_TEST_MARKER();
\r
1382 #endif /* INCLUDE_vTaskSuspend */
\r
1383 /*-----------------------------------------------------------*/
\r
1385 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1387 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1389 BaseType_t xReturn = pdFALSE;
\r
1390 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1392 /* Accesses xPendingReadyList so must be called from a critical
\r
1395 /* It does not make sense to check if the calling task is suspended. */
\r
1396 configASSERT( xTask );
\r
1398 /* Is the task being resumed actually in the suspended list? */
\r
1399 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1401 /* Has the task already been resumed from within an ISR? */
\r
1402 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1404 /* Is it in the suspended list because it is in the Suspended
\r
1405 state, or because is is blocked with no timeout? */
\r
1406 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1412 mtCOVERAGE_TEST_MARKER();
\r
1417 mtCOVERAGE_TEST_MARKER();
\r
1422 mtCOVERAGE_TEST_MARKER();
\r
1426 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1428 #endif /* INCLUDE_vTaskSuspend */
\r
1429 /*-----------------------------------------------------------*/
\r
1431 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1433 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1435 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1437 /* It does not make sense to resume the calling task. */
\r
1438 configASSERT( xTaskToResume );
\r
1440 /* The parameter cannot be NULL as it is impossible to resume the
\r
1441 currently executing task. */
\r
1442 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1444 taskENTER_CRITICAL();
\r
1446 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1448 traceTASK_RESUME( pxTCB );
\r
1450 /* As we are in a critical section we can access the ready
\r
1451 lists even if the scheduler is suspended. */
\r
1452 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1453 prvAddTaskToReadyList( pxTCB );
\r
1455 /* We may have just resumed a higher priority task. */
\r
1456 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1458 /* This yield may not cause the task just resumed to run,
\r
1459 but will leave the lists in the correct state for the
\r
1461 taskYIELD_IF_USING_PREEMPTION();
\r
1465 mtCOVERAGE_TEST_MARKER();
\r
1470 mtCOVERAGE_TEST_MARKER();
\r
1473 taskEXIT_CRITICAL();
\r
1477 mtCOVERAGE_TEST_MARKER();
\r
1481 #endif /* INCLUDE_vTaskSuspend */
\r
1483 /*-----------------------------------------------------------*/
\r
1485 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1487 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1489 BaseType_t xYieldRequired = pdFALSE;
\r
1490 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1491 UBaseType_t uxSavedInterruptStatus;
\r
1493 configASSERT( xTaskToResume );
\r
1495 /* RTOS ports that support interrupt nesting have the concept of a
\r
1496 maximum system call (or maximum API call) interrupt priority.
\r
1497 Interrupts that are above the maximum system call priority are keep
\r
1498 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1499 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1500 is defined in FreeRTOSConfig.h then
\r
1501 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1502 failure if a FreeRTOS API function is called from an interrupt that has
\r
1503 been assigned a priority above the configured maximum system call
\r
1504 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1505 from interrupts that have been assigned a priority at or (logically)
\r
1506 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1507 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1508 simple as possible. More information (albeit Cortex-M specific) is
\r
1509 provided on the following link:
\r
1510 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1511 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1513 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1515 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1517 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1519 /* Check the ready lists can be accessed. */
\r
1520 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1522 /* Ready lists can be accessed so move the task from the
\r
1523 suspended list to the ready list directly. */
\r
1524 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1526 xYieldRequired = pdTRUE;
\r
1530 mtCOVERAGE_TEST_MARKER();
\r
1533 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1534 prvAddTaskToReadyList( pxTCB );
\r
1538 /* The delayed or ready lists cannot be accessed so the task
\r
1539 is held in the pending ready list until the scheduler is
\r
1541 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1546 mtCOVERAGE_TEST_MARKER();
\r
1549 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1551 return xYieldRequired;
\r
1554 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1555 /*-----------------------------------------------------------*/
\r
1557 void vTaskStartScheduler( void )
\r
1559 BaseType_t xReturn;
\r
1560 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1561 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1562 uint16_t usIdleTaskStackSize = tskIDLE_STACK_SIZE;
\r
1564 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1566 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );
\r
1568 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1570 /* Add the idle task at the lowest priority. */
\r
1571 xReturn = xTaskGenericCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer, NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1573 #if ( configUSE_TIMERS == 1 )
\r
1575 if( xReturn == pdPASS )
\r
1577 xReturn = xTimerCreateTimerTask();
\r
1581 mtCOVERAGE_TEST_MARKER();
\r
1584 #endif /* configUSE_TIMERS */
\r
1586 if( xReturn == pdPASS )
\r
1588 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1589 before or during the call to xPortStartScheduler(). The stacks of
\r
1590 the created tasks contain a status word with interrupts switched on
\r
1591 so interrupts will automatically get re-enabled when the first task
\r
1593 portDISABLE_INTERRUPTS();
\r
1595 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1597 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1598 structure specific to the task that will run first. */
\r
1599 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1601 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1603 xNextTaskUnblockTime = portMAX_DELAY;
\r
1604 xSchedulerRunning = pdTRUE;
\r
1605 xTickCount = ( TickType_t ) 0U;
\r
1607 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1608 macro must be defined to configure the timer/counter used to generate
\r
1609 the run time counter time base. */
\r
1610 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1612 /* Setting up the timer tick is hardware specific and thus in the
\r
1613 portable interface. */
\r
1614 if( xPortStartScheduler() != pdFALSE )
\r
1616 /* Should not reach here as if the scheduler is running the
\r
1617 function will not return. */
\r
1621 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1626 /* This line will only be reached if the kernel could not be started,
\r
1627 because there was not enough FreeRTOS heap to create the idle task
\r
1628 or the timer task. */
\r
1629 configASSERT( xReturn );
\r
1632 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1633 meaning xIdleTaskHandle is not used anywhere else. */
\r
1634 ( void ) xIdleTaskHandle;
\r
1636 /*-----------------------------------------------------------*/
\r
1638 void vTaskEndScheduler( void )
\r
1640 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1641 routine so the original ISRs can be restored if necessary. The port
\r
1642 layer must ensure interrupts enable bit is left in the correct state. */
\r
1643 portDISABLE_INTERRUPTS();
\r
1644 xSchedulerRunning = pdFALSE;
\r
1645 vPortEndScheduler();
\r
1647 /*----------------------------------------------------------*/
\r
1649 void vTaskSuspendAll( void )
\r
1651 /* A critical section is not required as the variable is of type
\r
1652 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1653 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1654 http://goo.gl/wu4acr */
\r
1655 ++uxSchedulerSuspended;
\r
1657 /*----------------------------------------------------------*/
\r
1659 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1661 static TickType_t prvGetExpectedIdleTime( void )
\r
1663 TickType_t xReturn;
\r
1664 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1666 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1667 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1668 task that are in the Ready state, even though the idle task is
\r
1670 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1672 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1674 uxHigherPriorityReadyTasks = pdTRUE;
\r
1679 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1681 /* When port optimised task selection is used the uxTopReadyPriority
\r
1682 variable is used as a bit map. If bits other than the least
\r
1683 significant bit are set then there are tasks that have a priority
\r
1684 above the idle priority that are in the Ready state. This takes
\r
1685 care of the case where the co-operative scheduler is in use. */
\r
1686 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1688 uxHigherPriorityReadyTasks = pdTRUE;
\r
1693 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1697 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1699 /* There are other idle priority tasks in the ready state. If
\r
1700 time slicing is used then the very next tick interrupt must be
\r
1704 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1706 /* There are tasks in the Ready state that have a priority above the
\r
1707 idle priority. This path can only be reached if
\r
1708 configUSE_PREEMPTION is 0. */
\r
1713 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1719 #endif /* configUSE_TICKLESS_IDLE */
\r
1720 /*----------------------------------------------------------*/
\r
1722 BaseType_t xTaskResumeAll( void )
\r
1724 TCB_t *pxTCB = NULL;
\r
1725 BaseType_t xAlreadyYielded = pdFALSE;
\r
1727 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1728 previous call to vTaskSuspendAll(). */
\r
1729 configASSERT( uxSchedulerSuspended );
\r
1731 /* It is possible that an ISR caused a task to be removed from an event
\r
1732 list while the scheduler was suspended. If this was the case then the
\r
1733 removed task will have been added to the xPendingReadyList. Once the
\r
1734 scheduler has been resumed it is safe to move all the pending ready
\r
1735 tasks from this list into their appropriate ready list. */
\r
1736 taskENTER_CRITICAL();
\r
1738 --uxSchedulerSuspended;
\r
1740 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1742 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1744 /* Move any readied tasks from the pending list into the
\r
1745 appropriate ready list. */
\r
1746 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1748 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1749 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1750 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1751 prvAddTaskToReadyList( pxTCB );
\r
1753 /* If the moved task has a priority higher than the current
\r
1754 task then a yield must be performed. */
\r
1755 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1757 xYieldPending = pdTRUE;
\r
1761 mtCOVERAGE_TEST_MARKER();
\r
1765 if( pxTCB != NULL )
\r
1767 /* A task was unblocked while the scheduler was suspended,
\r
1768 which may have prevented the next unblock time from being
\r
1769 re-calculated, in which case re-calculate it now. Mainly
\r
1770 important for low power tickless implementations, where
\r
1771 this can prevent an unnecessary exit from low power
\r
1773 prvResetNextTaskUnblockTime();
\r
1776 /* If any ticks occurred while the scheduler was suspended then
\r
1777 they should be processed now. This ensures the tick count does
\r
1778 not slip, and that any delayed tasks are resumed at the correct
\r
1780 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1782 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1784 if( xTaskIncrementTick() != pdFALSE )
\r
1786 xYieldPending = pdTRUE;
\r
1790 mtCOVERAGE_TEST_MARKER();
\r
1797 mtCOVERAGE_TEST_MARKER();
\r
1800 if( xYieldPending == pdTRUE )
\r
1802 #if( configUSE_PREEMPTION != 0 )
\r
1804 xAlreadyYielded = pdTRUE;
\r
1807 taskYIELD_IF_USING_PREEMPTION();
\r
1811 mtCOVERAGE_TEST_MARKER();
\r
1817 mtCOVERAGE_TEST_MARKER();
\r
1820 taskEXIT_CRITICAL();
\r
1822 return xAlreadyYielded;
\r
1824 /*-----------------------------------------------------------*/
\r
1826 TickType_t xTaskGetTickCount( void )
\r
1828 TickType_t xTicks;
\r
1830 /* Critical section required if running on a 16 bit processor. */
\r
1831 portTICK_TYPE_ENTER_CRITICAL();
\r
1833 xTicks = xTickCount;
\r
1835 portTICK_TYPE_EXIT_CRITICAL();
\r
1839 /*-----------------------------------------------------------*/
\r
1841 TickType_t xTaskGetTickCountFromISR( void )
\r
1843 TickType_t xReturn;
\r
1844 UBaseType_t uxSavedInterruptStatus;
\r
1846 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1847 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1848 above the maximum system call priority are kept permanently enabled, even
\r
1849 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1850 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1851 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1852 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1853 assigned a priority above the configured maximum system call priority.
\r
1854 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1855 that have been assigned a priority at or (logically) below the maximum
\r
1856 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1857 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1858 More information (albeit Cortex-M specific) is provided on the following
\r
1859 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1860 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1862 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1864 xReturn = xTickCount;
\r
1866 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1870 /*-----------------------------------------------------------*/
\r
1872 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1874 /* A critical section is not required because the variables are of type
\r
1876 return uxCurrentNumberOfTasks;
\r
1878 /*-----------------------------------------------------------*/
\r
1880 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1882 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1886 /* If null is passed in here then the name of the calling task is being
\r
1888 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1889 configASSERT( pxTCB );
\r
1890 return &( pxTCB->pcTaskName[ 0 ] );
\r
1893 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1894 /*-----------------------------------------------------------*/
\r
1896 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1898 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
1900 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
1904 /* This function is called with the scheduler suspended. */
\r
1906 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
1908 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1912 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1914 /* Check each character in the name looking for a match or
\r
1916 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
1918 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
1920 if( cNextChar != pcNameToQuery[ x ] )
\r
1922 /* Characters didn't match. */
\r
1925 else if( cNextChar == 0x00 )
\r
1927 /* Both strings terminated, a match must have been
\r
1929 pxReturn = pxNextTCB;
\r
1934 mtCOVERAGE_TEST_MARKER();
\r
1938 if( pxReturn != NULL )
\r
1940 /* The handle has been found. */
\r
1944 } while( pxNextTCB != pxFirstTCB );
\r
1948 mtCOVERAGE_TEST_MARKER();
\r
1954 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
1955 /*-----------------------------------------------------------*/
\r
1957 #if ( INCLUDE_xTaskGetTaskHandle == 1 )
\r
1959 TaskHandle_t xTaskGetTaskHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1961 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
1964 vTaskSuspendAll();
\r
1966 /* Search the ready lists. */
\r
1970 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
1972 if( pxTCB != NULL )
\r
1974 /* Found the handle. */
\r
1978 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1980 /* Search the delayed lists. */
\r
1981 if( pxTCB == NULL )
\r
1983 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
1986 if( pxTCB == NULL )
\r
1988 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
1991 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1993 if( pxTCB == NULL )
\r
1995 /* Search the suspended list. */
\r
1996 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2001 #if( INCLUDE_vTaskDelete == 1 )
\r
2003 if( pxTCB == NULL )
\r
2005 /* Search the deleted list. */
\r
2006 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2011 ( void ) xTaskResumeAll();
\r
2013 return ( TaskHandle_t ) pxTCB;
\r
2016 #endif /* INCLUDE_xTaskGetTaskHandle */
\r
2017 /*-----------------------------------------------------------*/
\r
2019 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2021 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2023 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2025 vTaskSuspendAll();
\r
2027 /* Is there a space in the array for each task in the system? */
\r
2028 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2030 /* Fill in an TaskStatus_t structure with information on each
\r
2031 task in the Ready state. */
\r
2035 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2037 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2039 /* Fill in an TaskStatus_t structure with information on each
\r
2040 task in the Blocked state. */
\r
2041 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2042 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2044 #if( INCLUDE_vTaskDelete == 1 )
\r
2046 /* Fill in an TaskStatus_t structure with information on
\r
2047 each task that has been deleted but not yet cleaned up. */
\r
2048 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2052 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2054 /* Fill in an TaskStatus_t structure with information on
\r
2055 each task in the Suspended state. */
\r
2056 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2060 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2062 if( pulTotalRunTime != NULL )
\r
2064 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2065 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2067 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2073 if( pulTotalRunTime != NULL )
\r
2075 *pulTotalRunTime = 0;
\r
2082 mtCOVERAGE_TEST_MARKER();
\r
2085 ( void ) xTaskResumeAll();
\r
2090 #endif /* configUSE_TRACE_FACILITY */
\r
2091 /*----------------------------------------------------------*/
\r
2093 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2095 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2097 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2098 started, then xIdleTaskHandle will be NULL. */
\r
2099 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2100 return xIdleTaskHandle;
\r
2103 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2104 /*----------------------------------------------------------*/
\r
2106 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2107 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2108 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2110 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2112 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2114 /* Correct the tick count value after a period during which the tick
\r
2115 was suppressed. Note this does *not* call the tick hook function for
\r
2116 each stepped tick. */
\r
2117 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2118 xTickCount += xTicksToJump;
\r
2119 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2122 #endif /* configUSE_TICKLESS_IDLE */
\r
2123 /*----------------------------------------------------------*/
\r
2125 BaseType_t xTaskIncrementTick( void )
\r
2128 TickType_t xItemValue;
\r
2129 BaseType_t xSwitchRequired = pdFALSE;
\r
2131 /* Called by the portable layer each time a tick interrupt occurs.
\r
2132 Increments the tick then checks to see if the new tick value will cause any
\r
2133 tasks to be unblocked. */
\r
2134 traceTASK_INCREMENT_TICK( xTickCount );
\r
2135 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2137 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2138 delayed lists if it wraps to 0. */
\r
2142 /* Minor optimisation. The tick count cannot change in this
\r
2144 const TickType_t xConstTickCount = xTickCount;
\r
2146 if( xConstTickCount == ( TickType_t ) 0U )
\r
2148 taskSWITCH_DELAYED_LISTS();
\r
2152 mtCOVERAGE_TEST_MARKER();
\r
2155 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2156 the queue in the order of their wake time - meaning once one task
\r
2157 has been found whose block time has not expired there is no need to
\r
2158 look any further down the list. */
\r
2159 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2163 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2165 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2166 to the maximum possible value so it is extremely
\r
2168 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2169 next time through. */
\r
2170 xNextTaskUnblockTime = portMAX_DELAY;
\r
2175 /* The delayed list is not empty, get the value of the
\r
2176 item at the head of the delayed list. This is the time
\r
2177 at which the task at the head of the delayed list must
\r
2178 be removed from the Blocked state. */
\r
2179 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2180 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
2182 if( xConstTickCount < xItemValue )
\r
2184 /* It is not time to unblock this item yet, but the
\r
2185 item value is the time at which the task at the head
\r
2186 of the blocked list must be removed from the Blocked
\r
2187 state - so record the item value in
\r
2188 xNextTaskUnblockTime. */
\r
2189 xNextTaskUnblockTime = xItemValue;
\r
2194 mtCOVERAGE_TEST_MARKER();
\r
2197 /* It is time to remove the item from the Blocked state. */
\r
2198 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2200 /* Is the task waiting on an event also? If so remove
\r
2201 it from the event list. */
\r
2202 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2204 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2208 mtCOVERAGE_TEST_MARKER();
\r
2211 /* Place the unblocked task into the appropriate ready
\r
2213 prvAddTaskToReadyList( pxTCB );
\r
2215 /* A task being unblocked cannot cause an immediate
\r
2216 context switch if preemption is turned off. */
\r
2217 #if ( configUSE_PREEMPTION == 1 )
\r
2219 /* Preemption is on, but a context switch should
\r
2220 only be performed if the unblocked task has a
\r
2221 priority that is equal to or higher than the
\r
2222 currently executing task. */
\r
2223 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2225 xSwitchRequired = pdTRUE;
\r
2229 mtCOVERAGE_TEST_MARKER();
\r
2232 #endif /* configUSE_PREEMPTION */
\r
2238 /* Tasks of equal priority to the currently running task will share
\r
2239 processing time (time slice) if preemption is on, and the application
\r
2240 writer has not explicitly turned time slicing off. */
\r
2241 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2243 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2245 xSwitchRequired = pdTRUE;
\r
2249 mtCOVERAGE_TEST_MARKER();
\r
2252 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2254 #if ( configUSE_TICK_HOOK == 1 )
\r
2256 /* Guard against the tick hook being called when the pended tick
\r
2257 count is being unwound (when the scheduler is being unlocked). */
\r
2258 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2260 vApplicationTickHook();
\r
2264 mtCOVERAGE_TEST_MARKER();
\r
2267 #endif /* configUSE_TICK_HOOK */
\r
2273 /* The tick hook gets called at regular intervals, even if the
\r
2274 scheduler is locked. */
\r
2275 #if ( configUSE_TICK_HOOK == 1 )
\r
2277 vApplicationTickHook();
\r
2282 #if ( configUSE_PREEMPTION == 1 )
\r
2284 if( xYieldPending != pdFALSE )
\r
2286 xSwitchRequired = pdTRUE;
\r
2290 mtCOVERAGE_TEST_MARKER();
\r
2293 #endif /* configUSE_PREEMPTION */
\r
2295 return xSwitchRequired;
\r
2297 /*-----------------------------------------------------------*/
\r
2299 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2301 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2305 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2307 if( xTask == NULL )
\r
2309 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2313 xTCB = ( TCB_t * ) xTask;
\r
2316 /* Save the hook function in the TCB. A critical section is required as
\r
2317 the value can be accessed from an interrupt. */
\r
2318 taskENTER_CRITICAL();
\r
2319 xTCB->pxTaskTag = pxHookFunction;
\r
2320 taskEXIT_CRITICAL();
\r
2323 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2324 /*-----------------------------------------------------------*/
\r
2326 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2328 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2331 TaskHookFunction_t xReturn;
\r
2333 /* If xTask is NULL then we are setting our own task hook. */
\r
2334 if( xTask == NULL )
\r
2336 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2340 xTCB = ( TCB_t * ) xTask;
\r
2343 /* Save the hook function in the TCB. A critical section is required as
\r
2344 the value can be accessed from an interrupt. */
\r
2345 taskENTER_CRITICAL();
\r
2347 xReturn = xTCB->pxTaskTag;
\r
2349 taskEXIT_CRITICAL();
\r
2354 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2355 /*-----------------------------------------------------------*/
\r
2357 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2359 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2362 BaseType_t xReturn;
\r
2364 /* If xTask is NULL then we are calling our own task hook. */
\r
2365 if( xTask == NULL )
\r
2367 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2371 xTCB = ( TCB_t * ) xTask;
\r
2374 if( xTCB->pxTaskTag != NULL )
\r
2376 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2386 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2387 /*-----------------------------------------------------------*/
\r
2389 void vTaskSwitchContext( void )
\r
2391 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2393 /* The scheduler is currently suspended - do not allow a context
\r
2395 xYieldPending = pdTRUE;
\r
2399 xYieldPending = pdFALSE;
\r
2400 traceTASK_SWITCHED_OUT();
\r
2402 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2404 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2405 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2407 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2410 /* Add the amount of time the task has been running to the
\r
2411 accumulated time so far. The time the task started running was
\r
2412 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2413 protection here so count values are only valid until the timer
\r
2414 overflows. The guard against negative values is to protect
\r
2415 against suspect run time stat counter implementations - which
\r
2416 are provided by the application, not the kernel. */
\r
2417 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2419 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2423 mtCOVERAGE_TEST_MARKER();
\r
2425 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2427 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2429 /* Check for stack overflow, if configured. */
\r
2430 taskCHECK_FOR_STACK_OVERFLOW();
\r
2432 /* Select a new task to run using either the generic C or port
\r
2433 optimised asm code. */
\r
2434 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2435 traceTASK_SWITCHED_IN();
\r
2437 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2439 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2440 structure specific to this task. */
\r
2441 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2443 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2446 /*-----------------------------------------------------------*/
\r
2448 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2450 TickType_t xTimeToWake;
\r
2452 configASSERT( pxEventList );
\r
2454 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2455 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2457 /* Place the event list item of the TCB in the appropriate event list.
\r
2458 This is placed in the list in priority order so the highest priority task
\r
2459 is the first to be woken by the event. The queue that contains the event
\r
2460 list is locked, preventing simultaneous access from interrupts. */
\r
2461 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2463 /* The task must be removed from from the ready list before it is added to
\r
2464 the blocked list as the same list item is used for both lists. Exclusive
\r
2465 access to the ready lists guaranteed because the scheduler is locked. */
\r
2466 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2468 /* The current task must be in a ready list, so there is no need to
\r
2469 check, and the port reset macro can be called directly. */
\r
2470 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2474 mtCOVERAGE_TEST_MARKER();
\r
2477 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2479 if( xTicksToWait == portMAX_DELAY )
\r
2481 /* Add the task to the suspended task list instead of a delayed task
\r
2482 list to ensure the task is not woken by a timing event. It will
\r
2483 block indefinitely. */
\r
2484 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2488 /* Calculate the time at which the task should be woken if the event
\r
2489 does not occur. This may overflow but this doesn't matter, the
\r
2490 scheduler will handle it. */
\r
2491 xTimeToWake = xTickCount + xTicksToWait;
\r
2492 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2495 #else /* INCLUDE_vTaskSuspend */
\r
2497 /* Calculate the time at which the task should be woken if the event does
\r
2498 not occur. This may overflow but this doesn't matter, the scheduler
\r
2499 will handle it. */
\r
2500 xTimeToWake = xTickCount + xTicksToWait;
\r
2501 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2503 #endif /* INCLUDE_vTaskSuspend */
\r
2505 /*-----------------------------------------------------------*/
\r
2507 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2509 TickType_t xTimeToWake;
\r
2511 configASSERT( pxEventList );
\r
2513 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2514 the event groups implementation. */
\r
2515 configASSERT( uxSchedulerSuspended != 0 );
\r
2517 /* Store the item value in the event list item. It is safe to access the
\r
2518 event list item here as interrupts won't access the event list item of a
\r
2519 task that is not in the Blocked state. */
\r
2520 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2522 /* Place the event list item of the TCB at the end of the appropriate event
\r
2523 list. It is safe to access the event list here because it is part of an
\r
2524 event group implementation - and interrupts don't access event groups
\r
2525 directly (instead they access them indirectly by pending function calls to
\r
2526 the task level). */
\r
2527 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2529 /* The task must be removed from the ready list before it is added to the
\r
2530 blocked list. Exclusive access can be assured to the ready list as the
\r
2531 scheduler is locked. */
\r
2532 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2534 /* The current task must be in a ready list, so there is no need to
\r
2535 check, and the port reset macro can be called directly. */
\r
2536 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2540 mtCOVERAGE_TEST_MARKER();
\r
2543 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2545 if( xTicksToWait == portMAX_DELAY )
\r
2547 /* Add the task to the suspended task list instead of a delayed task
\r
2548 list to ensure it is not woken by a timing event. It will block
\r
2550 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2554 /* Calculate the time at which the task should be woken if the event
\r
2555 does not occur. This may overflow but this doesn't matter, the
\r
2556 kernel will manage it correctly. */
\r
2557 xTimeToWake = xTickCount + xTicksToWait;
\r
2558 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2561 #else /* INCLUDE_vTaskSuspend */
\r
2563 /* Calculate the time at which the task should be woken if the event does
\r
2564 not occur. This may overflow but this doesn't matter, the kernel
\r
2565 will manage it correctly. */
\r
2566 xTimeToWake = xTickCount + xTicksToWait;
\r
2567 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2569 #endif /* INCLUDE_vTaskSuspend */
\r
2571 /*-----------------------------------------------------------*/
\r
2573 #if configUSE_TIMERS == 1
\r
2575 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2577 TickType_t xTimeToWake;
\r
2579 configASSERT( pxEventList );
\r
2581 /* This function should not be called by application code hence the
\r
2582 'Restricted' in its name. It is not part of the public API. It is
\r
2583 designed for use by kernel code, and has special calling requirements -
\r
2584 it should be called with the scheduler suspended. */
\r
2587 /* Place the event list item of the TCB in the appropriate event list.
\r
2588 In this case it is assume that this is the only task that is going to
\r
2589 be waiting on this event list, so the faster vListInsertEnd() function
\r
2590 can be used in place of vListInsert. */
\r
2591 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2593 /* We must remove this task from the ready list before adding it to the
\r
2594 blocked list as the same list item is used for both lists. This
\r
2595 function is called with the scheduler locked so interrupts will not
\r
2596 access the lists at the same time. */
\r
2597 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2599 /* The current task must be in a ready list, so there is no need to
\r
2600 check, and the port reset macro can be called directly. */
\r
2601 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2605 mtCOVERAGE_TEST_MARKER();
\r
2608 /* If vTaskSuspend() is available then the suspended task list is also
\r
2609 available and a task that is blocking indefinitely can enter the
\r
2610 suspended state (it is not really suspended as it will re-enter the
\r
2611 Ready state when the event it is waiting indefinitely for occurs).
\r
2612 Blocking indefinitely is useful when using tickless idle mode as when
\r
2613 all tasks are blocked indefinitely all timers can be turned off. */
\r
2614 #if( INCLUDE_vTaskSuspend == 1 )
\r
2616 if( xWaitIndefinitely == pdTRUE )
\r
2618 /* Add the task to the suspended task list instead of a delayed
\r
2619 task list to ensure the task is not woken by a timing event. It
\r
2620 will block indefinitely. */
\r
2621 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2625 /* Calculate the time at which the task should be woken if the
\r
2626 event does not occur. This may overflow but this doesn't
\r
2628 xTimeToWake = xTickCount + xTicksToWait;
\r
2629 traceTASK_DELAY_UNTIL();
\r
2630 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2635 /* Calculate the time at which the task should be woken if the event
\r
2636 does not occur. This may overflow but this doesn't matter. */
\r
2637 xTimeToWake = xTickCount + xTicksToWait;
\r
2638 traceTASK_DELAY_UNTIL();
\r
2639 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2641 /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
\r
2643 ( void ) xWaitIndefinitely;
\r
2648 #endif /* configUSE_TIMERS */
\r
2649 /*-----------------------------------------------------------*/
\r
2651 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2653 TCB_t *pxUnblockedTCB;
\r
2654 BaseType_t xReturn;
\r
2656 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2657 called from a critical section within an ISR. */
\r
2659 /* The event list is sorted in priority order, so the first in the list can
\r
2660 be removed as it is known to be the highest priority. Remove the TCB from
\r
2661 the delayed list, and add it to the ready list.
\r
2663 If an event is for a queue that is locked then this function will never
\r
2664 get called - the lock count on the queue will get modified instead. This
\r
2665 means exclusive access to the event list is guaranteed here.
\r
2667 This function assumes that a check has already been made to ensure that
\r
2668 pxEventList is not empty. */
\r
2669 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2670 configASSERT( pxUnblockedTCB );
\r
2671 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2673 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2675 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2676 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2680 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2681 pending until the scheduler is resumed. */
\r
2682 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2685 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2687 /* Return true if the task removed from the event list has a higher
\r
2688 priority than the calling task. This allows the calling task to know if
\r
2689 it should force a context switch now. */
\r
2692 /* Mark that a yield is pending in case the user is not using the
\r
2693 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2694 xYieldPending = pdTRUE;
\r
2698 xReturn = pdFALSE;
\r
2701 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2703 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2704 might be set to the blocked task's time out time. If the task is
\r
2705 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2706 normally left unchanged, because it is automatically reset to a new
\r
2707 value when the tick count equals xNextTaskUnblockTime. However if
\r
2708 tickless idling is used it might be more important to enter sleep mode
\r
2709 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2710 ensure it is updated at the earliest possible time. */
\r
2711 prvResetNextTaskUnblockTime();
\r
2717 /*-----------------------------------------------------------*/
\r
2719 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2721 TCB_t *pxUnblockedTCB;
\r
2722 BaseType_t xReturn;
\r
2724 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2725 the event flags implementation. */
\r
2726 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2728 /* Store the new item value in the event list. */
\r
2729 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2731 /* Remove the event list form the event flag. Interrupts do not access
\r
2733 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2734 configASSERT( pxUnblockedTCB );
\r
2735 ( void ) uxListRemove( pxEventListItem );
\r
2737 /* Remove the task from the delayed list and add it to the ready list. The
\r
2738 scheduler is suspended so interrupts will not be accessing the ready
\r
2740 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2741 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2743 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2745 /* Return true if the task removed from the event list has
\r
2746 a higher priority than the calling task. This allows
\r
2747 the calling task to know if it should force a context
\r
2751 /* Mark that a yield is pending in case the user is not using the
\r
2752 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2753 xYieldPending = pdTRUE;
\r
2757 xReturn = pdFALSE;
\r
2762 /*-----------------------------------------------------------*/
\r
2764 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2766 configASSERT( pxTimeOut );
\r
2767 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2768 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2770 /*-----------------------------------------------------------*/
\r
2772 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2774 BaseType_t xReturn;
\r
2776 configASSERT( pxTimeOut );
\r
2777 configASSERT( pxTicksToWait );
\r
2779 taskENTER_CRITICAL();
\r
2781 /* Minor optimisation. The tick count cannot change in this block. */
\r
2782 const TickType_t xConstTickCount = xTickCount;
\r
2784 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2785 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2786 the maximum block time then the task should block indefinitely, and
\r
2787 therefore never time out. */
\r
2788 if( *pxTicksToWait == portMAX_DELAY )
\r
2790 xReturn = pdFALSE;
\r
2792 else /* We are not blocking indefinitely, perform the checks below. */
\r
2795 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2797 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2798 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2799 It must have wrapped all the way around and gone past us again. This
\r
2800 passed since vTaskSetTimeout() was called. */
\r
2803 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2805 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2806 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2807 vTaskSetTimeOutState( pxTimeOut );
\r
2808 xReturn = pdFALSE;
\r
2815 taskEXIT_CRITICAL();
\r
2819 /*-----------------------------------------------------------*/
\r
2821 void vTaskMissedYield( void )
\r
2823 xYieldPending = pdTRUE;
\r
2825 /*-----------------------------------------------------------*/
\r
2827 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2829 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2831 UBaseType_t uxReturn;
\r
2834 if( xTask != NULL )
\r
2836 pxTCB = ( TCB_t * ) xTask;
\r
2837 uxReturn = pxTCB->uxTaskNumber;
\r
2847 #endif /* configUSE_TRACE_FACILITY */
\r
2848 /*-----------------------------------------------------------*/
\r
2850 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2852 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2856 if( xTask != NULL )
\r
2858 pxTCB = ( TCB_t * ) xTask;
\r
2859 pxTCB->uxTaskNumber = uxHandle;
\r
2863 #endif /* configUSE_TRACE_FACILITY */
\r
2866 * -----------------------------------------------------------
\r
2868 * ----------------------------------------------------------
\r
2870 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2871 * language extensions. The equivalent prototype for this function is:
\r
2873 * void prvIdleTask( void *pvParameters );
\r
2876 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2878 /* Stop warnings. */
\r
2879 ( void ) pvParameters;
\r
2881 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
2882 SCHEDULER IS STARTED. **/
\r
2886 /* See if any tasks have deleted themselves - if so then the idle task
\r
2887 is responsible for freeing the deleted task's TCB and stack. */
\r
2888 prvCheckTasksWaitingTermination();
\r
2890 #if ( configUSE_PREEMPTION == 0 )
\r
2892 /* If we are not using preemption we keep forcing a task switch to
\r
2893 see if any other task has become available. If we are using
\r
2894 preemption we don't need to do this as any task becoming available
\r
2895 will automatically get the processor anyway. */
\r
2898 #endif /* configUSE_PREEMPTION */
\r
2900 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2902 /* When using preemption tasks of equal priority will be
\r
2903 timesliced. If a task that is sharing the idle priority is ready
\r
2904 to run then the idle task should yield before the end of the
\r
2907 A critical region is not required here as we are just reading from
\r
2908 the list, and an occasional incorrect value will not matter. If
\r
2909 the ready list at the idle priority contains more than one task
\r
2910 then a task other than the idle task is ready to execute. */
\r
2911 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2917 mtCOVERAGE_TEST_MARKER();
\r
2920 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2922 #if ( configUSE_IDLE_HOOK == 1 )
\r
2924 extern void vApplicationIdleHook( void );
\r
2926 /* Call the user defined function from within the idle task. This
\r
2927 allows the application designer to add background functionality
\r
2928 without the overhead of a separate task.
\r
2929 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2930 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2931 vApplicationIdleHook();
\r
2933 #endif /* configUSE_IDLE_HOOK */
\r
2935 /* This conditional compilation should use inequality to 0, not equality
\r
2936 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2937 user defined low power mode implementations require
\r
2938 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2939 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2941 TickType_t xExpectedIdleTime;
\r
2943 /* It is not desirable to suspend then resume the scheduler on
\r
2944 each iteration of the idle task. Therefore, a preliminary
\r
2945 test of the expected idle time is performed without the
\r
2946 scheduler suspended. The result here is not necessarily
\r
2948 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2950 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2952 vTaskSuspendAll();
\r
2954 /* Now the scheduler is suspended, the expected idle
\r
2955 time can be sampled again, and this time its value can
\r
2957 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2958 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2960 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2962 traceLOW_POWER_IDLE_BEGIN();
\r
2963 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2964 traceLOW_POWER_IDLE_END();
\r
2968 mtCOVERAGE_TEST_MARKER();
\r
2971 ( void ) xTaskResumeAll();
\r
2975 mtCOVERAGE_TEST_MARKER();
\r
2978 #endif /* configUSE_TICKLESS_IDLE */
\r
2981 /*-----------------------------------------------------------*/
\r
2983 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2985 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2987 /* The idle task exists in addition to the application tasks. */
\r
2988 const UBaseType_t uxNonApplicationTasks = 1;
\r
2989 eSleepModeStatus eReturn = eStandardSleep;
\r
2991 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2993 /* A task was made ready while the scheduler was suspended. */
\r
2994 eReturn = eAbortSleep;
\r
2996 else if( xYieldPending != pdFALSE )
\r
2998 /* A yield was pended while the scheduler was suspended. */
\r
2999 eReturn = eAbortSleep;
\r
3003 /* If all the tasks are in the suspended list (which might mean they
\r
3004 have an infinite block time rather than actually being suspended)
\r
3005 then it is safe to turn all clocks off and just wait for external
\r
3007 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3009 eReturn = eNoTasksWaitingTimeout;
\r
3013 mtCOVERAGE_TEST_MARKER();
\r
3020 #endif /* configUSE_TICKLESS_IDLE */
\r
3021 /*-----------------------------------------------------------*/
\r
3023 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
3027 /* Store the task name in the TCB. */
\r
3028 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
3030 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
3032 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
3033 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
3034 string is not accessible (extremely unlikely). */
\r
3035 if( pcName[ x ] == 0x00 )
\r
3041 mtCOVERAGE_TEST_MARKER();
\r
3045 /* Ensure the name string is terminated in the case that the string length
\r
3046 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
3047 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
3049 /* This is used as an array index so must ensure it's not too large. First
\r
3050 remove the privilege bit if one is present. */
\r
3051 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
3053 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
3057 mtCOVERAGE_TEST_MARKER();
\r
3060 pxTCB->uxPriority = uxPriority;
\r
3061 #if ( configUSE_MUTEXES == 1 )
\r
3063 pxTCB->uxBasePriority = uxPriority;
\r
3064 pxTCB->uxMutexesHeld = 0;
\r
3066 #endif /* configUSE_MUTEXES */
\r
3068 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
3069 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
3071 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
3072 back to the containing TCB from a generic item in a list. */
\r
3073 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
3075 /* Event lists are always in priority order. */
\r
3076 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3077 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
3079 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3081 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
3083 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3085 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
3087 pxTCB->pxTaskTag = NULL;
\r
3089 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3091 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3093 pxTCB->ulRunTimeCounter = 0UL;
\r
3095 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3097 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3099 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
3101 #else /* portUSING_MPU_WRAPPERS */
\r
3103 ( void ) xRegions;
\r
3104 ( void ) usStackDepth;
\r
3106 #endif /* portUSING_MPU_WRAPPERS */
\r
3108 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3110 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
3112 pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
3117 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3119 pxTCB->ulNotifiedValue = 0;
\r
3120 pxTCB->eNotifyState = eNotWaitingNotification;
\r
3124 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3126 /* Initialise this task's Newlib reent structure. */
\r
3127 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
3129 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3131 /*-----------------------------------------------------------*/
\r
3133 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3135 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3139 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3141 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3142 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3146 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3147 /*-----------------------------------------------------------*/
\r
3149 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3151 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3153 void *pvReturn = NULL;
\r
3156 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3158 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3159 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3169 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3170 /*-----------------------------------------------------------*/
\r
3172 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3174 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3178 /* If null is passed in here then we are modifying the MPU settings of
\r
3179 the calling task. */
\r
3180 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3182 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3185 #endif /* portUSING_MPU_WRAPPERS */
\r
3186 /*-----------------------------------------------------------*/
\r
3188 static void prvInitialiseTaskLists( void )
\r
3190 UBaseType_t uxPriority;
\r
3192 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3194 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3197 vListInitialise( &xDelayedTaskList1 );
\r
3198 vListInitialise( &xDelayedTaskList2 );
\r
3199 vListInitialise( &xPendingReadyList );
\r
3201 #if ( INCLUDE_vTaskDelete == 1 )
\r
3203 vListInitialise( &xTasksWaitingTermination );
\r
3205 #endif /* INCLUDE_vTaskDelete */
\r
3207 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3209 vListInitialise( &xSuspendedTaskList );
\r
3211 #endif /* INCLUDE_vTaskSuspend */
\r
3213 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3215 pxDelayedTaskList = &xDelayedTaskList1;
\r
3216 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3218 /*-----------------------------------------------------------*/
\r
3220 static void prvCheckTasksWaitingTermination( void )
\r
3223 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3225 #if ( INCLUDE_vTaskDelete == 1 )
\r
3227 BaseType_t xListIsEmpty;
\r
3229 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3230 too often in the idle task. */
\r
3231 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3233 vTaskSuspendAll();
\r
3235 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3237 ( void ) xTaskResumeAll();
\r
3239 if( xListIsEmpty == pdFALSE )
\r
3243 taskENTER_CRITICAL();
\r
3245 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3246 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
3247 --uxCurrentNumberOfTasks;
\r
3248 --uxDeletedTasksWaitingCleanUp;
\r
3250 taskEXIT_CRITICAL();
\r
3252 prvDeleteTCB( pxTCB );
\r
3256 mtCOVERAGE_TEST_MARKER();
\r
3260 #endif /* INCLUDE_vTaskDelete */
\r
3262 /*-----------------------------------------------------------*/
\r
3264 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
3266 /* The list item will be inserted in wake time order. */
\r
3267 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
3269 if( xTimeToWake < xTickCount )
\r
3271 /* Wake time has overflowed. Place this item in the overflow list. */
\r
3272 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3276 /* The wake time has not overflowed, so the current block list is used. */
\r
3277 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3279 /* If the task entering the blocked state was placed at the head of the
\r
3280 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3282 if( xTimeToWake < xNextTaskUnblockTime )
\r
3284 xNextTaskUnblockTime = xTimeToWake;
\r
3288 mtCOVERAGE_TEST_MARKER();
\r
3292 /*-----------------------------------------------------------*/
\r
3294 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pxTaskBuffer )
\r
3298 #if( ( configASSERT_DEFINED == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3300 /* Sanity check that the size of the structure used to declare a
\r
3301 variable of type StaticTask_t matches the size of the actual TCB_t
\r
3303 volatile size_t xSize = sizeof( StaticTask_t );
\r
3304 configASSERT( xSize == sizeof( TCB_t ) );
\r
3306 #endif /* configASSERT_DEFINED */
\r
3308 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3309 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3310 the TCB then the stack. */
\r
3311 #if( portSTACK_GROWTH > 0 )
\r
3313 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3314 the implementation of the port malloc function. */
\r
3315 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer );
\r
3317 if( pxNewTCB != NULL )
\r
3319 /* Allocate space for the stack used by the task being created.
\r
3320 The base of the stack memory stored in the TCB so the task can
\r
3321 be deleted later if required. */
\r
3322 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3324 if( pxNewTCB->pxStack == NULL )
\r
3326 /* Could not allocate the stack. Delete the allocated TCB - if
\r
3327 it was allocated dynamically. */
\r
3328 if( pxTaskBuffer == NULL )
\r
3330 vPortFree( pxNewTCB );
\r
3336 #else /* portSTACK_GROWTH */
\r
3338 StackType_t *pxStack;
\r
3340 /* Allocate space for the stack used by the task being created. */
\r
3341 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3343 if( pxStack != NULL )
\r
3345 /* Allocate space for the TCB. */
\r
3346 pxNewTCB = ( TCB_t * ) pvPortMallocAligned( sizeof( TCB_t ), pxTaskBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
3348 if( pxNewTCB != NULL )
\r
3350 /* Store the stack location in the TCB. */
\r
3351 pxNewTCB->pxStack = pxStack;
\r
3355 /* The stack cannot be used as the TCB was not created. Free it
\r
3357 if( puxStackBuffer == NULL )
\r
3359 vPortFree( pxStack );
\r
3363 mtCOVERAGE_TEST_MARKER();
\r
3372 #endif /* portSTACK_GROWTH */
\r
3374 if( pxNewTCB != NULL )
\r
3376 /* Avoid dependency on memset() if it is not required. */
\r
3377 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3379 /* Just to help debugging. */
\r
3380 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3382 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3384 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3386 pxNewTCB->ucStaticAllocationFlags = 0;
\r
3388 if( puxStackBuffer != NULL )
\r
3390 /* The application provided its own stack - note the fact so no
\r
3391 attempt is made to delete the stack if the task is deleted. */
\r
3392 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_STACK;
\r
3396 mtCOVERAGE_TEST_MARKER();
\r
3399 if( pxTaskBuffer != NULL )
\r
3401 /* The application provided its own TCB. Note the fact so no
\r
3402 attempt is made to delete the TCB if the task is deleted. */
\r
3403 pxNewTCB->ucStaticAllocationFlags |= taskSTATICALLY_ALLOCATED_TCB;
\r
3407 mtCOVERAGE_TEST_MARKER();
\r
3410 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
3415 /*-----------------------------------------------------------*/
\r
3417 #if( configUSE_TRACE_FACILITY == 1 )
\r
3419 void vTaskGetTaskInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3423 /* xTask is NULL then get the state of the calling task. */
\r
3424 pxTCB = prvGetTCBFromHandle( xTask );
\r
3426 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3427 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3428 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3429 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3430 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3432 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3434 /* If the task is in the suspended list then there is a chance it is
\r
3435 actually just blocked indefinitely - so really it should be reported as
\r
3436 being in the Blocked state. */
\r
3437 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3439 vTaskSuspendAll();
\r
3441 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3443 pxTaskStatus->eCurrentState = eBlocked;
\r
3449 #endif /* INCLUDE_vTaskSuspend */
\r
3451 #if ( configUSE_MUTEXES == 1 )
\r
3453 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3457 pxTaskStatus->uxBasePriority = 0;
\r
3461 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3463 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3467 pxTaskStatus->ulRunTimeCounter = 0;
\r
3471 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3472 of eState passed into this function is eInvalid - otherwise the state is
\r
3473 just set to whatever is passed in. */
\r
3474 if( eState != eInvalid )
\r
3476 pxTaskStatus->eCurrentState = eState;
\r
3480 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3483 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3484 parameter is provided to allow it to be skipped. */
\r
3485 if( xGetFreeStackSpace != pdFALSE )
\r
3487 #if ( portSTACK_GROWTH > 0 )
\r
3489 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3493 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3499 pxTaskStatus->usStackHighWaterMark = 0;
\r
3503 #endif /* INCLUDE_eTaskGetState */
\r
3504 /*-----------------------------------------------------------*/
\r
3506 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3508 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3510 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3511 UBaseType_t uxTask = 0;
\r
3513 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3515 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3517 /* Populate an TaskStatus_t structure within the
\r
3518 pxTaskStatusArray array for each task that is referenced from
\r
3519 pxList. See the definition of TaskStatus_t in task.h for the
\r
3520 meaning of each TaskStatus_t structure member. */
\r
3523 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3524 vTaskGetTaskInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3526 } while( pxNextTCB != pxFirstTCB );
\r
3530 mtCOVERAGE_TEST_MARKER();
\r
3536 #endif /* configUSE_TRACE_FACILITY */
\r
3537 /*-----------------------------------------------------------*/
\r
3539 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3541 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3543 uint32_t ulCount = 0U;
\r
3545 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3547 pucStackByte -= portSTACK_GROWTH;
\r
3551 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3553 return ( uint16_t ) ulCount;
\r
3556 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3557 /*-----------------------------------------------------------*/
\r
3559 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3561 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3564 uint8_t *pucEndOfStack;
\r
3565 UBaseType_t uxReturn;
\r
3567 pxTCB = prvGetTCBFromHandle( xTask );
\r
3569 #if portSTACK_GROWTH < 0
\r
3571 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3575 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3579 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3584 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3585 /*-----------------------------------------------------------*/
\r
3587 #if ( INCLUDE_vTaskDelete == 1 )
\r
3589 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3591 /* This call is required specifically for the TriCore port. It must be
\r
3592 above the vPortFree() calls. The call is also used by ports/demos that
\r
3593 want to allocate and clean RAM statically. */
\r
3594 portCLEAN_UP_TCB( pxTCB );
\r
3596 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3597 to the task to free any memory allocated at the application level. */
\r
3598 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3600 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3602 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3604 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
3606 /* Only free the stack and TCB if they were allocated dynamically in
\r
3607 the first place. */
\r
3608 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_STACK ) == ( uint8_t ) 0 )
\r
3610 vPortFreeAligned( pxTCB->pxStack );
\r
3614 mtCOVERAGE_TEST_MARKER();
\r
3617 if( ( pxTCB->ucStaticAllocationFlags & taskSTATICALLY_ALLOCATED_TCB ) == ( uint8_t ) 0 )
\r
3619 vPortFreeAligned( pxTCB );
\r
3623 mtCOVERAGE_TEST_MARKER();
\r
3628 vPortFreeAligned( pxTCB->pxStack );
\r
3629 vPortFree( pxTCB );
\r
3634 #endif /* INCLUDE_vTaskDelete */
\r
3635 /*-----------------------------------------------------------*/
\r
3637 static void prvResetNextTaskUnblockTime( void )
\r
3641 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3643 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3644 the maximum possible value so it is extremely unlikely that the
\r
3645 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3646 there is an item in the delayed list. */
\r
3647 xNextTaskUnblockTime = portMAX_DELAY;
\r
3651 /* The new current delayed list is not empty, get the value of
\r
3652 the item at the head of the delayed list. This is the time at
\r
3653 which the task at the head of the delayed list should be removed
\r
3654 from the Blocked state. */
\r
3655 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3656 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3659 /*-----------------------------------------------------------*/
\r
3661 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3663 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3665 TaskHandle_t xReturn;
\r
3667 /* A critical section is not required as this is not called from
\r
3668 an interrupt and the current TCB will always be the same for any
\r
3669 individual execution thread. */
\r
3670 xReturn = pxCurrentTCB;
\r
3675 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3676 /*-----------------------------------------------------------*/
\r
3678 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3680 BaseType_t xTaskGetSchedulerState( void )
\r
3682 BaseType_t xReturn;
\r
3684 if( xSchedulerRunning == pdFALSE )
\r
3686 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3690 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3692 xReturn = taskSCHEDULER_RUNNING;
\r
3696 xReturn = taskSCHEDULER_SUSPENDED;
\r
3703 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3704 /*-----------------------------------------------------------*/
\r
3706 #if ( configUSE_MUTEXES == 1 )
\r
3708 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3710 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3712 /* If the mutex was given back by an interrupt while the queue was
\r
3713 locked then the mutex holder might now be NULL. */
\r
3714 if( pxMutexHolder != NULL )
\r
3716 /* If the holder of the mutex has a priority below the priority of
\r
3717 the task attempting to obtain the mutex then it will temporarily
\r
3718 inherit the priority of the task attempting to obtain the mutex. */
\r
3719 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3721 /* Adjust the mutex holder state to account for its new
\r
3722 priority. Only reset the event list item value if the value is
\r
3723 not being used for anything else. */
\r
3724 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3726 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3730 mtCOVERAGE_TEST_MARKER();
\r
3733 /* If the task being modified is in the ready state it will need
\r
3734 to be moved into a new list. */
\r
3735 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3737 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3739 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3743 mtCOVERAGE_TEST_MARKER();
\r
3746 /* Inherit the priority before being moved into the new list. */
\r
3747 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3748 prvAddTaskToReadyList( pxTCB );
\r
3752 /* Just inherit the priority. */
\r
3753 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3756 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3760 mtCOVERAGE_TEST_MARKER();
\r
3765 mtCOVERAGE_TEST_MARKER();
\r
3769 #endif /* configUSE_MUTEXES */
\r
3770 /*-----------------------------------------------------------*/
\r
3772 #if ( configUSE_MUTEXES == 1 )
\r
3774 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3776 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3777 BaseType_t xReturn = pdFALSE;
\r
3779 if( pxMutexHolder != NULL )
\r
3781 /* A task can only have an inherited priority if it holds the mutex.
\r
3782 If the mutex is held by a task then it cannot be given from an
\r
3783 interrupt, and if a mutex is given by the holding task then it must
\r
3784 be the running state task. */
\r
3785 configASSERT( pxTCB == pxCurrentTCB );
\r
3787 configASSERT( pxTCB->uxMutexesHeld );
\r
3788 ( pxTCB->uxMutexesHeld )--;
\r
3790 /* Has the holder of the mutex inherited the priority of another
\r
3792 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3794 /* Only disinherit if no other mutexes are held. */
\r
3795 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3797 /* A task can only have an inherited priority if it holds
\r
3798 the mutex. If the mutex is held by a task then it cannot be
\r
3799 given from an interrupt, and if a mutex is given by the
\r
3800 holding task then it must be the running state task. Remove
\r
3801 the holding task from the ready list. */
\r
3802 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3804 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3808 mtCOVERAGE_TEST_MARKER();
\r
3811 /* Disinherit the priority before adding the task into the
\r
3812 new ready list. */
\r
3813 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3814 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3816 /* Reset the event list item value. It cannot be in use for
\r
3817 any other purpose if this task is running, and it must be
\r
3818 running to give back the mutex. */
\r
3819 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
3820 prvAddTaskToReadyList( pxTCB );
\r
3822 /* Return true to indicate that a context switch is required.
\r
3823 This is only actually required in the corner case whereby
\r
3824 multiple mutexes were held and the mutexes were given back
\r
3825 in an order different to that in which they were taken.
\r
3826 If a context switch did not occur when the first mutex was
\r
3827 returned, even if a task was waiting on it, then a context
\r
3828 switch should occur when the last mutex is returned whether
\r
3829 a task is waiting on it or not. */
\r
3834 mtCOVERAGE_TEST_MARKER();
\r
3839 mtCOVERAGE_TEST_MARKER();
\r
3844 mtCOVERAGE_TEST_MARKER();
\r
3850 #endif /* configUSE_MUTEXES */
\r
3851 /*-----------------------------------------------------------*/
\r
3853 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3855 void vTaskEnterCritical( void )
\r
3857 portDISABLE_INTERRUPTS();
\r
3859 if( xSchedulerRunning != pdFALSE )
\r
3861 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3863 /* This is not the interrupt safe version of the enter critical
\r
3864 function so assert() if it is being called from an interrupt
\r
3865 context. Only API functions that end in "FromISR" can be used in an
\r
3866 interrupt. Only assert if the critical nesting count is 1 to
\r
3867 protect against recursive calls if the assert function also uses a
\r
3868 critical section. */
\r
3869 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3871 portASSERT_IF_IN_ISR();
\r
3876 mtCOVERAGE_TEST_MARKER();
\r
3880 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3881 /*-----------------------------------------------------------*/
\r
3883 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3885 void vTaskExitCritical( void )
\r
3887 if( xSchedulerRunning != pdFALSE )
\r
3889 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3891 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3893 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3895 portENABLE_INTERRUPTS();
\r
3899 mtCOVERAGE_TEST_MARKER();
\r
3904 mtCOVERAGE_TEST_MARKER();
\r
3909 mtCOVERAGE_TEST_MARKER();
\r
3913 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3914 /*-----------------------------------------------------------*/
\r
3916 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3918 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3922 /* Start by copying the entire string. */
\r
3923 strcpy( pcBuffer, pcTaskName );
\r
3925 /* Pad the end of the string with spaces to ensure columns line up when
\r
3927 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3929 pcBuffer[ x ] = ' ';
\r
3933 pcBuffer[ x ] = 0x00;
\r
3935 /* Return the new end of string. */
\r
3936 return &( pcBuffer[ x ] );
\r
3939 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3940 /*-----------------------------------------------------------*/
\r
3942 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3944 void vTaskList( char * pcWriteBuffer )
\r
3946 TaskStatus_t *pxTaskStatusArray;
\r
3947 volatile UBaseType_t uxArraySize, x;
\r
3953 * This function is provided for convenience only, and is used by many
\r
3954 * of the demo applications. Do not consider it to be part of the
\r
3957 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3958 * uxTaskGetSystemState() output into a human readable table that
\r
3959 * displays task names, states and stack usage.
\r
3961 * vTaskList() has a dependency on the sprintf() C library function that
\r
3962 * might bloat the code size, use a lot of stack, and provide different
\r
3963 * results on different platforms. An alternative, tiny, third party,
\r
3964 * and limited functionality implementation of sprintf() is provided in
\r
3965 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3966 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3967 * snprintf() implementation!).
\r
3969 * It is recommended that production systems call uxTaskGetSystemState()
\r
3970 * directly to get access to raw stats data, rather than indirectly
\r
3971 * through a call to vTaskList().
\r
3975 /* Make sure the write buffer does not contain a string. */
\r
3976 *pcWriteBuffer = 0x00;
\r
3978 /* Take a snapshot of the number of tasks in case it changes while this
\r
3979 function is executing. */
\r
3980 uxArraySize = uxCurrentNumberOfTasks;
\r
3982 /* Allocate an array index for each task. */
\r
3983 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3985 if( pxTaskStatusArray != NULL )
\r
3987 /* Generate the (binary) data. */
\r
3988 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3990 /* Create a human readable table from the binary data. */
\r
3991 for( x = 0; x < uxArraySize; x++ )
\r
3993 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3995 case eReady: cStatus = tskREADY_CHAR;
\r
3998 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4001 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4004 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4007 default: /* Should not get here, but it is included
\r
4008 to prevent static checking errors. */
\r
4013 /* Write the task name to the string, padding with spaces so it
\r
4014 can be printed in tabular form more easily. */
\r
4015 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4017 /* Write the rest of the string. */
\r
4018 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
4019 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4022 /* Free the array again. */
\r
4023 vPortFree( pxTaskStatusArray );
\r
4027 mtCOVERAGE_TEST_MARKER();
\r
4031 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4032 /*----------------------------------------------------------*/
\r
4034 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4036 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4038 TaskStatus_t *pxTaskStatusArray;
\r
4039 volatile UBaseType_t uxArraySize, x;
\r
4040 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4042 #if( configUSE_TRACE_FACILITY != 1 )
\r
4044 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4051 * This function is provided for convenience only, and is used by many
\r
4052 * of the demo applications. Do not consider it to be part of the
\r
4055 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4056 * of the uxTaskGetSystemState() output into a human readable table that
\r
4057 * displays the amount of time each task has spent in the Running state
\r
4058 * in both absolute and percentage terms.
\r
4060 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4061 * function that might bloat the code size, use a lot of stack, and
\r
4062 * provide different results on different platforms. An alternative,
\r
4063 * tiny, third party, and limited functionality implementation of
\r
4064 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4065 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4066 * a full snprintf() implementation!).
\r
4068 * It is recommended that production systems call uxTaskGetSystemState()
\r
4069 * directly to get access to raw stats data, rather than indirectly
\r
4070 * through a call to vTaskGetRunTimeStats().
\r
4073 /* Make sure the write buffer does not contain a string. */
\r
4074 *pcWriteBuffer = 0x00;
\r
4076 /* Take a snapshot of the number of tasks in case it changes while this
\r
4077 function is executing. */
\r
4078 uxArraySize = uxCurrentNumberOfTasks;
\r
4080 /* Allocate an array index for each task. */
\r
4081 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
4083 if( pxTaskStatusArray != NULL )
\r
4085 /* Generate the (binary) data. */
\r
4086 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4088 /* For percentage calculations. */
\r
4089 ulTotalTime /= 100UL;
\r
4091 /* Avoid divide by zero errors. */
\r
4092 if( ulTotalTime > 0 )
\r
4094 /* Create a human readable table from the binary data. */
\r
4095 for( x = 0; x < uxArraySize; x++ )
\r
4097 /* What percentage of the total run time has the task used?
\r
4098 This will always be rounded down to the nearest integer.
\r
4099 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4100 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4102 /* Write the task name to the string, padding with
\r
4103 spaces so it can be printed in tabular form more
\r
4105 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4107 if( ulStatsAsPercentage > 0UL )
\r
4109 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4111 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4115 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4116 printf() library can be used. */
\r
4117 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4123 /* If the percentage is zero here then the task has
\r
4124 consumed less than 1% of the total run time. */
\r
4125 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4127 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4131 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4132 printf() library can be used. */
\r
4133 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4138 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4143 mtCOVERAGE_TEST_MARKER();
\r
4146 /* Free the array again. */
\r
4147 vPortFree( pxTaskStatusArray );
\r
4151 mtCOVERAGE_TEST_MARKER();
\r
4155 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4156 /*-----------------------------------------------------------*/
\r
4158 TickType_t uxTaskResetEventItemValue( void )
\r
4160 TickType_t uxReturn;
\r
4162 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4164 /* Reset the event list item to its normal value - so it can be used with
\r
4165 queues and semaphores. */
\r
4166 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
4170 /*-----------------------------------------------------------*/
\r
4172 #if ( configUSE_MUTEXES == 1 )
\r
4174 void *pvTaskIncrementMutexHeldCount( void )
\r
4176 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4177 then pxCurrentTCB will be NULL. */
\r
4178 if( pxCurrentTCB != NULL )
\r
4180 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4183 return pxCurrentTCB;
\r
4186 #endif /* configUSE_MUTEXES */
\r
4187 /*-----------------------------------------------------------*/
\r
4189 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4191 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4193 TickType_t xTimeToWake;
\r
4194 uint32_t ulReturn;
\r
4196 taskENTER_CRITICAL();
\r
4198 /* Only block if the notification count is not already non-zero. */
\r
4199 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4201 /* Mark this task as waiting for a notification. */
\r
4202 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4204 if( xTicksToWait > ( TickType_t ) 0 )
\r
4206 /* The task is going to block. First it must be removed
\r
4207 from the ready list. */
\r
4208 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4210 /* The current task must be in a ready list, so there is
\r
4211 no need to check, and the port reset macro can be called
\r
4213 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4217 mtCOVERAGE_TEST_MARKER();
\r
4220 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4222 if( xTicksToWait == portMAX_DELAY )
\r
4224 /* Add the task to the suspended task list instead
\r
4225 of a delayed task list to ensure the task is not
\r
4226 woken by a timing event. It will block
\r
4228 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4232 /* Calculate the time at which the task should be
\r
4233 woken if no notification events occur. This may
\r
4234 overflow but this doesn't matter, the scheduler will
\r
4236 xTimeToWake = xTickCount + xTicksToWait;
\r
4237 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4240 #else /* INCLUDE_vTaskSuspend */
\r
4242 /* Calculate the time at which the task should be
\r
4243 woken if the event does not occur. This may
\r
4244 overflow but this doesn't matter, the scheduler will
\r
4246 xTimeToWake = xTickCount + xTicksToWait;
\r
4247 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4249 #endif /* INCLUDE_vTaskSuspend */
\r
4251 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4253 /* All ports are written to allow a yield in a critical
\r
4254 section (some will yield immediately, others wait until the
\r
4255 critical section exits) - but it is not something that
\r
4256 application code should ever do. */
\r
4257 portYIELD_WITHIN_API();
\r
4261 mtCOVERAGE_TEST_MARKER();
\r
4266 mtCOVERAGE_TEST_MARKER();
\r
4269 taskEXIT_CRITICAL();
\r
4271 taskENTER_CRITICAL();
\r
4273 traceTASK_NOTIFY_TAKE();
\r
4274 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4276 if( ulReturn != 0UL )
\r
4278 if( xClearCountOnExit != pdFALSE )
\r
4280 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4284 ( pxCurrentTCB->ulNotifiedValue )--;
\r
4289 mtCOVERAGE_TEST_MARKER();
\r
4292 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4294 taskEXIT_CRITICAL();
\r
4299 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4300 /*-----------------------------------------------------------*/
\r
4302 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4304 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4306 TickType_t xTimeToWake;
\r
4307 BaseType_t xReturn;
\r
4309 taskENTER_CRITICAL();
\r
4311 /* Only block if a notification is not already pending. */
\r
4312 if( pxCurrentTCB->eNotifyState != eNotified )
\r
4314 /* Clear bits in the task's notification value as bits may get
\r
4315 set by the notifying task or interrupt. This can be used to
\r
4316 clear the value to zero. */
\r
4317 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4319 /* Mark this task as waiting for a notification. */
\r
4320 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
4322 if( xTicksToWait > ( TickType_t ) 0 )
\r
4324 /* The task is going to block. First it must be removed
\r
4325 from the ready list. */
\r
4326 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
4328 /* The current task must be in a ready list, so there is
\r
4329 no need to check, and the port reset macro can be called
\r
4331 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4335 mtCOVERAGE_TEST_MARKER();
\r
4338 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4340 if( xTicksToWait == portMAX_DELAY )
\r
4342 /* Add the task to the suspended task list instead
\r
4343 of a delayed task list to ensure the task is not
\r
4344 woken by a timing event. It will block
\r
4346 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
4350 /* Calculate the time at which the task should be
\r
4351 woken if no notification events occur. This may
\r
4352 overflow but this doesn't matter, the scheduler will
\r
4354 xTimeToWake = xTickCount + xTicksToWait;
\r
4355 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4358 #else /* INCLUDE_vTaskSuspend */
\r
4360 /* Calculate the time at which the task should be
\r
4361 woken if the event does not occur. This may
\r
4362 overflow but this doesn't matter, the scheduler will
\r
4364 xTimeToWake = xTickCount + xTicksToWait;
\r
4365 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
4367 #endif /* INCLUDE_vTaskSuspend */
\r
4369 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4371 /* All ports are written to allow a yield in a critical
\r
4372 section (some will yield immediately, others wait until the
\r
4373 critical section exits) - but it is not something that
\r
4374 application code should ever do. */
\r
4375 portYIELD_WITHIN_API();
\r
4379 mtCOVERAGE_TEST_MARKER();
\r
4384 mtCOVERAGE_TEST_MARKER();
\r
4387 taskEXIT_CRITICAL();
\r
4389 taskENTER_CRITICAL();
\r
4391 traceTASK_NOTIFY_WAIT();
\r
4393 if( pulNotificationValue != NULL )
\r
4395 /* Output the current notification value, which may or may not
\r
4397 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4400 /* If eNotifyValue is set then either the task never entered the
\r
4401 blocked state (because a notification was already pending) or the
\r
4402 task unblocked because of a notification. Otherwise the task
\r
4403 unblocked because of a timeout. */
\r
4404 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4406 /* A notification was not received. */
\r
4407 xReturn = pdFALSE;
\r
4411 /* A notification was already pending or a notification was
\r
4412 received while the task was waiting. */
\r
4413 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4417 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4419 taskEXIT_CRITICAL();
\r
4424 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4425 /*-----------------------------------------------------------*/
\r
4427 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4429 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4432 eNotifyValue eOriginalNotifyState;
\r
4433 BaseType_t xReturn = pdPASS;
\r
4435 configASSERT( xTaskToNotify );
\r
4436 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4438 taskENTER_CRITICAL();
\r
4440 if( pulPreviousNotificationValue != NULL )
\r
4442 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4445 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4447 pxTCB->eNotifyState = eNotified;
\r
4452 pxTCB->ulNotifiedValue |= ulValue;
\r
4456 ( pxTCB->ulNotifiedValue )++;
\r
4459 case eSetValueWithOverwrite :
\r
4460 pxTCB->ulNotifiedValue = ulValue;
\r
4463 case eSetValueWithoutOverwrite :
\r
4464 if( eOriginalNotifyState != eNotified )
\r
4466 pxTCB->ulNotifiedValue = ulValue;
\r
4470 /* The value could not be written to the task. */
\r
4476 /* The task is being notified without its notify value being
\r
4481 traceTASK_NOTIFY();
\r
4483 /* If the task is in the blocked state specifically to wait for a
\r
4484 notification then unblock it now. */
\r
4485 if( eOriginalNotifyState == eWaitingNotification )
\r
4487 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4488 prvAddTaskToReadyList( pxTCB );
\r
4490 /* The task should not have been on an event list. */
\r
4491 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4493 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4495 /* If a task is blocked waiting for a notification then
\r
4496 xNextTaskUnblockTime might be set to the blocked task's time
\r
4497 out time. If the task is unblocked for a reason other than
\r
4498 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4499 because it will automatically get reset to a new value when
\r
4500 the tick count equals xNextTaskUnblockTime. However if
\r
4501 tickless idling is used it might be more important to enter
\r
4502 sleep mode at the earliest possible time - so reset
\r
4503 xNextTaskUnblockTime here to ensure it is updated at the
\r
4504 earliest possible time. */
\r
4505 prvResetNextTaskUnblockTime();
\r
4509 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4511 /* The notified task has a priority above the currently
\r
4512 executing task so a yield is required. */
\r
4513 taskYIELD_IF_USING_PREEMPTION();
\r
4517 mtCOVERAGE_TEST_MARKER();
\r
4522 mtCOVERAGE_TEST_MARKER();
\r
4525 taskEXIT_CRITICAL();
\r
4530 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4531 /*-----------------------------------------------------------*/
\r
4533 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4535 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4538 eNotifyValue eOriginalNotifyState;
\r
4539 BaseType_t xReturn = pdPASS;
\r
4540 UBaseType_t uxSavedInterruptStatus;
\r
4542 configASSERT( xTaskToNotify );
\r
4544 /* RTOS ports that support interrupt nesting have the concept of a
\r
4545 maximum system call (or maximum API call) interrupt priority.
\r
4546 Interrupts that are above the maximum system call priority are keep
\r
4547 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4548 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4549 is defined in FreeRTOSConfig.h then
\r
4550 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4551 failure if a FreeRTOS API function is called from an interrupt that has
\r
4552 been assigned a priority above the configured maximum system call
\r
4553 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4554 from interrupts that have been assigned a priority at or (logically)
\r
4555 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4556 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4557 simple as possible. More information (albeit Cortex-M specific) is
\r
4558 provided on the following link:
\r
4559 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4560 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4562 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4564 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4566 if( pulPreviousNotificationValue != NULL )
\r
4568 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4571 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4572 pxTCB->eNotifyState = eNotified;
\r
4577 pxTCB->ulNotifiedValue |= ulValue;
\r
4581 ( pxTCB->ulNotifiedValue )++;
\r
4584 case eSetValueWithOverwrite :
\r
4585 pxTCB->ulNotifiedValue = ulValue;
\r
4588 case eSetValueWithoutOverwrite :
\r
4589 if( eOriginalNotifyState != eNotified )
\r
4591 pxTCB->ulNotifiedValue = ulValue;
\r
4595 /* The value could not be written to the task. */
\r
4601 /* The task is being notified without its notify value being
\r
4606 traceTASK_NOTIFY_FROM_ISR();
\r
4608 /* If the task is in the blocked state specifically to wait for a
\r
4609 notification then unblock it now. */
\r
4610 if( eOriginalNotifyState == eWaitingNotification )
\r
4612 /* The task should not have been on an event list. */
\r
4613 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4615 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4617 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4618 prvAddTaskToReadyList( pxTCB );
\r
4622 /* The delayed and ready lists cannot be accessed, so hold
\r
4623 this task pending until the scheduler is resumed. */
\r
4624 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4627 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4629 /* The notified task has a priority above the currently
\r
4630 executing task so a yield is required. */
\r
4631 if( pxHigherPriorityTaskWoken != NULL )
\r
4633 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4637 /* Mark that a yield is pending in case the user is not
\r
4638 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4639 safe FreeRTOS function. */
\r
4640 xYieldPending = pdTRUE;
\r
4645 mtCOVERAGE_TEST_MARKER();
\r
4649 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4654 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4655 /*-----------------------------------------------------------*/
\r
4657 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4659 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4662 eNotifyValue eOriginalNotifyState;
\r
4663 UBaseType_t uxSavedInterruptStatus;
\r
4665 configASSERT( xTaskToNotify );
\r
4667 /* RTOS ports that support interrupt nesting have the concept of a
\r
4668 maximum system call (or maximum API call) interrupt priority.
\r
4669 Interrupts that are above the maximum system call priority are keep
\r
4670 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4671 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4672 is defined in FreeRTOSConfig.h then
\r
4673 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4674 failure if a FreeRTOS API function is called from an interrupt that has
\r
4675 been assigned a priority above the configured maximum system call
\r
4676 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4677 from interrupts that have been assigned a priority at or (logically)
\r
4678 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4679 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4680 simple as possible. More information (albeit Cortex-M specific) is
\r
4681 provided on the following link:
\r
4682 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4683 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4685 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4687 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4689 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4690 pxTCB->eNotifyState = eNotified;
\r
4692 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4694 ( pxTCB->ulNotifiedValue )++;
\r
4696 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4698 /* If the task is in the blocked state specifically to wait for a
\r
4699 notification then unblock it now. */
\r
4700 if( eOriginalNotifyState == eWaitingNotification )
\r
4702 /* The task should not have been on an event list. */
\r
4703 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4705 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4707 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4708 prvAddTaskToReadyList( pxTCB );
\r
4712 /* The delayed and ready lists cannot be accessed, so hold
\r
4713 this task pending until the scheduler is resumed. */
\r
4714 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4717 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4719 /* The notified task has a priority above the currently
\r
4720 executing task so a yield is required. */
\r
4721 if( pxHigherPriorityTaskWoken != NULL )
\r
4723 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4727 /* Mark that a yield is pending in case the user is not
\r
4728 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4729 safe FreeRTOS function. */
\r
4730 xYieldPending = pdTRUE;
\r
4735 mtCOVERAGE_TEST_MARKER();
\r
4739 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4742 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4744 /*-----------------------------------------------------------*/
\r
4746 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4748 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4751 BaseType_t xReturn;
\r
4753 /* If null is passed in here then it is the calling task that is having
\r
4754 its notification state cleared. */
\r
4755 pxTCB = prvGetTCBFromHandle( xTask );
\r
4757 taskENTER_CRITICAL();
\r
4759 if( pxTCB->eNotifyState == eNotified )
\r
4761 pxTCB->eNotifyState = eNotWaitingNotification;
\r
4769 taskEXIT_CRITICAL();
\r
4774 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4775 /*-----------------------------------------------------------*/
\r
4778 #ifdef FREERTOS_MODULE_TEST
\r
4779 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob