2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Standard includes. */
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32 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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33 all the API functions to use the MPU wrappers. That should only be done when
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34 task.h is included from an application file. */
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35 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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37 /* FreeRTOS includes. */
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38 #include "FreeRTOS.h"
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41 #include "stack_macros.h"
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43 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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44 because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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45 for the header files above, but not in this file, in order to generate the
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46 correct privileged Vs unprivileged linkage and placement. */
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47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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50 functions but without including stdio.h here. */
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51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 to generate human readable text from the raw data generated by the
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54 uxTaskGetSystemState() function. Note the formatting functions are provided
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55 for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if( configUSE_PREEMPTION == 0 )
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60 /* If the cooperative scheduler is being used then a yield should not be
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61 performed just because a higher priority task has been woken. */
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62 #define taskYIELD_IF_USING_PREEMPTION()
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64 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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67 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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68 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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69 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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70 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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73 * The value used to fill the stack of a task when the task is created. This
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74 * is used purely for checking the high water mark for tasks.
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76 #define tskSTACK_FILL_BYTE ( 0xa5U )
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78 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
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79 dynamically allocated RAM, in which case when any task is deleted it is known
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80 that both the task's stack and TCB need to be freed. Sometimes the
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81 FreeRTOSConfig.h settings only allow a task to be created using statically
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82 allocated RAM, in which case when any task is deleted it is known that neither
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83 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
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84 settings allow a task to be created using either statically or dynamically
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85 allocated RAM, in which case a member of the TCB is used to record whether the
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86 stack and/or TCB were allocated statically or dynamically, so when a task is
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87 deleted the RAM that was allocated dynamically is freed again and no attempt is
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88 made to free the RAM that was allocated statically.
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89 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
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90 task to be created using either statically or dynamically allocated RAM. Note
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91 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
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92 a statically allocated stack and a dynamically allocated TCB.
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93 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
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94 changed then the definition of StaticTask_t must also be updated. */
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95 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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96 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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97 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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98 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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100 /* If any of the following are set then task stacks are filled with a known
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101 value so the high water mark can be determined. If none of the following are
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102 set then don't fill the stack so there is no unnecessary dependency on memset. */
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103 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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104 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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106 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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110 * Macros used by vListTask to indicate which state a task is in.
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112 #define tskRUNNING_CHAR ( 'X' )
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113 #define tskBLOCKED_CHAR ( 'B' )
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114 #define tskREADY_CHAR ( 'R' )
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115 #define tskDELETED_CHAR ( 'D' )
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116 #define tskSUSPENDED_CHAR ( 'S' )
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119 * Some kernel aware debuggers require the data the debugger needs access to be
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120 * global, rather than file scope.
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122 #ifdef portREMOVE_STATIC_QUALIFIER
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126 /* The name allocated to the Idle task. This can be overridden by defining
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127 configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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128 #ifndef configIDLE_TASK_NAME
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129 #define configIDLE_TASK_NAME "IDLE"
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132 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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134 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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135 performed in a generic way that is not optimised to any particular
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136 microcontroller architecture. */
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138 /* uxTopReadyPriority holds the priority of the highest priority ready
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140 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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142 if( ( uxPriority ) > uxTopReadyPriority ) \
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144 uxTopReadyPriority = ( uxPriority ); \
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146 } /* taskRECORD_READY_PRIORITY */
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148 /*-----------------------------------------------------------*/
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150 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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152 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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154 /* Find the highest priority queue that contains ready tasks. */ \
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155 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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157 configASSERT( uxTopPriority ); \
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161 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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162 the same priority get an equal share of the processor time. */ \
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163 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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164 uxTopReadyPriority = uxTopPriority; \
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165 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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167 /*-----------------------------------------------------------*/
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169 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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170 they are only required when a port optimised method of task selection is
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172 #define taskRESET_READY_PRIORITY( uxPriority )
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173 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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175 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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177 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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178 performed in a way that is tailored to the particular microcontroller
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179 architecture being used. */
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181 /* A port optimised version is provided. Call the port defined macros. */
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182 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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184 /*-----------------------------------------------------------*/
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186 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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188 UBaseType_t uxTopPriority; \
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190 /* Find the highest priority list that contains ready tasks. */ \
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191 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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192 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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193 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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194 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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196 /*-----------------------------------------------------------*/
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198 /* A port optimised version is provided, call it only if the TCB being reset
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199 is being referenced from a ready list. If it is referenced from a delayed
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200 or suspended list then it won't be in a ready list. */
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201 #define taskRESET_READY_PRIORITY( uxPriority ) \
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203 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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205 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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209 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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211 /*-----------------------------------------------------------*/
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213 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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214 count overflows. */
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215 #define taskSWITCH_DELAYED_LISTS() \
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219 /* The delayed tasks list should be empty when the lists are switched. */ \
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220 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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222 pxTemp = pxDelayedTaskList; \
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223 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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224 pxOverflowDelayedTaskList = pxTemp; \
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225 xNumOfOverflows++; \
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226 prvResetNextTaskUnblockTime(); \
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229 /*-----------------------------------------------------------*/
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232 * Place the task represented by pxTCB into the appropriate ready list for
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233 * the task. It is inserted at the end of the list.
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235 #define prvAddTaskToReadyList( pxTCB ) \
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236 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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237 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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238 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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239 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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240 /*-----------------------------------------------------------*/
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243 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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244 * where NULL is used to indicate that the handle of the currently executing
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245 * task should be used in place of the parameter. This macro simply checks to
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246 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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248 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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250 /* The item value of the event list item is normally used to hold the priority
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251 of the task to which it belongs (coded to allow it to be held in reverse
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252 priority order). However, it is occasionally borrowed for other purposes. It
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253 is important its value is not updated due to a task priority change while it is
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254 being used for another purpose. The following bit definition is used to inform
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255 the scheduler that the value should not be changed - in which case it is the
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256 responsibility of whichever module is using the value to ensure it gets set back
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257 to its original value when it is released. */
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258 #if( configUSE_16_BIT_TICKS == 1 )
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259 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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261 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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265 * Task control block. A task control block (TCB) is allocated for each task,
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266 * and stores task state information, including a pointer to the task's context
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267 * (the task's run time environment, including register values)
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269 typedef struct TaskControlBlock_t
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271 volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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273 #if ( portUSING_MPU_WRAPPERS == 1 )
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274 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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277 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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278 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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279 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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280 StackType_t *pxStack; /*< Points to the start of the stack. */
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281 char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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283 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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284 StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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287 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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288 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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291 #if ( configUSE_TRACE_FACILITY == 1 )
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292 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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293 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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296 #if ( configUSE_MUTEXES == 1 )
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297 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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298 UBaseType_t uxMutexesHeld;
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301 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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302 TaskHookFunction_t pxTaskTag;
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305 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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306 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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309 #if( configGENERATE_RUN_TIME_STATS == 1 )
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310 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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313 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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314 /* Allocate a Newlib reent structure that is specific to this task.
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315 Note Newlib support has been included by popular demand, but is not
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316 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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317 responsible for resulting newlib operation. User must be familiar with
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318 newlib and must provide system-wide implementations of the necessary
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319 stubs. Be warned that (at the time of writing) the current newlib design
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320 implements a system-wide malloc() that must be provided with locks. */
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321 struct _reent xNewLib_reent;
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324 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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325 volatile uint32_t ulNotifiedValue;
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326 volatile uint8_t ucNotifyState;
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329 /* See the comments above the definition of
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330 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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331 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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332 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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335 #if( INCLUDE_xTaskAbortDelay == 1 )
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336 uint8_t ucDelayAborted;
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341 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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342 below to enable the use of older kernel aware debuggers. */
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343 typedef tskTCB TCB_t;
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345 /*lint -save -e956 A manual analysis and inspection has been used to determine
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346 which static variables must be declared volatile. */
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347 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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349 /* Lists for ready and blocked tasks. --------------------*/
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350 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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351 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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352 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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353 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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355 #if( INCLUDE_vTaskDelete == 1 )
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357 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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358 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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362 #if ( INCLUDE_vTaskSuspend == 1 )
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364 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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368 /* Other file private variables. --------------------------------*/
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369 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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370 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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371 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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372 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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373 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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374 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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375 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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376 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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377 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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378 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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380 /* Context switches are held pending while the scheduler is suspended. Also,
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381 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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382 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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383 If an interrupt needs to unblock a task while the scheduler is suspended then it
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384 moves the task's event list item into the xPendingReadyList, ready for the
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385 kernel to move the task from the pending ready list into the real ready list
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386 when the scheduler is unsuspended. The pending ready list itself can only be
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387 accessed from a critical section. */
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388 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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392 /*-----------------------------------------------------------*/
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394 /* Callback function prototypes. --------------------------*/
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395 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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397 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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401 #if( configUSE_TICK_HOOK > 0 )
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403 extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
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407 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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409 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
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413 /* File private functions. --------------------------------*/
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416 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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417 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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418 * is in any other state.
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420 #if ( INCLUDE_vTaskSuspend == 1 )
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422 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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424 #endif /* INCLUDE_vTaskSuspend */
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427 * Utility to ready all the lists used by the scheduler. This is called
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428 * automatically upon the creation of the first task.
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430 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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433 * The idle task, which as all tasks is implemented as a never ending loop.
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434 * The idle task is automatically created and added to the ready lists upon
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435 * creation of the first user task.
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437 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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438 * language extensions. The equivalent prototype for this function is:
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440 * void prvIdleTask( void *pvParameters );
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443 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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446 * Utility to free all memory allocated by the scheduler to hold a TCB,
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447 * including the stack pointed to by the TCB.
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449 * This does not free memory allocated by the task itself (i.e. memory
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450 * allocated by calls to pvPortMalloc from within the tasks application code).
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452 #if ( INCLUDE_vTaskDelete == 1 )
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454 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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459 * Used only by the idle task. This checks to see if anything has been placed
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460 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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461 * and its TCB deleted.
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463 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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466 * The currently executing task is entering the Blocked state. Add the task to
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467 * either the current or the overflow delayed task list.
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469 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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472 * Fills an TaskStatus_t structure with information on each task that is
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473 * referenced from the pxList list (which may be a ready list, a delayed list,
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474 * a suspended list, etc.).
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476 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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477 * NORMAL APPLICATION CODE.
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479 #if ( configUSE_TRACE_FACILITY == 1 )
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481 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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486 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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487 * the task if it is found, or NULL if the task is not found.
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489 #if ( INCLUDE_xTaskGetHandle == 1 )
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491 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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496 * When a task is created, the stack of the task is filled with a known value.
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497 * This function determines the 'high water mark' of the task stack by
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498 * determining how much of the stack remains at the original preset value.
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500 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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502 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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507 * Return the amount of time, in ticks, that will pass before the kernel will
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508 * next move a task from the Blocked state to the Running state.
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510 * This conditional compilation should use inequality to 0, not equality to 1.
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511 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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512 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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513 * set to a value other than 1.
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515 #if ( configUSE_TICKLESS_IDLE != 0 )
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517 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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522 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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523 * will exit the Blocked state.
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525 static void prvResetNextTaskUnblockTime( void );
\r
527 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
530 * Helper function used to pad task names with spaces when printing out
\r
531 * human readable tables of task information.
\r
533 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
\r
538 * Called after a Task_t structure has been allocated either statically or
\r
539 * dynamically to fill in the structure's members.
\r
541 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
542 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
543 const uint32_t ulStackDepth,
\r
544 void * const pvParameters,
\r
545 UBaseType_t uxPriority,
\r
546 TaskHandle_t * const pxCreatedTask,
\r
548 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
551 * Called after a new task has been created and initialised to place the task
\r
552 * under the control of the scheduler.
\r
554 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
557 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
558 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
559 * called by the function.
\r
561 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
563 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
567 /*-----------------------------------------------------------*/
\r
569 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
571 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
572 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
573 const uint32_t ulStackDepth,
\r
574 void * const pvParameters,
\r
575 UBaseType_t uxPriority,
\r
576 StackType_t * const puxStackBuffer,
\r
577 StaticTask_t * const pxTaskBuffer )
\r
580 TaskHandle_t xReturn;
\r
582 configASSERT( puxStackBuffer != NULL );
\r
583 configASSERT( pxTaskBuffer != NULL );
\r
585 #if( configASSERT_DEFINED == 1 )
\r
587 /* Sanity check that the size of the structure used to declare a
\r
588 variable of type StaticTask_t equals the size of the real task
\r
590 volatile size_t xSize = sizeof( StaticTask_t );
\r
591 configASSERT( xSize == sizeof( TCB_t ) );
\r
592 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
594 #endif /* configASSERT_DEFINED */
\r
597 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
599 /* The memory used for the task's TCB and stack are passed into this
\r
600 function - use them. */
\r
601 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
602 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
604 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
606 /* Tasks can be created statically or dynamically, so note this
\r
607 task was created statically in case the task is later deleted. */
\r
608 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
610 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
612 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
613 prvAddNewTaskToReadyList( pxNewTCB );
\r
623 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
624 /*-----------------------------------------------------------*/
\r
626 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
628 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
631 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
633 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
634 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
636 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
638 /* Allocate space for the TCB. Where the memory comes from depends
\r
639 on the implementation of the port malloc function and whether or
\r
640 not static allocation is being used. */
\r
641 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
643 /* Store the stack location in the TCB. */
\r
644 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
646 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
648 /* Tasks can be created statically or dynamically, so note this
\r
649 task was created statically in case the task is later deleted. */
\r
650 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
652 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
654 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
655 pxTaskDefinition->pcName,
\r
656 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
657 pxTaskDefinition->pvParameters,
\r
658 pxTaskDefinition->uxPriority,
\r
659 pxCreatedTask, pxNewTCB,
\r
660 pxTaskDefinition->xRegions );
\r
662 prvAddNewTaskToReadyList( pxNewTCB );
\r
669 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
670 /*-----------------------------------------------------------*/
\r
672 #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
674 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
\r
677 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
679 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
681 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
683 /* Allocate space for the TCB. Where the memory comes from depends
\r
684 on the implementation of the port malloc function and whether or
\r
685 not static allocation is being used. */
\r
686 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
688 if( pxNewTCB != NULL )
\r
690 /* Store the stack location in the TCB. */
\r
691 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
693 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
695 /* Tasks can be created statically or dynamically, so note
\r
696 this task had a statically allocated stack in case it is
\r
697 later deleted. The TCB was allocated dynamically. */
\r
698 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
702 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
703 pxTaskDefinition->pcName,
\r
704 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
705 pxTaskDefinition->pvParameters,
\r
706 pxTaskDefinition->uxPriority,
\r
707 pxCreatedTask, pxNewTCB,
\r
708 pxTaskDefinition->xRegions );
\r
710 prvAddNewTaskToReadyList( pxNewTCB );
\r
718 #endif /* portUSING_MPU_WRAPPERS */
\r
719 /*-----------------------------------------------------------*/
\r
721 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
723 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
724 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
725 const configSTACK_DEPTH_TYPE usStackDepth,
\r
726 void * const pvParameters,
\r
727 UBaseType_t uxPriority,
\r
728 TaskHandle_t * const pxCreatedTask )
\r
731 BaseType_t xReturn;
\r
733 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
734 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
735 the TCB then the stack. */
\r
736 #if( portSTACK_GROWTH > 0 )
\r
738 /* Allocate space for the TCB. Where the memory comes from depends on
\r
739 the implementation of the port malloc function and whether or not static
\r
740 allocation is being used. */
\r
741 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
743 if( pxNewTCB != NULL )
\r
745 /* Allocate space for the stack used by the task being created.
\r
746 The base of the stack memory stored in the TCB so the task can
\r
747 be deleted later if required. */
\r
748 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
750 if( pxNewTCB->pxStack == NULL )
\r
752 /* Could not allocate the stack. Delete the allocated TCB. */
\r
753 vPortFree( pxNewTCB );
\r
758 #else /* portSTACK_GROWTH */
\r
760 StackType_t *pxStack;
\r
762 /* Allocate space for the stack used by the task being created. */
\r
763 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
765 if( pxStack != NULL )
\r
767 /* Allocate space for the TCB. */
\r
768 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
770 if( pxNewTCB != NULL )
\r
772 /* Store the stack location in the TCB. */
\r
773 pxNewTCB->pxStack = pxStack;
\r
777 /* The stack cannot be used as the TCB was not created. Free
\r
779 vPortFree( pxStack );
\r
787 #endif /* portSTACK_GROWTH */
\r
789 if( pxNewTCB != NULL )
\r
791 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
793 /* Tasks can be created statically or dynamically, so note this
\r
794 task was created dynamically in case it is later deleted. */
\r
795 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
797 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
799 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
800 prvAddNewTaskToReadyList( pxNewTCB );
\r
805 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
811 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
812 /*-----------------------------------------------------------*/
\r
814 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
815 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
816 const uint32_t ulStackDepth,
\r
817 void * const pvParameters,
\r
818 UBaseType_t uxPriority,
\r
819 TaskHandle_t * const pxCreatedTask,
\r
821 const MemoryRegion_t * const xRegions )
\r
823 StackType_t *pxTopOfStack;
\r
826 #if( portUSING_MPU_WRAPPERS == 1 )
\r
827 /* Should the task be created in privileged mode? */
\r
828 BaseType_t xRunPrivileged;
\r
829 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
831 xRunPrivileged = pdTRUE;
\r
835 xRunPrivileged = pdFALSE;
\r
837 uxPriority &= ~portPRIVILEGE_BIT;
\r
838 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
840 configASSERT( pcName );
\r
842 /* Avoid dependency on memset() if it is not required. */
\r
843 #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
845 /* Fill the stack with a known value to assist debugging. */
\r
846 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
848 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
850 /* Calculate the top of stack address. This depends on whether the stack
\r
851 grows from high memory to low (as per the 80x86) or vice versa.
\r
852 portSTACK_GROWTH is used to make the result positive or negative as required
\r
854 #if( portSTACK_GROWTH < 0 )
\r
856 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
857 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
859 /* Check the alignment of the calculated top of stack is correct. */
\r
860 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
862 #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
864 /* Also record the stack's high address, which may assist
\r
866 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
868 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
870 #else /* portSTACK_GROWTH */
\r
872 pxTopOfStack = pxNewTCB->pxStack;
\r
874 /* Check the alignment of the stack buffer is correct. */
\r
875 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
877 /* The other extreme of the stack space is required if stack checking is
\r
879 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
881 #endif /* portSTACK_GROWTH */
\r
883 /* Store the task name in the TCB. */
\r
884 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
886 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
888 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
889 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
890 string is not accessible (extremely unlikely). */
\r
891 if( pcName[ x ] == ( char ) 0x00 )
\r
897 mtCOVERAGE_TEST_MARKER();
\r
901 /* Ensure the name string is terminated in the case that the string length
\r
902 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
903 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
905 /* This is used as an array index so must ensure it's not too large. First
\r
906 remove the privilege bit if one is present. */
\r
907 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
909 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
913 mtCOVERAGE_TEST_MARKER();
\r
916 pxNewTCB->uxPriority = uxPriority;
\r
917 #if ( configUSE_MUTEXES == 1 )
\r
919 pxNewTCB->uxBasePriority = uxPriority;
\r
920 pxNewTCB->uxMutexesHeld = 0;
\r
922 #endif /* configUSE_MUTEXES */
\r
924 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
925 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
927 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
928 back to the containing TCB from a generic item in a list. */
\r
929 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
931 /* Event lists are always in priority order. */
\r
932 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
933 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
935 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
937 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
939 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
941 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
943 pxNewTCB->pxTaskTag = NULL;
\r
945 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
947 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
949 pxNewTCB->ulRunTimeCounter = 0UL;
\r
951 #endif /* configGENERATE_RUN_TIME_STATS */
\r
953 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
955 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
959 /* Avoid compiler warning about unreferenced parameter. */
\r
964 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
966 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
968 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
973 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
975 pxNewTCB->ulNotifiedValue = 0;
\r
976 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
980 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
982 /* Initialise this task's Newlib reent structure. */
\r
983 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
987 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
989 pxNewTCB->ucDelayAborted = pdFALSE;
\r
993 /* Initialize the TCB stack to look as if the task was already running,
\r
994 but had been interrupted by the scheduler. The return address is set
\r
995 to the start of the task function. Once the stack has been initialised
\r
996 the top of stack variable is updated. */
\r
997 #if( portUSING_MPU_WRAPPERS == 1 )
\r
999 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1001 #else /* portUSING_MPU_WRAPPERS */
\r
1003 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1005 #endif /* portUSING_MPU_WRAPPERS */
\r
1007 if( pxCreatedTask != NULL )
\r
1009 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1010 change the created task's priority, delete the created task, etc.*/
\r
1011 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1015 mtCOVERAGE_TEST_MARKER();
\r
1018 /*-----------------------------------------------------------*/
\r
1020 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
1022 /* Ensure interrupts don't access the task lists while the lists are being
\r
1024 taskENTER_CRITICAL();
\r
1026 uxCurrentNumberOfTasks++;
\r
1027 if( pxCurrentTCB == NULL )
\r
1029 /* There are no other tasks, or all the other tasks are in
\r
1030 the suspended state - make this the current task. */
\r
1031 pxCurrentTCB = pxNewTCB;
\r
1033 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1035 /* This is the first task to be created so do the preliminary
\r
1036 initialisation required. We will not recover if this call
\r
1037 fails, but we will report the failure. */
\r
1038 prvInitialiseTaskLists();
\r
1042 mtCOVERAGE_TEST_MARKER();
\r
1047 /* If the scheduler is not already running, make this task the
\r
1048 current task if it is the highest priority task to be created
\r
1050 if( xSchedulerRunning == pdFALSE )
\r
1052 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1054 pxCurrentTCB = pxNewTCB;
\r
1058 mtCOVERAGE_TEST_MARKER();
\r
1063 mtCOVERAGE_TEST_MARKER();
\r
1069 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1071 /* Add a counter into the TCB for tracing only. */
\r
1072 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1074 #endif /* configUSE_TRACE_FACILITY */
\r
1075 traceTASK_CREATE( pxNewTCB );
\r
1077 prvAddTaskToReadyList( pxNewTCB );
\r
1079 portSETUP_TCB( pxNewTCB );
\r
1081 taskEXIT_CRITICAL();
\r
1083 if( xSchedulerRunning != pdFALSE )
\r
1085 /* If the created task is of a higher priority than the current task
\r
1086 then it should run now. */
\r
1087 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1089 taskYIELD_IF_USING_PREEMPTION();
\r
1093 mtCOVERAGE_TEST_MARKER();
\r
1098 mtCOVERAGE_TEST_MARKER();
\r
1101 /*-----------------------------------------------------------*/
\r
1103 #if ( INCLUDE_vTaskDelete == 1 )
\r
1105 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1109 taskENTER_CRITICAL();
\r
1111 /* If null is passed in here then it is the calling task that is
\r
1113 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1115 /* Remove task from the ready list. */
\r
1116 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1118 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1122 mtCOVERAGE_TEST_MARKER();
\r
1125 /* Is the task waiting on an event also? */
\r
1126 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1128 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1132 mtCOVERAGE_TEST_MARKER();
\r
1135 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1136 detect that the task lists need re-generating. This is done before
\r
1137 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1141 if( pxTCB == pxCurrentTCB )
\r
1143 /* A task is deleting itself. This cannot complete within the
\r
1144 task itself, as a context switch to another task is required.
\r
1145 Place the task in the termination list. The idle task will
\r
1146 check the termination list and free up any memory allocated by
\r
1147 the scheduler for the TCB and stack of the deleted task. */
\r
1148 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1150 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1151 there is a task that has been deleted and that it should therefore
\r
1152 check the xTasksWaitingTermination list. */
\r
1153 ++uxDeletedTasksWaitingCleanUp;
\r
1155 /* The pre-delete hook is primarily for the Windows simulator,
\r
1156 in which Windows specific clean up operations are performed,
\r
1157 after which it is not possible to yield away from this task -
\r
1158 hence xYieldPending is used to latch that a context switch is
\r
1160 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1164 --uxCurrentNumberOfTasks;
\r
1165 prvDeleteTCB( pxTCB );
\r
1167 /* Reset the next expected unblock time in case it referred to
\r
1168 the task that has just been deleted. */
\r
1169 prvResetNextTaskUnblockTime();
\r
1172 traceTASK_DELETE( pxTCB );
\r
1174 taskEXIT_CRITICAL();
\r
1176 /* Force a reschedule if it is the currently running task that has just
\r
1178 if( xSchedulerRunning != pdFALSE )
\r
1180 if( pxTCB == pxCurrentTCB )
\r
1182 configASSERT( uxSchedulerSuspended == 0 );
\r
1183 portYIELD_WITHIN_API();
\r
1187 mtCOVERAGE_TEST_MARKER();
\r
1192 #endif /* INCLUDE_vTaskDelete */
\r
1193 /*-----------------------------------------------------------*/
\r
1195 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1197 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1199 TickType_t xTimeToWake;
\r
1200 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1202 configASSERT( pxPreviousWakeTime );
\r
1203 configASSERT( ( xTimeIncrement > 0U ) );
\r
1204 configASSERT( uxSchedulerSuspended == 0 );
\r
1206 vTaskSuspendAll();
\r
1208 /* Minor optimisation. The tick count cannot change in this
\r
1210 const TickType_t xConstTickCount = xTickCount;
\r
1212 /* Generate the tick time at which the task wants to wake. */
\r
1213 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1215 if( xConstTickCount < *pxPreviousWakeTime )
\r
1217 /* The tick count has overflowed since this function was
\r
1218 lasted called. In this case the only time we should ever
\r
1219 actually delay is if the wake time has also overflowed,
\r
1220 and the wake time is greater than the tick time. When this
\r
1221 is the case it is as if neither time had overflowed. */
\r
1222 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1224 xShouldDelay = pdTRUE;
\r
1228 mtCOVERAGE_TEST_MARKER();
\r
1233 /* The tick time has not overflowed. In this case we will
\r
1234 delay if either the wake time has overflowed, and/or the
\r
1235 tick time is less than the wake time. */
\r
1236 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1238 xShouldDelay = pdTRUE;
\r
1242 mtCOVERAGE_TEST_MARKER();
\r
1246 /* Update the wake time ready for the next call. */
\r
1247 *pxPreviousWakeTime = xTimeToWake;
\r
1249 if( xShouldDelay != pdFALSE )
\r
1251 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1253 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1254 the time to wake, so subtract the current tick count. */
\r
1255 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1259 mtCOVERAGE_TEST_MARKER();
\r
1262 xAlreadyYielded = xTaskResumeAll();
\r
1264 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1265 have put ourselves to sleep. */
\r
1266 if( xAlreadyYielded == pdFALSE )
\r
1268 portYIELD_WITHIN_API();
\r
1272 mtCOVERAGE_TEST_MARKER();
\r
1276 #endif /* INCLUDE_vTaskDelayUntil */
\r
1277 /*-----------------------------------------------------------*/
\r
1279 #if ( INCLUDE_vTaskDelay == 1 )
\r
1281 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1283 BaseType_t xAlreadyYielded = pdFALSE;
\r
1285 /* A delay time of zero just forces a reschedule. */
\r
1286 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1288 configASSERT( uxSchedulerSuspended == 0 );
\r
1289 vTaskSuspendAll();
\r
1291 traceTASK_DELAY();
\r
1293 /* A task that is removed from the event list while the
\r
1294 scheduler is suspended will not get placed in the ready
\r
1295 list or removed from the blocked list until the scheduler
\r
1298 This task cannot be in an event list as it is the currently
\r
1299 executing task. */
\r
1300 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1302 xAlreadyYielded = xTaskResumeAll();
\r
1306 mtCOVERAGE_TEST_MARKER();
\r
1309 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1310 have put ourselves to sleep. */
\r
1311 if( xAlreadyYielded == pdFALSE )
\r
1313 portYIELD_WITHIN_API();
\r
1317 mtCOVERAGE_TEST_MARKER();
\r
1321 #endif /* INCLUDE_vTaskDelay */
\r
1322 /*-----------------------------------------------------------*/
\r
1324 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1326 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1328 eTaskState eReturn;
\r
1329 List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
\r
1330 const TCB_t * const pxTCB = xTask;
\r
1332 configASSERT( pxTCB );
\r
1334 if( pxTCB == pxCurrentTCB )
\r
1336 /* The task calling this function is querying its own state. */
\r
1337 eReturn = eRunning;
\r
1341 taskENTER_CRITICAL();
\r
1343 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1344 pxDelayedList = pxDelayedTaskList;
\r
1345 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1347 taskEXIT_CRITICAL();
\r
1349 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1351 /* The task being queried is referenced from one of the Blocked
\r
1353 eReturn = eBlocked;
\r
1356 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1357 else if( pxStateList == &xSuspendedTaskList )
\r
1359 /* The task being queried is referenced from the suspended
\r
1360 list. Is it genuinely suspended or is it blocked
\r
1362 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1364 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1366 /* The task does not appear on the event list item of
\r
1367 and of the RTOS objects, but could still be in the
\r
1368 blocked state if it is waiting on its notification
\r
1369 rather than waiting on an object. */
\r
1370 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1372 eReturn = eBlocked;
\r
1376 eReturn = eSuspended;
\r
1381 eReturn = eSuspended;
\r
1387 eReturn = eBlocked;
\r
1392 #if ( INCLUDE_vTaskDelete == 1 )
\r
1393 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1395 /* The task being queried is referenced from the deleted
\r
1396 tasks list, or it is not referenced from any lists at
\r
1398 eReturn = eDeleted;
\r
1402 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1404 /* If the task is not in any other state, it must be in the
\r
1405 Ready (including pending ready) state. */
\r
1411 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1413 #endif /* INCLUDE_eTaskGetState */
\r
1414 /*-----------------------------------------------------------*/
\r
1416 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1418 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1420 TCB_t const *pxTCB;
\r
1421 UBaseType_t uxReturn;
\r
1423 taskENTER_CRITICAL();
\r
1425 /* If null is passed in here then it is the priority of the task
\r
1426 that called uxTaskPriorityGet() that is being queried. */
\r
1427 pxTCB = prvGetTCBFromHandle( xTask );
\r
1428 uxReturn = pxTCB->uxPriority;
\r
1430 taskEXIT_CRITICAL();
\r
1435 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1436 /*-----------------------------------------------------------*/
\r
1438 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1440 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1442 TCB_t const *pxTCB;
\r
1443 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1445 /* RTOS ports that support interrupt nesting have the concept of a
\r
1446 maximum system call (or maximum API call) interrupt priority.
\r
1447 Interrupts that are above the maximum system call priority are keep
\r
1448 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1449 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1450 is defined in FreeRTOSConfig.h then
\r
1451 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1452 failure if a FreeRTOS API function is called from an interrupt that has
\r
1453 been assigned a priority above the configured maximum system call
\r
1454 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1455 from interrupts that have been assigned a priority at or (logically)
\r
1456 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1457 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1458 simple as possible. More information (albeit Cortex-M specific) is
\r
1459 provided on the following link:
\r
1460 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1461 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1463 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1465 /* If null is passed in here then it is the priority of the calling
\r
1466 task that is being queried. */
\r
1467 pxTCB = prvGetTCBFromHandle( xTask );
\r
1468 uxReturn = pxTCB->uxPriority;
\r
1470 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1475 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1476 /*-----------------------------------------------------------*/
\r
1478 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1480 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1483 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1484 BaseType_t xYieldRequired = pdFALSE;
\r
1486 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1488 /* Ensure the new priority is valid. */
\r
1489 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1491 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1495 mtCOVERAGE_TEST_MARKER();
\r
1498 taskENTER_CRITICAL();
\r
1500 /* If null is passed in here then it is the priority of the calling
\r
1501 task that is being changed. */
\r
1502 pxTCB = prvGetTCBFromHandle( xTask );
\r
1504 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1506 #if ( configUSE_MUTEXES == 1 )
\r
1508 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1512 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1516 if( uxCurrentBasePriority != uxNewPriority )
\r
1518 /* The priority change may have readied a task of higher
\r
1519 priority than the calling task. */
\r
1520 if( uxNewPriority > uxCurrentBasePriority )
\r
1522 if( pxTCB != pxCurrentTCB )
\r
1524 /* The priority of a task other than the currently
\r
1525 running task is being raised. Is the priority being
\r
1526 raised above that of the running task? */
\r
1527 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1529 xYieldRequired = pdTRUE;
\r
1533 mtCOVERAGE_TEST_MARKER();
\r
1538 /* The priority of the running task is being raised,
\r
1539 but the running task must already be the highest
\r
1540 priority task able to run so no yield is required. */
\r
1543 else if( pxTCB == pxCurrentTCB )
\r
1545 /* Setting the priority of the running task down means
\r
1546 there may now be another task of higher priority that
\r
1547 is ready to execute. */
\r
1548 xYieldRequired = pdTRUE;
\r
1552 /* Setting the priority of any other task down does not
\r
1553 require a yield as the running task must be above the
\r
1554 new priority of the task being modified. */
\r
1557 /* Remember the ready list the task might be referenced from
\r
1558 before its uxPriority member is changed so the
\r
1559 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1560 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1562 #if ( configUSE_MUTEXES == 1 )
\r
1564 /* Only change the priority being used if the task is not
\r
1565 currently using an inherited priority. */
\r
1566 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1568 pxTCB->uxPriority = uxNewPriority;
\r
1572 mtCOVERAGE_TEST_MARKER();
\r
1575 /* The base priority gets set whatever. */
\r
1576 pxTCB->uxBasePriority = uxNewPriority;
\r
1580 pxTCB->uxPriority = uxNewPriority;
\r
1584 /* Only reset the event list item value if the value is not
\r
1585 being used for anything else. */
\r
1586 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1588 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
1592 mtCOVERAGE_TEST_MARKER();
\r
1595 /* If the task is in the blocked or suspended list we need do
\r
1596 nothing more than change its priority variable. However, if
\r
1597 the task is in a ready list it needs to be removed and placed
\r
1598 in the list appropriate to its new priority. */
\r
1599 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1601 /* The task is currently in its ready list - remove before
\r
1602 adding it to it's new ready list. As we are in a critical
\r
1603 section we can do this even if the scheduler is suspended. */
\r
1604 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1606 /* It is known that the task is in its ready list so
\r
1607 there is no need to check again and the port level
\r
1608 reset macro can be called directly. */
\r
1609 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1613 mtCOVERAGE_TEST_MARKER();
\r
1615 prvAddTaskToReadyList( pxTCB );
\r
1619 mtCOVERAGE_TEST_MARKER();
\r
1622 if( xYieldRequired != pdFALSE )
\r
1624 taskYIELD_IF_USING_PREEMPTION();
\r
1628 mtCOVERAGE_TEST_MARKER();
\r
1631 /* Remove compiler warning about unused variables when the port
\r
1632 optimised task selection is not being used. */
\r
1633 ( void ) uxPriorityUsedOnEntry;
\r
1636 taskEXIT_CRITICAL();
\r
1639 #endif /* INCLUDE_vTaskPrioritySet */
\r
1640 /*-----------------------------------------------------------*/
\r
1642 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1644 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1648 taskENTER_CRITICAL();
\r
1650 /* If null is passed in here then it is the running task that is
\r
1651 being suspended. */
\r
1652 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1654 traceTASK_SUSPEND( pxTCB );
\r
1656 /* Remove task from the ready/delayed list and place in the
\r
1657 suspended list. */
\r
1658 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1660 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1664 mtCOVERAGE_TEST_MARKER();
\r
1667 /* Is the task waiting on an event also? */
\r
1668 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1670 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1674 mtCOVERAGE_TEST_MARKER();
\r
1677 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1679 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1681 if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
1683 /* The task was blocked to wait for a notification, but is
\r
1684 now suspended, so no notification was received. */
\r
1685 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
1690 taskEXIT_CRITICAL();
\r
1692 if( xSchedulerRunning != pdFALSE )
\r
1694 /* Reset the next expected unblock time in case it referred to the
\r
1695 task that is now in the Suspended state. */
\r
1696 taskENTER_CRITICAL();
\r
1698 prvResetNextTaskUnblockTime();
\r
1700 taskEXIT_CRITICAL();
\r
1704 mtCOVERAGE_TEST_MARKER();
\r
1707 if( pxTCB == pxCurrentTCB )
\r
1709 if( xSchedulerRunning != pdFALSE )
\r
1711 /* The current task has just been suspended. */
\r
1712 configASSERT( uxSchedulerSuspended == 0 );
\r
1713 portYIELD_WITHIN_API();
\r
1717 /* The scheduler is not running, but the task that was pointed
\r
1718 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1719 must be adjusted to point to a different task. */
\r
1720 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1722 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1723 NULL so when the next task is created pxCurrentTCB will
\r
1724 be set to point to it no matter what its relative priority
\r
1726 pxCurrentTCB = NULL;
\r
1730 vTaskSwitchContext();
\r
1736 mtCOVERAGE_TEST_MARKER();
\r
1740 #endif /* INCLUDE_vTaskSuspend */
\r
1741 /*-----------------------------------------------------------*/
\r
1743 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1745 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1747 BaseType_t xReturn = pdFALSE;
\r
1748 const TCB_t * const pxTCB = xTask;
\r
1750 /* Accesses xPendingReadyList so must be called from a critical
\r
1753 /* It does not make sense to check if the calling task is suspended. */
\r
1754 configASSERT( xTask );
\r
1756 /* Is the task being resumed actually in the suspended list? */
\r
1757 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1759 /* Has the task already been resumed from within an ISR? */
\r
1760 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1762 /* Is it in the suspended list because it is in the Suspended
\r
1763 state, or because is is blocked with no timeout? */
\r
1764 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1770 mtCOVERAGE_TEST_MARKER();
\r
1775 mtCOVERAGE_TEST_MARKER();
\r
1780 mtCOVERAGE_TEST_MARKER();
\r
1784 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1786 #endif /* INCLUDE_vTaskSuspend */
\r
1787 /*-----------------------------------------------------------*/
\r
1789 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1791 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1793 TCB_t * const pxTCB = xTaskToResume;
\r
1795 /* It does not make sense to resume the calling task. */
\r
1796 configASSERT( xTaskToResume );
\r
1798 /* The parameter cannot be NULL as it is impossible to resume the
\r
1799 currently executing task. */
\r
1800 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1802 taskENTER_CRITICAL();
\r
1804 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1806 traceTASK_RESUME( pxTCB );
\r
1808 /* The ready list can be accessed even if the scheduler is
\r
1809 suspended because this is inside a critical section. */
\r
1810 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1811 prvAddTaskToReadyList( pxTCB );
\r
1813 /* A higher priority task may have just been resumed. */
\r
1814 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1816 /* This yield may not cause the task just resumed to run,
\r
1817 but will leave the lists in the correct state for the
\r
1819 taskYIELD_IF_USING_PREEMPTION();
\r
1823 mtCOVERAGE_TEST_MARKER();
\r
1828 mtCOVERAGE_TEST_MARKER();
\r
1831 taskEXIT_CRITICAL();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1839 #endif /* INCLUDE_vTaskSuspend */
\r
1841 /*-----------------------------------------------------------*/
\r
1843 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1845 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1847 BaseType_t xYieldRequired = pdFALSE;
\r
1848 TCB_t * const pxTCB = xTaskToResume;
\r
1849 UBaseType_t uxSavedInterruptStatus;
\r
1851 configASSERT( xTaskToResume );
\r
1853 /* RTOS ports that support interrupt nesting have the concept of a
\r
1854 maximum system call (or maximum API call) interrupt priority.
\r
1855 Interrupts that are above the maximum system call priority are keep
\r
1856 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1857 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1858 is defined in FreeRTOSConfig.h then
\r
1859 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1860 failure if a FreeRTOS API function is called from an interrupt that has
\r
1861 been assigned a priority above the configured maximum system call
\r
1862 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1863 from interrupts that have been assigned a priority at or (logically)
\r
1864 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1865 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1866 simple as possible. More information (albeit Cortex-M specific) is
\r
1867 provided on the following link:
\r
1868 https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1869 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1871 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1873 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1875 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1877 /* Check the ready lists can be accessed. */
\r
1878 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1880 /* Ready lists can be accessed so move the task from the
\r
1881 suspended list to the ready list directly. */
\r
1882 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1884 xYieldRequired = pdTRUE;
\r
1888 mtCOVERAGE_TEST_MARKER();
\r
1891 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1892 prvAddTaskToReadyList( pxTCB );
\r
1896 /* The delayed or ready lists cannot be accessed so the task
\r
1897 is held in the pending ready list until the scheduler is
\r
1899 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1904 mtCOVERAGE_TEST_MARKER();
\r
1907 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1909 return xYieldRequired;
\r
1912 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1913 /*-----------------------------------------------------------*/
\r
1915 void vTaskStartScheduler( void )
\r
1917 BaseType_t xReturn;
\r
1919 /* Add the idle task at the lowest priority. */
\r
1920 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1922 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1923 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1924 uint32_t ulIdleTaskStackSize;
\r
1926 /* The Idle task is created using user provided RAM - obtain the
\r
1927 address of the RAM then create the idle task. */
\r
1928 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1929 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1930 configIDLE_TASK_NAME,
\r
1931 ulIdleTaskStackSize,
\r
1932 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1933 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1934 pxIdleTaskStackBuffer,
\r
1935 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1937 if( xIdleTaskHandle != NULL )
\r
1948 /* The Idle task is being created using dynamically allocated RAM. */
\r
1949 xReturn = xTaskCreate( prvIdleTask,
\r
1950 configIDLE_TASK_NAME,
\r
1951 configMINIMAL_STACK_SIZE,
\r
1953 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1954 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1956 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1958 #if ( configUSE_TIMERS == 1 )
\r
1960 if( xReturn == pdPASS )
\r
1962 xReturn = xTimerCreateTimerTask();
\r
1966 mtCOVERAGE_TEST_MARKER();
\r
1969 #endif /* configUSE_TIMERS */
\r
1971 if( xReturn == pdPASS )
\r
1973 /* freertos_tasks_c_additions_init() should only be called if the user
\r
1974 definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
1975 the only macro called by the function. */
\r
1976 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
1978 freertos_tasks_c_additions_init();
\r
1982 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1983 before or during the call to xPortStartScheduler(). The stacks of
\r
1984 the created tasks contain a status word with interrupts switched on
\r
1985 so interrupts will automatically get re-enabled when the first task
\r
1987 portDISABLE_INTERRUPTS();
\r
1989 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1991 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1992 structure specific to the task that will run first. */
\r
1993 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1995 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1997 xNextTaskUnblockTime = portMAX_DELAY;
\r
1998 xSchedulerRunning = pdTRUE;
\r
1999 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2001 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2002 macro must be defined to configure the timer/counter used to generate
\r
2003 the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2004 is set to 0 and the following line fails to build then ensure you do not
\r
2005 have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2006 FreeRTOSConfig.h file. */
\r
2007 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2009 traceTASK_SWITCHED_IN();
\r
2011 /* Setting up the timer tick is hardware specific and thus in the
\r
2012 portable interface. */
\r
2013 if( xPortStartScheduler() != pdFALSE )
\r
2015 /* Should not reach here as if the scheduler is running the
\r
2016 function will not return. */
\r
2020 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2025 /* This line will only be reached if the kernel could not be started,
\r
2026 because there was not enough FreeRTOS heap to create the idle task
\r
2027 or the timer task. */
\r
2028 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2031 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2032 meaning xIdleTaskHandle is not used anywhere else. */
\r
2033 ( void ) xIdleTaskHandle;
\r
2035 /*-----------------------------------------------------------*/
\r
2037 void vTaskEndScheduler( void )
\r
2039 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2040 routine so the original ISRs can be restored if necessary. The port
\r
2041 layer must ensure interrupts enable bit is left in the correct state. */
\r
2042 portDISABLE_INTERRUPTS();
\r
2043 xSchedulerRunning = pdFALSE;
\r
2044 vPortEndScheduler();
\r
2046 /*----------------------------------------------------------*/
\r
2048 void vTaskSuspendAll( void )
\r
2050 /* A critical section is not required as the variable is of type
\r
2051 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2052 post in the FreeRTOS support forum before reporting this as a bug! -
\r
2053 http://goo.gl/wu4acr */
\r
2054 ++uxSchedulerSuspended;
\r
2056 /*----------------------------------------------------------*/
\r
2058 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2060 static TickType_t prvGetExpectedIdleTime( void )
\r
2062 TickType_t xReturn;
\r
2063 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2065 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2066 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2067 task that are in the Ready state, even though the idle task is
\r
2069 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2071 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2073 uxHigherPriorityReadyTasks = pdTRUE;
\r
2078 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2080 /* When port optimised task selection is used the uxTopReadyPriority
\r
2081 variable is used as a bit map. If bits other than the least
\r
2082 significant bit are set then there are tasks that have a priority
\r
2083 above the idle priority that are in the Ready state. This takes
\r
2084 care of the case where the co-operative scheduler is in use. */
\r
2085 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2087 uxHigherPriorityReadyTasks = pdTRUE;
\r
2092 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2096 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2098 /* There are other idle priority tasks in the ready state. If
\r
2099 time slicing is used then the very next tick interrupt must be
\r
2103 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2105 /* There are tasks in the Ready state that have a priority above the
\r
2106 idle priority. This path can only be reached if
\r
2107 configUSE_PREEMPTION is 0. */
\r
2112 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2118 #endif /* configUSE_TICKLESS_IDLE */
\r
2119 /*----------------------------------------------------------*/
\r
2121 BaseType_t xTaskResumeAll( void )
\r
2123 TCB_t *pxTCB = NULL;
\r
2124 BaseType_t xAlreadyYielded = pdFALSE;
\r
2126 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2127 previous call to vTaskSuspendAll(). */
\r
2128 configASSERT( uxSchedulerSuspended );
\r
2130 /* It is possible that an ISR caused a task to be removed from an event
\r
2131 list while the scheduler was suspended. If this was the case then the
\r
2132 removed task will have been added to the xPendingReadyList. Once the
\r
2133 scheduler has been resumed it is safe to move all the pending ready
\r
2134 tasks from this list into their appropriate ready list. */
\r
2135 taskENTER_CRITICAL();
\r
2137 --uxSchedulerSuspended;
\r
2139 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2141 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2143 /* Move any readied tasks from the pending list into the
\r
2144 appropriate ready list. */
\r
2145 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2147 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2148 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2149 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2150 prvAddTaskToReadyList( pxTCB );
\r
2152 /* If the moved task has a priority higher than the current
\r
2153 task then a yield must be performed. */
\r
2154 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2156 xYieldPending = pdTRUE;
\r
2160 mtCOVERAGE_TEST_MARKER();
\r
2164 if( pxTCB != NULL )
\r
2166 /* A task was unblocked while the scheduler was suspended,
\r
2167 which may have prevented the next unblock time from being
\r
2168 re-calculated, in which case re-calculate it now. Mainly
\r
2169 important for low power tickless implementations, where
\r
2170 this can prevent an unnecessary exit from low power
\r
2172 prvResetNextTaskUnblockTime();
\r
2175 /* If any ticks occurred while the scheduler was suspended then
\r
2176 they should be processed now. This ensures the tick count does
\r
2177 not slip, and that any delayed tasks are resumed at the correct
\r
2180 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
2182 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
2186 if( xTaskIncrementTick() != pdFALSE )
\r
2188 xYieldPending = pdTRUE;
\r
2192 mtCOVERAGE_TEST_MARKER();
\r
2195 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
2197 uxPendedTicks = 0;
\r
2201 mtCOVERAGE_TEST_MARKER();
\r
2205 if( xYieldPending != pdFALSE )
\r
2207 #if( configUSE_PREEMPTION != 0 )
\r
2209 xAlreadyYielded = pdTRUE;
\r
2212 taskYIELD_IF_USING_PREEMPTION();
\r
2216 mtCOVERAGE_TEST_MARKER();
\r
2222 mtCOVERAGE_TEST_MARKER();
\r
2225 taskEXIT_CRITICAL();
\r
2227 return xAlreadyYielded;
\r
2229 /*-----------------------------------------------------------*/
\r
2231 TickType_t xTaskGetTickCount( void )
\r
2233 TickType_t xTicks;
\r
2235 /* Critical section required if running on a 16 bit processor. */
\r
2236 portTICK_TYPE_ENTER_CRITICAL();
\r
2238 xTicks = xTickCount;
\r
2240 portTICK_TYPE_EXIT_CRITICAL();
\r
2244 /*-----------------------------------------------------------*/
\r
2246 TickType_t xTaskGetTickCountFromISR( void )
\r
2248 TickType_t xReturn;
\r
2249 UBaseType_t uxSavedInterruptStatus;
\r
2251 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2252 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2253 above the maximum system call priority are kept permanently enabled, even
\r
2254 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2255 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2256 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2257 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2258 assigned a priority above the configured maximum system call priority.
\r
2259 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2260 that have been assigned a priority at or (logically) below the maximum
\r
2261 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2262 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2263 More information (albeit Cortex-M specific) is provided on the following
\r
2264 link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2265 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2267 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2269 xReturn = xTickCount;
\r
2271 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2275 /*-----------------------------------------------------------*/
\r
2277 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2279 /* A critical section is not required because the variables are of type
\r
2281 return uxCurrentNumberOfTasks;
\r
2283 /*-----------------------------------------------------------*/
\r
2285 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2289 /* If null is passed in here then the name of the calling task is being
\r
2291 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2292 configASSERT( pxTCB );
\r
2293 return &( pxTCB->pcTaskName[ 0 ] );
\r
2295 /*-----------------------------------------------------------*/
\r
2297 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2299 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2301 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2304 BaseType_t xBreakLoop;
\r
2306 /* This function is called with the scheduler suspended. */
\r
2308 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2310 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2314 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2316 /* Check each character in the name looking for a match or
\r
2318 xBreakLoop = pdFALSE;
\r
2319 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2321 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2323 if( cNextChar != pcNameToQuery[ x ] )
\r
2325 /* Characters didn't match. */
\r
2326 xBreakLoop = pdTRUE;
\r
2328 else if( cNextChar == ( char ) 0x00 )
\r
2330 /* Both strings terminated, a match must have been
\r
2332 pxReturn = pxNextTCB;
\r
2333 xBreakLoop = pdTRUE;
\r
2337 mtCOVERAGE_TEST_MARKER();
\r
2340 if( xBreakLoop != pdFALSE )
\r
2346 if( pxReturn != NULL )
\r
2348 /* The handle has been found. */
\r
2352 } while( pxNextTCB != pxFirstTCB );
\r
2356 mtCOVERAGE_TEST_MARKER();
\r
2362 #endif /* INCLUDE_xTaskGetHandle */
\r
2363 /*-----------------------------------------------------------*/
\r
2365 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2367 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2369 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2372 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2373 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2375 vTaskSuspendAll();
\r
2377 /* Search the ready lists. */
\r
2381 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2383 if( pxTCB != NULL )
\r
2385 /* Found the handle. */
\r
2389 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2391 /* Search the delayed lists. */
\r
2392 if( pxTCB == NULL )
\r
2394 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2397 if( pxTCB == NULL )
\r
2399 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2402 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2404 if( pxTCB == NULL )
\r
2406 /* Search the suspended list. */
\r
2407 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2412 #if( INCLUDE_vTaskDelete == 1 )
\r
2414 if( pxTCB == NULL )
\r
2416 /* Search the deleted list. */
\r
2417 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2422 ( void ) xTaskResumeAll();
\r
2427 #endif /* INCLUDE_xTaskGetHandle */
\r
2428 /*-----------------------------------------------------------*/
\r
2430 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2432 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2434 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2436 vTaskSuspendAll();
\r
2438 /* Is there a space in the array for each task in the system? */
\r
2439 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2441 /* Fill in an TaskStatus_t structure with information on each
\r
2442 task in the Ready state. */
\r
2446 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2448 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2450 /* Fill in an TaskStatus_t structure with information on each
\r
2451 task in the Blocked state. */
\r
2452 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2453 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2455 #if( INCLUDE_vTaskDelete == 1 )
\r
2457 /* Fill in an TaskStatus_t structure with information on
\r
2458 each task that has been deleted but not yet cleaned up. */
\r
2459 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2463 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2465 /* Fill in an TaskStatus_t structure with information on
\r
2466 each task in the Suspended state. */
\r
2467 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2471 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2473 if( pulTotalRunTime != NULL )
\r
2475 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2476 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2478 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2484 if( pulTotalRunTime != NULL )
\r
2486 *pulTotalRunTime = 0;
\r
2493 mtCOVERAGE_TEST_MARKER();
\r
2496 ( void ) xTaskResumeAll();
\r
2501 #endif /* configUSE_TRACE_FACILITY */
\r
2502 /*----------------------------------------------------------*/
\r
2504 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2506 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2508 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2509 started, then xIdleTaskHandle will be NULL. */
\r
2510 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2511 return xIdleTaskHandle;
\r
2514 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2515 /*----------------------------------------------------------*/
\r
2517 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2518 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2519 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2521 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2523 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2525 /* Correct the tick count value after a period during which the tick
\r
2526 was suppressed. Note this does *not* call the tick hook function for
\r
2527 each stepped tick. */
\r
2528 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2529 xTickCount += xTicksToJump;
\r
2530 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2533 #endif /* configUSE_TICKLESS_IDLE */
\r
2534 /*----------------------------------------------------------*/
\r
2536 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2538 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2540 TCB_t *pxTCB = xTask;
\r
2541 BaseType_t xReturn;
\r
2543 configASSERT( pxTCB );
\r
2545 vTaskSuspendAll();
\r
2547 /* A task can only be prematurely removed from the Blocked state if
\r
2548 it is actually in the Blocked state. */
\r
2549 if( eTaskGetState( xTask ) == eBlocked )
\r
2553 /* Remove the reference to the task from the blocked list. An
\r
2554 interrupt won't touch the xStateListItem because the
\r
2555 scheduler is suspended. */
\r
2556 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2558 /* Is the task waiting on an event also? If so remove it from
\r
2559 the event list too. Interrupts can touch the event list item,
\r
2560 even though the scheduler is suspended, so a critical section
\r
2562 taskENTER_CRITICAL();
\r
2564 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2566 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2567 pxTCB->ucDelayAborted = pdTRUE;
\r
2571 mtCOVERAGE_TEST_MARKER();
\r
2574 taskEXIT_CRITICAL();
\r
2576 /* Place the unblocked task into the appropriate ready list. */
\r
2577 prvAddTaskToReadyList( pxTCB );
\r
2579 /* A task being unblocked cannot cause an immediate context
\r
2580 switch if preemption is turned off. */
\r
2581 #if ( configUSE_PREEMPTION == 1 )
\r
2583 /* Preemption is on, but a context switch should only be
\r
2584 performed if the unblocked task has a priority that is
\r
2585 equal to or higher than the currently executing task. */
\r
2586 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2588 /* Pend the yield to be performed when the scheduler
\r
2589 is unsuspended. */
\r
2590 xYieldPending = pdTRUE;
\r
2594 mtCOVERAGE_TEST_MARKER();
\r
2597 #endif /* configUSE_PREEMPTION */
\r
2604 ( void ) xTaskResumeAll();
\r
2609 #endif /* INCLUDE_xTaskAbortDelay */
\r
2610 /*----------------------------------------------------------*/
\r
2612 BaseType_t xTaskIncrementTick( void )
\r
2615 TickType_t xItemValue;
\r
2616 BaseType_t xSwitchRequired = pdFALSE;
\r
2618 /* Called by the portable layer each time a tick interrupt occurs.
\r
2619 Increments the tick then checks to see if the new tick value will cause any
\r
2620 tasks to be unblocked. */
\r
2621 traceTASK_INCREMENT_TICK( xTickCount );
\r
2622 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2624 /* Minor optimisation. The tick count cannot change in this
\r
2626 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2628 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2629 delayed lists if it wraps to 0. */
\r
2630 xTickCount = xConstTickCount;
\r
2632 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2634 taskSWITCH_DELAYED_LISTS();
\r
2638 mtCOVERAGE_TEST_MARKER();
\r
2641 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2642 the queue in the order of their wake time - meaning once one task
\r
2643 has been found whose block time has not expired there is no need to
\r
2644 look any further down the list. */
\r
2645 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2649 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2651 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2652 to the maximum possible value so it is extremely
\r
2654 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2655 next time through. */
\r
2656 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2661 /* The delayed list is not empty, get the value of the
\r
2662 item at the head of the delayed list. This is the time
\r
2663 at which the task at the head of the delayed list must
\r
2664 be removed from the Blocked state. */
\r
2665 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2666 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2668 if( xConstTickCount < xItemValue )
\r
2670 /* It is not time to unblock this item yet, but the
\r
2671 item value is the time at which the task at the head
\r
2672 of the blocked list must be removed from the Blocked
\r
2673 state - so record the item value in
\r
2674 xNextTaskUnblockTime. */
\r
2675 xNextTaskUnblockTime = xItemValue;
\r
2676 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2680 mtCOVERAGE_TEST_MARKER();
\r
2683 /* It is time to remove the item from the Blocked state. */
\r
2684 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2686 /* Is the task waiting on an event also? If so remove
\r
2687 it from the event list. */
\r
2688 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2690 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2694 mtCOVERAGE_TEST_MARKER();
\r
2697 /* Place the unblocked task into the appropriate ready
\r
2699 prvAddTaskToReadyList( pxTCB );
\r
2701 /* A task being unblocked cannot cause an immediate
\r
2702 context switch if preemption is turned off. */
\r
2703 #if ( configUSE_PREEMPTION == 1 )
\r
2705 /* Preemption is on, but a context switch should
\r
2706 only be performed if the unblocked task has a
\r
2707 priority that is equal to or higher than the
\r
2708 currently executing task. */
\r
2709 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2711 xSwitchRequired = pdTRUE;
\r
2715 mtCOVERAGE_TEST_MARKER();
\r
2718 #endif /* configUSE_PREEMPTION */
\r
2723 /* Tasks of equal priority to the currently running task will share
\r
2724 processing time (time slice) if preemption is on, and the application
\r
2725 writer has not explicitly turned time slicing off. */
\r
2726 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2728 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2730 xSwitchRequired = pdTRUE;
\r
2734 mtCOVERAGE_TEST_MARKER();
\r
2737 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2739 #if ( configUSE_TICK_HOOK == 1 )
\r
2741 /* Guard against the tick hook being called when the pended tick
\r
2742 count is being unwound (when the scheduler is being unlocked). */
\r
2743 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2745 vApplicationTickHook();
\r
2749 mtCOVERAGE_TEST_MARKER();
\r
2752 #endif /* configUSE_TICK_HOOK */
\r
2758 /* The tick hook gets called at regular intervals, even if the
\r
2759 scheduler is locked. */
\r
2760 #if ( configUSE_TICK_HOOK == 1 )
\r
2762 vApplicationTickHook();
\r
2767 #if ( configUSE_PREEMPTION == 1 )
\r
2769 if( xYieldPending != pdFALSE )
\r
2771 xSwitchRequired = pdTRUE;
\r
2775 mtCOVERAGE_TEST_MARKER();
\r
2778 #endif /* configUSE_PREEMPTION */
\r
2780 return xSwitchRequired;
\r
2782 /*-----------------------------------------------------------*/
\r
2784 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2786 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2790 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2792 if( xTask == NULL )
\r
2794 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2801 /* Save the hook function in the TCB. A critical section is required as
\r
2802 the value can be accessed from an interrupt. */
\r
2803 taskENTER_CRITICAL();
\r
2805 xTCB->pxTaskTag = pxHookFunction;
\r
2807 taskEXIT_CRITICAL();
\r
2810 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2811 /*-----------------------------------------------------------*/
\r
2813 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2815 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2818 TaskHookFunction_t xReturn;
\r
2820 /* If xTask is NULL then we are setting our own task hook. */
\r
2821 if( xTask == NULL )
\r
2823 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2830 /* Save the hook function in the TCB. A critical section is required as
\r
2831 the value can be accessed from an interrupt. */
\r
2832 taskENTER_CRITICAL();
\r
2834 xReturn = xTCB->pxTaskTag;
\r
2836 taskEXIT_CRITICAL();
\r
2841 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2842 /*-----------------------------------------------------------*/
\r
2844 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2846 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2849 BaseType_t xReturn;
\r
2851 /* If xTask is NULL then we are calling our own task hook. */
\r
2852 if( xTask == NULL )
\r
2854 xTCB = pxCurrentTCB;
\r
2861 if( xTCB->pxTaskTag != NULL )
\r
2863 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2873 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2874 /*-----------------------------------------------------------*/
\r
2876 void vTaskSwitchContext( void )
\r
2878 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2880 /* The scheduler is currently suspended - do not allow a context
\r
2882 xYieldPending = pdTRUE;
\r
2886 xYieldPending = pdFALSE;
\r
2887 traceTASK_SWITCHED_OUT();
\r
2889 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2891 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
2892 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
2894 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2895 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2897 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2900 /* Add the amount of time the task has been running to the
\r
2901 accumulated time so far. The time the task started running was
\r
2902 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2903 protection here so count values are only valid until the timer
\r
2904 overflows. The guard against negative values is to protect
\r
2905 against suspect run time stat counter implementations - which
\r
2906 are provided by the application, not the kernel. */
\r
2907 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2909 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2913 mtCOVERAGE_TEST_MARKER();
\r
2915 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2917 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2919 /* Check for stack overflow, if configured. */
\r
2920 taskCHECK_FOR_STACK_OVERFLOW();
\r
2922 /* Select a new task to run using either the generic C or port
\r
2923 optimised asm code. */
\r
2924 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2925 traceTASK_SWITCHED_IN();
\r
2927 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2929 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2930 structure specific to this task. */
\r
2931 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2933 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2936 /*-----------------------------------------------------------*/
\r
2938 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2940 configASSERT( pxEventList );
\r
2942 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2943 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2945 /* Place the event list item of the TCB in the appropriate event list.
\r
2946 This is placed in the list in priority order so the highest priority task
\r
2947 is the first to be woken by the event. The queue that contains the event
\r
2948 list is locked, preventing simultaneous access from interrupts. */
\r
2949 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2951 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2953 /*-----------------------------------------------------------*/
\r
2955 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2957 configASSERT( pxEventList );
\r
2959 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2960 the event groups implementation. */
\r
2961 configASSERT( uxSchedulerSuspended != 0 );
\r
2963 /* Store the item value in the event list item. It is safe to access the
\r
2964 event list item here as interrupts won't access the event list item of a
\r
2965 task that is not in the Blocked state. */
\r
2966 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2968 /* Place the event list item of the TCB at the end of the appropriate event
\r
2969 list. It is safe to access the event list here because it is part of an
\r
2970 event group implementation - and interrupts don't access event groups
\r
2971 directly (instead they access them indirectly by pending function calls to
\r
2972 the task level). */
\r
2973 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2975 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2977 /*-----------------------------------------------------------*/
\r
2979 #if( configUSE_TIMERS == 1 )
\r
2981 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2983 configASSERT( pxEventList );
\r
2985 /* This function should not be called by application code hence the
\r
2986 'Restricted' in its name. It is not part of the public API. It is
\r
2987 designed for use by kernel code, and has special calling requirements -
\r
2988 it should be called with the scheduler suspended. */
\r
2991 /* Place the event list item of the TCB in the appropriate event list.
\r
2992 In this case it is assume that this is the only task that is going to
\r
2993 be waiting on this event list, so the faster vListInsertEnd() function
\r
2994 can be used in place of vListInsert. */
\r
2995 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2997 /* If the task should block indefinitely then set the block time to a
\r
2998 value that will be recognised as an indefinite delay inside the
\r
2999 prvAddCurrentTaskToDelayedList() function. */
\r
3000 if( xWaitIndefinitely != pdFALSE )
\r
3002 xTicksToWait = portMAX_DELAY;
\r
3005 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3006 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3009 #endif /* configUSE_TIMERS */
\r
3010 /*-----------------------------------------------------------*/
\r
3012 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3014 TCB_t *pxUnblockedTCB;
\r
3015 BaseType_t xReturn;
\r
3017 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3018 called from a critical section within an ISR. */
\r
3020 /* The event list is sorted in priority order, so the first in the list can
\r
3021 be removed as it is known to be the highest priority. Remove the TCB from
\r
3022 the delayed list, and add it to the ready list.
\r
3024 If an event is for a queue that is locked then this function will never
\r
3025 get called - the lock count on the queue will get modified instead. This
\r
3026 means exclusive access to the event list is guaranteed here.
\r
3028 This function assumes that a check has already been made to ensure that
\r
3029 pxEventList is not empty. */
\r
3030 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3031 configASSERT( pxUnblockedTCB );
\r
3032 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3034 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3036 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3037 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3041 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3042 pending until the scheduler is resumed. */
\r
3043 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3046 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3048 /* Return true if the task removed from the event list has a higher
\r
3049 priority than the calling task. This allows the calling task to know if
\r
3050 it should force a context switch now. */
\r
3053 /* Mark that a yield is pending in case the user is not using the
\r
3054 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3055 xYieldPending = pdTRUE;
\r
3059 xReturn = pdFALSE;
\r
3062 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3064 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3065 might be set to the blocked task's time out time. If the task is
\r
3066 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3067 normally left unchanged, because it is automatically reset to a new
\r
3068 value when the tick count equals xNextTaskUnblockTime. However if
\r
3069 tickless idling is used it might be more important to enter sleep mode
\r
3070 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3071 ensure it is updated at the earliest possible time. */
\r
3072 prvResetNextTaskUnblockTime();
\r
3078 /*-----------------------------------------------------------*/
\r
3080 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
3082 TCB_t *pxUnblockedTCB;
\r
3084 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3085 the event flags implementation. */
\r
3086 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3088 /* Store the new item value in the event list. */
\r
3089 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3091 /* Remove the event list form the event flag. Interrupts do not access
\r
3093 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3094 configASSERT( pxUnblockedTCB );
\r
3095 ( void ) uxListRemove( pxEventListItem );
\r
3097 /* Remove the task from the delayed list and add it to the ready list. The
\r
3098 scheduler is suspended so interrupts will not be accessing the ready
\r
3100 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3101 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3103 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3105 /* The unblocked task has a priority above that of the calling task, so
\r
3106 a context switch is required. This function is called with the
\r
3107 scheduler suspended so xYieldPending is set so the context switch
\r
3108 occurs immediately that the scheduler is resumed (unsuspended). */
\r
3109 xYieldPending = pdTRUE;
\r
3112 /*-----------------------------------------------------------*/
\r
3114 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3116 configASSERT( pxTimeOut );
\r
3117 taskENTER_CRITICAL();
\r
3119 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3120 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3122 taskEXIT_CRITICAL();
\r
3124 /*-----------------------------------------------------------*/
\r
3126 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3128 /* For internal use only as it does not use a critical section. */
\r
3129 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3130 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3132 /*-----------------------------------------------------------*/
\r
3134 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
3136 BaseType_t xReturn;
\r
3138 configASSERT( pxTimeOut );
\r
3139 configASSERT( pxTicksToWait );
\r
3141 taskENTER_CRITICAL();
\r
3143 /* Minor optimisation. The tick count cannot change in this block. */
\r
3144 const TickType_t xConstTickCount = xTickCount;
\r
3145 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3147 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
3148 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3150 /* The delay was aborted, which is not the same as a time out,
\r
3151 but has the same result. */
\r
3152 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3158 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3159 if( *pxTicksToWait == portMAX_DELAY )
\r
3161 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3162 specified is the maximum block time then the task should block
\r
3163 indefinitely, and therefore never time out. */
\r
3164 xReturn = pdFALSE;
\r
3169 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3171 /* The tick count is greater than the time at which
\r
3172 vTaskSetTimeout() was called, but has also overflowed since
\r
3173 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3174 around and gone past again. This passed since vTaskSetTimeout()
\r
3178 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3180 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3181 *pxTicksToWait -= xElapsedTime;
\r
3182 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3183 xReturn = pdFALSE;
\r
3187 *pxTicksToWait = 0;
\r
3191 taskEXIT_CRITICAL();
\r
3195 /*-----------------------------------------------------------*/
\r
3197 void vTaskMissedYield( void )
\r
3199 xYieldPending = pdTRUE;
\r
3201 /*-----------------------------------------------------------*/
\r
3203 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3205 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3207 UBaseType_t uxReturn;
\r
3208 TCB_t const *pxTCB;
\r
3210 if( xTask != NULL )
\r
3213 uxReturn = pxTCB->uxTaskNumber;
\r
3223 #endif /* configUSE_TRACE_FACILITY */
\r
3224 /*-----------------------------------------------------------*/
\r
3226 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3228 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3232 if( xTask != NULL )
\r
3235 pxTCB->uxTaskNumber = uxHandle;
\r
3239 #endif /* configUSE_TRACE_FACILITY */
\r
3242 * -----------------------------------------------------------
\r
3244 * ----------------------------------------------------------
\r
3246 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3247 * language extensions. The equivalent prototype for this function is:
\r
3249 * void prvIdleTask( void *pvParameters );
\r
3252 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3254 /* Stop warnings. */
\r
3255 ( void ) pvParameters;
\r
3257 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3258 SCHEDULER IS STARTED. **/
\r
3260 /* In case a task that has a secure context deletes itself, in which case
\r
3261 the idle task is responsible for deleting the task's secure context, if
\r
3263 portTASK_CALLS_SECURE_FUNCTIONS();
\r
3267 /* See if any tasks have deleted themselves - if so then the idle task
\r
3268 is responsible for freeing the deleted task's TCB and stack. */
\r
3269 prvCheckTasksWaitingTermination();
\r
3271 #if ( configUSE_PREEMPTION == 0 )
\r
3273 /* If we are not using preemption we keep forcing a task switch to
\r
3274 see if any other task has become available. If we are using
\r
3275 preemption we don't need to do this as any task becoming available
\r
3276 will automatically get the processor anyway. */
\r
3279 #endif /* configUSE_PREEMPTION */
\r
3281 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3283 /* When using preemption tasks of equal priority will be
\r
3284 timesliced. If a task that is sharing the idle priority is ready
\r
3285 to run then the idle task should yield before the end of the
\r
3288 A critical region is not required here as we are just reading from
\r
3289 the list, and an occasional incorrect value will not matter. If
\r
3290 the ready list at the idle priority contains more than one task
\r
3291 then a task other than the idle task is ready to execute. */
\r
3292 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3298 mtCOVERAGE_TEST_MARKER();
\r
3301 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3303 #if ( configUSE_IDLE_HOOK == 1 )
\r
3305 extern void vApplicationIdleHook( void );
\r
3307 /* Call the user defined function from within the idle task. This
\r
3308 allows the application designer to add background functionality
\r
3309 without the overhead of a separate task.
\r
3310 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3311 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3312 vApplicationIdleHook();
\r
3314 #endif /* configUSE_IDLE_HOOK */
\r
3316 /* This conditional compilation should use inequality to 0, not equality
\r
3317 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3318 user defined low power mode implementations require
\r
3319 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3320 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3322 TickType_t xExpectedIdleTime;
\r
3324 /* It is not desirable to suspend then resume the scheduler on
\r
3325 each iteration of the idle task. Therefore, a preliminary
\r
3326 test of the expected idle time is performed without the
\r
3327 scheduler suspended. The result here is not necessarily
\r
3329 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3331 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3333 vTaskSuspendAll();
\r
3335 /* Now the scheduler is suspended, the expected idle
\r
3336 time can be sampled again, and this time its value can
\r
3338 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3339 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3341 /* Define the following macro to set xExpectedIdleTime to 0
\r
3342 if the application does not want
\r
3343 portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3344 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3346 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3348 traceLOW_POWER_IDLE_BEGIN();
\r
3349 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3350 traceLOW_POWER_IDLE_END();
\r
3354 mtCOVERAGE_TEST_MARKER();
\r
3357 ( void ) xTaskResumeAll();
\r
3361 mtCOVERAGE_TEST_MARKER();
\r
3364 #endif /* configUSE_TICKLESS_IDLE */
\r
3367 /*-----------------------------------------------------------*/
\r
3369 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3371 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3373 /* The idle task exists in addition to the application tasks. */
\r
3374 const UBaseType_t uxNonApplicationTasks = 1;
\r
3375 eSleepModeStatus eReturn = eStandardSleep;
\r
3377 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3379 /* A task was made ready while the scheduler was suspended. */
\r
3380 eReturn = eAbortSleep;
\r
3382 else if( xYieldPending != pdFALSE )
\r
3384 /* A yield was pended while the scheduler was suspended. */
\r
3385 eReturn = eAbortSleep;
\r
3389 /* If all the tasks are in the suspended list (which might mean they
\r
3390 have an infinite block time rather than actually being suspended)
\r
3391 then it is safe to turn all clocks off and just wait for external
\r
3393 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3395 eReturn = eNoTasksWaitingTimeout;
\r
3399 mtCOVERAGE_TEST_MARKER();
\r
3406 #endif /* configUSE_TICKLESS_IDLE */
\r
3407 /*-----------------------------------------------------------*/
\r
3409 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3411 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3415 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3417 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3418 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3422 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3423 /*-----------------------------------------------------------*/
\r
3425 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3427 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3429 void *pvReturn = NULL;
\r
3432 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3434 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3435 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3445 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3446 /*-----------------------------------------------------------*/
\r
3448 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3450 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3454 /* If null is passed in here then we are modifying the MPU settings of
\r
3455 the calling task. */
\r
3456 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3458 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3461 #endif /* portUSING_MPU_WRAPPERS */
\r
3462 /*-----------------------------------------------------------*/
\r
3464 static void prvInitialiseTaskLists( void )
\r
3466 UBaseType_t uxPriority;
\r
3467 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
\r
3468 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
3470 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3472 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3475 vListInitialise( &xDelayedTaskList1 );
\r
3476 vListInitialise( &xDelayedTaskList2 );
\r
3477 vListInitialise( &xPendingReadyList );
\r
3479 #if ( INCLUDE_vTaskDelete == 1 )
\r
3481 vListInitialise( &xTasksWaitingTermination );
\r
3483 #endif /* INCLUDE_vTaskDelete */
\r
3485 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3487 vListInitialise( &xSuspendedTaskList );
\r
3489 #endif /* INCLUDE_vTaskSuspend */
\r
3491 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3493 pxDelayedTaskList = &xDelayedTaskList1;
\r
3494 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3496 /*-----------------------------------------------------------*/
\r
3498 static void prvCheckTasksWaitingTermination( void )
\r
3501 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3503 #if ( INCLUDE_vTaskDelete == 1 )
\r
3507 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3508 being called too often in the idle task. */
\r
3509 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3511 taskENTER_CRITICAL();
\r
3513 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3514 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3515 --uxCurrentNumberOfTasks;
\r
3516 --uxDeletedTasksWaitingCleanUp;
\r
3518 taskEXIT_CRITICAL();
\r
3520 prvDeleteTCB( pxTCB );
\r
3523 #endif /* INCLUDE_vTaskDelete */
\r
3525 /*-----------------------------------------------------------*/
\r
3527 #if( configUSE_TRACE_FACILITY == 1 )
\r
3529 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3533 /* xTask is NULL then get the state of the calling task. */
\r
3534 pxTCB = prvGetTCBFromHandle( xTask );
\r
3536 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3537 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3538 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3539 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3540 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3542 #if ( configUSE_MUTEXES == 1 )
\r
3544 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3548 pxTaskStatus->uxBasePriority = 0;
\r
3552 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3554 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3558 pxTaskStatus->ulRunTimeCounter = 0;
\r
3562 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3563 value of eState passed into this function is eInvalid - otherwise the
\r
3564 state is just set to whatever is passed in. */
\r
3565 if( eState != eInvalid )
\r
3567 if( pxTCB == pxCurrentTCB )
\r
3569 pxTaskStatus->eCurrentState = eRunning;
\r
3573 pxTaskStatus->eCurrentState = eState;
\r
3575 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3577 /* If the task is in the suspended list then there is a
\r
3578 chance it is actually just blocked indefinitely - so really
\r
3579 it should be reported as being in the Blocked state. */
\r
3580 if( eState == eSuspended )
\r
3582 vTaskSuspendAll();
\r
3584 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3586 pxTaskStatus->eCurrentState = eBlocked;
\r
3589 ( void ) xTaskResumeAll();
\r
3592 #endif /* INCLUDE_vTaskSuspend */
\r
3597 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3600 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3601 parameter is provided to allow it to be skipped. */
\r
3602 if( xGetFreeStackSpace != pdFALSE )
\r
3604 #if ( portSTACK_GROWTH > 0 )
\r
3606 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3610 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3616 pxTaskStatus->usStackHighWaterMark = 0;
\r
3620 #endif /* configUSE_TRACE_FACILITY */
\r
3621 /*-----------------------------------------------------------*/
\r
3623 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3625 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3627 configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
\r
3628 UBaseType_t uxTask = 0;
\r
3630 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3632 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3634 /* Populate an TaskStatus_t structure within the
\r
3635 pxTaskStatusArray array for each task that is referenced from
\r
3636 pxList. See the definition of TaskStatus_t in task.h for the
\r
3637 meaning of each TaskStatus_t structure member. */
\r
3640 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3641 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3643 } while( pxNextTCB != pxFirstTCB );
\r
3647 mtCOVERAGE_TEST_MARKER();
\r
3653 #endif /* configUSE_TRACE_FACILITY */
\r
3654 /*-----------------------------------------------------------*/
\r
3656 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3658 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3660 uint32_t ulCount = 0U;
\r
3662 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3664 pucStackByte -= portSTACK_GROWTH;
\r
3668 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3670 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3673 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3674 /*-----------------------------------------------------------*/
\r
3676 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3678 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3681 uint8_t *pucEndOfStack;
\r
3682 UBaseType_t uxReturn;
\r
3684 pxTCB = prvGetTCBFromHandle( xTask );
\r
3686 #if portSTACK_GROWTH < 0
\r
3688 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3692 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3696 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3701 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3702 /*-----------------------------------------------------------*/
\r
3704 #if ( INCLUDE_vTaskDelete == 1 )
\r
3706 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3708 /* This call is required specifically for the TriCore port. It must be
\r
3709 above the vPortFree() calls. The call is also used by ports/demos that
\r
3710 want to allocate and clean RAM statically. */
\r
3711 portCLEAN_UP_TCB( pxTCB );
\r
3713 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3714 to the task to free any memory allocated at the application level. */
\r
3715 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3717 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3719 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3721 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3723 /* The task can only have been allocated dynamically - free both
\r
3724 the stack and TCB. */
\r
3725 vPortFree( pxTCB->pxStack );
\r
3726 vPortFree( pxTCB );
\r
3728 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3730 /* The task could have been allocated statically or dynamically, so
\r
3731 check what was statically allocated before trying to free the
\r
3733 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3735 /* Both the stack and TCB were allocated dynamically, so both
\r
3737 vPortFree( pxTCB->pxStack );
\r
3738 vPortFree( pxTCB );
\r
3740 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3742 /* Only the stack was statically allocated, so the TCB is the
\r
3743 only memory that must be freed. */
\r
3744 vPortFree( pxTCB );
\r
3748 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3749 nothing needs to be freed. */
\r
3750 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3751 mtCOVERAGE_TEST_MARKER();
\r
3754 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3757 #endif /* INCLUDE_vTaskDelete */
\r
3758 /*-----------------------------------------------------------*/
\r
3760 static void prvResetNextTaskUnblockTime( void )
\r
3764 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3766 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3767 the maximum possible value so it is extremely unlikely that the
\r
3768 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3769 there is an item in the delayed list. */
\r
3770 xNextTaskUnblockTime = portMAX_DELAY;
\r
3774 /* The new current delayed list is not empty, get the value of
\r
3775 the item at the head of the delayed list. This is the time at
\r
3776 which the task at the head of the delayed list should be removed
\r
3777 from the Blocked state. */
\r
3778 ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3779 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3782 /*-----------------------------------------------------------*/
\r
3784 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3786 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3788 TaskHandle_t xReturn;
\r
3790 /* A critical section is not required as this is not called from
\r
3791 an interrupt and the current TCB will always be the same for any
\r
3792 individual execution thread. */
\r
3793 xReturn = pxCurrentTCB;
\r
3798 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3799 /*-----------------------------------------------------------*/
\r
3801 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3803 BaseType_t xTaskGetSchedulerState( void )
\r
3805 BaseType_t xReturn;
\r
3807 if( xSchedulerRunning == pdFALSE )
\r
3809 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3813 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3815 xReturn = taskSCHEDULER_RUNNING;
\r
3819 xReturn = taskSCHEDULER_SUSPENDED;
\r
3826 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3827 /*-----------------------------------------------------------*/
\r
3829 #if ( configUSE_MUTEXES == 1 )
\r
3831 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3833 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
3834 BaseType_t xReturn = pdFALSE;
\r
3836 /* If the mutex was given back by an interrupt while the queue was
\r
3837 locked then the mutex holder might now be NULL. _RB_ Is this still
\r
3838 needed as interrupts can no longer use mutexes? */
\r
3839 if( pxMutexHolder != NULL )
\r
3841 /* If the holder of the mutex has a priority below the priority of
\r
3842 the task attempting to obtain the mutex then it will temporarily
\r
3843 inherit the priority of the task attempting to obtain the mutex. */
\r
3844 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3846 /* Adjust the mutex holder state to account for its new
\r
3847 priority. Only reset the event list item value if the value is
\r
3848 not being used for anything else. */
\r
3849 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3851 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3855 mtCOVERAGE_TEST_MARKER();
\r
3858 /* If the task being modified is in the ready state it will need
\r
3859 to be moved into a new list. */
\r
3860 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
3862 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3864 taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
\r
3868 mtCOVERAGE_TEST_MARKER();
\r
3871 /* Inherit the priority before being moved into the new list. */
\r
3872 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3873 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
3877 /* Just inherit the priority. */
\r
3878 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3881 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
3883 /* Inheritance occurred. */
\r
3888 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
3890 /* The base priority of the mutex holder is lower than the
\r
3891 priority of the task attempting to take the mutex, but the
\r
3892 current priority of the mutex holder is not lower than the
\r
3893 priority of the task attempting to take the mutex.
\r
3894 Therefore the mutex holder must have already inherited a
\r
3895 priority, but inheritance would have occurred if that had
\r
3896 not been the case. */
\r
3901 mtCOVERAGE_TEST_MARKER();
\r
3907 mtCOVERAGE_TEST_MARKER();
\r
3913 #endif /* configUSE_MUTEXES */
\r
3914 /*-----------------------------------------------------------*/
\r
3916 #if ( configUSE_MUTEXES == 1 )
\r
3918 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3920 TCB_t * const pxTCB = pxMutexHolder;
\r
3921 BaseType_t xReturn = pdFALSE;
\r
3923 if( pxMutexHolder != NULL )
\r
3925 /* A task can only have an inherited priority if it holds the mutex.
\r
3926 If the mutex is held by a task then it cannot be given from an
\r
3927 interrupt, and if a mutex is given by the holding task then it must
\r
3928 be the running state task. */
\r
3929 configASSERT( pxTCB == pxCurrentTCB );
\r
3930 configASSERT( pxTCB->uxMutexesHeld );
\r
3931 ( pxTCB->uxMutexesHeld )--;
\r
3933 /* Has the holder of the mutex inherited the priority of another
\r
3935 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3937 /* Only disinherit if no other mutexes are held. */
\r
3938 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3940 /* A task can only have an inherited priority if it holds
\r
3941 the mutex. If the mutex is held by a task then it cannot be
\r
3942 given from an interrupt, and if a mutex is given by the
\r
3943 holding task then it must be the running state task. Remove
\r
3944 the holding task from the ready list. */
\r
3945 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3947 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3951 mtCOVERAGE_TEST_MARKER();
\r
3954 /* Disinherit the priority before adding the task into the
\r
3955 new ready list. */
\r
3956 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3957 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3959 /* Reset the event list item value. It cannot be in use for
\r
3960 any other purpose if this task is running, and it must be
\r
3961 running to give back the mutex. */
\r
3962 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
3963 prvAddTaskToReadyList( pxTCB );
\r
3965 /* Return true to indicate that a context switch is required.
\r
3966 This is only actually required in the corner case whereby
\r
3967 multiple mutexes were held and the mutexes were given back
\r
3968 in an order different to that in which they were taken.
\r
3969 If a context switch did not occur when the first mutex was
\r
3970 returned, even if a task was waiting on it, then a context
\r
3971 switch should occur when the last mutex is returned whether
\r
3972 a task is waiting on it or not. */
\r
3977 mtCOVERAGE_TEST_MARKER();
\r
3982 mtCOVERAGE_TEST_MARKER();
\r
3987 mtCOVERAGE_TEST_MARKER();
\r
3993 #endif /* configUSE_MUTEXES */
\r
3994 /*-----------------------------------------------------------*/
\r
3996 #if ( configUSE_MUTEXES == 1 )
\r
3998 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
\r
4000 TCB_t * const pxTCB = pxMutexHolder;
\r
4001 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4002 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4004 if( pxMutexHolder != NULL )
\r
4006 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4008 configASSERT( pxTCB->uxMutexesHeld );
\r
4010 /* Determine the priority to which the priority of the task that
\r
4011 holds the mutex should be set. This will be the greater of the
\r
4012 holding task's base priority and the priority of the highest
\r
4013 priority task that is waiting to obtain the mutex. */
\r
4014 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4016 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4020 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4023 /* Does the priority need to change? */
\r
4024 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4026 /* Only disinherit if no other mutexes are held. This is a
\r
4027 simplification in the priority inheritance implementation. If
\r
4028 the task that holds the mutex is also holding other mutexes then
\r
4029 the other mutexes may have caused the priority inheritance. */
\r
4030 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4032 /* If a task has timed out because it already holds the
\r
4033 mutex it was trying to obtain then it cannot of inherited
\r
4034 its own priority. */
\r
4035 configASSERT( pxTCB != pxCurrentTCB );
\r
4037 /* Disinherit the priority, remembering the previous
\r
4038 priority to facilitate determining the subject task's
\r
4040 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4041 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4042 pxTCB->uxPriority = uxPriorityToUse;
\r
4044 /* Only reset the event list item value if the value is not
\r
4045 being used for anything else. */
\r
4046 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4048 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4052 mtCOVERAGE_TEST_MARKER();
\r
4055 /* If the running task is not the task that holds the mutex
\r
4056 then the task that holds the mutex could be in either the
\r
4057 Ready, Blocked or Suspended states. Only remove the task
\r
4058 from its current state list if it is in the Ready state as
\r
4059 the task's priority is going to change and there is one
\r
4060 Ready list per priority. */
\r
4061 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4063 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4065 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
4069 mtCOVERAGE_TEST_MARKER();
\r
4072 prvAddTaskToReadyList( pxTCB );
\r
4076 mtCOVERAGE_TEST_MARKER();
\r
4081 mtCOVERAGE_TEST_MARKER();
\r
4086 mtCOVERAGE_TEST_MARKER();
\r
4091 mtCOVERAGE_TEST_MARKER();
\r
4095 #endif /* configUSE_MUTEXES */
\r
4096 /*-----------------------------------------------------------*/
\r
4098 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4100 void vTaskEnterCritical( void )
\r
4102 portDISABLE_INTERRUPTS();
\r
4104 if( xSchedulerRunning != pdFALSE )
\r
4106 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4108 /* This is not the interrupt safe version of the enter critical
\r
4109 function so assert() if it is being called from an interrupt
\r
4110 context. Only API functions that end in "FromISR" can be used in an
\r
4111 interrupt. Only assert if the critical nesting count is 1 to
\r
4112 protect against recursive calls if the assert function also uses a
\r
4113 critical section. */
\r
4114 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4116 portASSERT_IF_IN_ISR();
\r
4121 mtCOVERAGE_TEST_MARKER();
\r
4125 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4126 /*-----------------------------------------------------------*/
\r
4128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4130 void vTaskExitCritical( void )
\r
4132 if( xSchedulerRunning != pdFALSE )
\r
4134 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4136 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4138 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4140 portENABLE_INTERRUPTS();
\r
4144 mtCOVERAGE_TEST_MARKER();
\r
4149 mtCOVERAGE_TEST_MARKER();
\r
4154 mtCOVERAGE_TEST_MARKER();
\r
4158 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4159 /*-----------------------------------------------------------*/
\r
4161 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4163 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
4167 /* Start by copying the entire string. */
\r
4168 strcpy( pcBuffer, pcTaskName );
\r
4170 /* Pad the end of the string with spaces to ensure columns line up when
\r
4172 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4174 pcBuffer[ x ] = ' ';
\r
4178 pcBuffer[ x ] = ( char ) 0x00;
\r
4180 /* Return the new end of string. */
\r
4181 return &( pcBuffer[ x ] );
\r
4184 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4185 /*-----------------------------------------------------------*/
\r
4187 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4189 void vTaskList( char * pcWriteBuffer )
\r
4191 TaskStatus_t *pxTaskStatusArray;
\r
4192 UBaseType_t uxArraySize, x;
\r
4198 * This function is provided for convenience only, and is used by many
\r
4199 * of the demo applications. Do not consider it to be part of the
\r
4202 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4203 * uxTaskGetSystemState() output into a human readable table that
\r
4204 * displays task names, states and stack usage.
\r
4206 * vTaskList() has a dependency on the sprintf() C library function that
\r
4207 * might bloat the code size, use a lot of stack, and provide different
\r
4208 * results on different platforms. An alternative, tiny, third party,
\r
4209 * and limited functionality implementation of sprintf() is provided in
\r
4210 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4211 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4212 * snprintf() implementation!).
\r
4214 * It is recommended that production systems call uxTaskGetSystemState()
\r
4215 * directly to get access to raw stats data, rather than indirectly
\r
4216 * through a call to vTaskList().
\r
4220 /* Make sure the write buffer does not contain a string. */
\r
4221 *pcWriteBuffer = ( char ) 0x00;
\r
4223 /* Take a snapshot of the number of tasks in case it changes while this
\r
4224 function is executing. */
\r
4225 uxArraySize = uxCurrentNumberOfTasks;
\r
4227 /* Allocate an array index for each task. NOTE! if
\r
4228 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4229 equate to NULL. */
\r
4230 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4232 if( pxTaskStatusArray != NULL )
\r
4234 /* Generate the (binary) data. */
\r
4235 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4237 /* Create a human readable table from the binary data. */
\r
4238 for( x = 0; x < uxArraySize; x++ )
\r
4240 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4242 case eRunning: cStatus = tskRUNNING_CHAR;
\r
4245 case eReady: cStatus = tskREADY_CHAR;
\r
4248 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
4251 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
4254 case eDeleted: cStatus = tskDELETED_CHAR;
\r
4257 case eInvalid: /* Fall through. */
\r
4258 default: /* Should not get here, but it is included
\r
4259 to prevent static checking errors. */
\r
4260 cStatus = ( char ) 0x00;
\r
4264 /* Write the task name to the string, padding with spaces so it
\r
4265 can be printed in tabular form more easily. */
\r
4266 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4268 /* Write the rest of the string. */
\r
4269 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4270 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4273 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4274 is 0 then vPortFree() will be #defined to nothing. */
\r
4275 vPortFree( pxTaskStatusArray );
\r
4279 mtCOVERAGE_TEST_MARKER();
\r
4283 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4284 /*----------------------------------------------------------*/
\r
4286 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4288 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
4290 TaskStatus_t *pxTaskStatusArray;
\r
4291 UBaseType_t uxArraySize, x;
\r
4292 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4294 #if( configUSE_TRACE_FACILITY != 1 )
\r
4296 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4303 * This function is provided for convenience only, and is used by many
\r
4304 * of the demo applications. Do not consider it to be part of the
\r
4307 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4308 * of the uxTaskGetSystemState() output into a human readable table that
\r
4309 * displays the amount of time each task has spent in the Running state
\r
4310 * in both absolute and percentage terms.
\r
4312 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4313 * function that might bloat the code size, use a lot of stack, and
\r
4314 * provide different results on different platforms. An alternative,
\r
4315 * tiny, third party, and limited functionality implementation of
\r
4316 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4317 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4318 * a full snprintf() implementation!).
\r
4320 * It is recommended that production systems call uxTaskGetSystemState()
\r
4321 * directly to get access to raw stats data, rather than indirectly
\r
4322 * through a call to vTaskGetRunTimeStats().
\r
4325 /* Make sure the write buffer does not contain a string. */
\r
4326 *pcWriteBuffer = ( char ) 0x00;
\r
4328 /* Take a snapshot of the number of tasks in case it changes while this
\r
4329 function is executing. */
\r
4330 uxArraySize = uxCurrentNumberOfTasks;
\r
4332 /* Allocate an array index for each task. NOTE! If
\r
4333 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4334 equate to NULL. */
\r
4335 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4337 if( pxTaskStatusArray != NULL )
\r
4339 /* Generate the (binary) data. */
\r
4340 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4342 /* For percentage calculations. */
\r
4343 ulTotalTime /= 100UL;
\r
4345 /* Avoid divide by zero errors. */
\r
4346 if( ulTotalTime > 0UL )
\r
4348 /* Create a human readable table from the binary data. */
\r
4349 for( x = 0; x < uxArraySize; x++ )
\r
4351 /* What percentage of the total run time has the task used?
\r
4352 This will always be rounded down to the nearest integer.
\r
4353 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4354 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4356 /* Write the task name to the string, padding with
\r
4357 spaces so it can be printed in tabular form more
\r
4359 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4361 if( ulStatsAsPercentage > 0UL )
\r
4363 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4365 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4369 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4370 printf() library can be used. */
\r
4371 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4377 /* If the percentage is zero here then the task has
\r
4378 consumed less than 1% of the total run time. */
\r
4379 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4381 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4385 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4386 printf() library can be used. */
\r
4387 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4392 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4397 mtCOVERAGE_TEST_MARKER();
\r
4400 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4401 is 0 then vPortFree() will be #defined to nothing. */
\r
4402 vPortFree( pxTaskStatusArray );
\r
4406 mtCOVERAGE_TEST_MARKER();
\r
4410 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4411 /*-----------------------------------------------------------*/
\r
4413 TickType_t uxTaskResetEventItemValue( void )
\r
4415 TickType_t uxReturn;
\r
4417 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4419 /* Reset the event list item to its normal value - so it can be used with
\r
4420 queues and semaphores. */
\r
4421 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
4425 /*-----------------------------------------------------------*/
\r
4427 #if ( configUSE_MUTEXES == 1 )
\r
4429 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4431 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4432 then pxCurrentTCB will be NULL. */
\r
4433 if( pxCurrentTCB != NULL )
\r
4435 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4438 return pxCurrentTCB;
\r
4441 #endif /* configUSE_MUTEXES */
\r
4442 /*-----------------------------------------------------------*/
\r
4444 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4446 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4448 uint32_t ulReturn;
\r
4450 taskENTER_CRITICAL();
\r
4452 /* Only block if the notification count is not already non-zero. */
\r
4453 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4455 /* Mark this task as waiting for a notification. */
\r
4456 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4458 if( xTicksToWait > ( TickType_t ) 0 )
\r
4460 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4461 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4463 /* All ports are written to allow a yield in a critical
\r
4464 section (some will yield immediately, others wait until the
\r
4465 critical section exits) - but it is not something that
\r
4466 application code should ever do. */
\r
4467 portYIELD_WITHIN_API();
\r
4471 mtCOVERAGE_TEST_MARKER();
\r
4476 mtCOVERAGE_TEST_MARKER();
\r
4479 taskEXIT_CRITICAL();
\r
4481 taskENTER_CRITICAL();
\r
4483 traceTASK_NOTIFY_TAKE();
\r
4484 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4486 if( ulReturn != 0UL )
\r
4488 if( xClearCountOnExit != pdFALSE )
\r
4490 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4494 pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
\r
4499 mtCOVERAGE_TEST_MARKER();
\r
4502 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4504 taskEXIT_CRITICAL();
\r
4509 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4510 /*-----------------------------------------------------------*/
\r
4512 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4514 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4516 BaseType_t xReturn;
\r
4518 taskENTER_CRITICAL();
\r
4520 /* Only block if a notification is not already pending. */
\r
4521 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4523 /* Clear bits in the task's notification value as bits may get
\r
4524 set by the notifying task or interrupt. This can be used to
\r
4525 clear the value to zero. */
\r
4526 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4528 /* Mark this task as waiting for a notification. */
\r
4529 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4531 if( xTicksToWait > ( TickType_t ) 0 )
\r
4533 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4534 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4536 /* All ports are written to allow a yield in a critical
\r
4537 section (some will yield immediately, others wait until the
\r
4538 critical section exits) - but it is not something that
\r
4539 application code should ever do. */
\r
4540 portYIELD_WITHIN_API();
\r
4544 mtCOVERAGE_TEST_MARKER();
\r
4549 mtCOVERAGE_TEST_MARKER();
\r
4552 taskEXIT_CRITICAL();
\r
4554 taskENTER_CRITICAL();
\r
4556 traceTASK_NOTIFY_WAIT();
\r
4558 if( pulNotificationValue != NULL )
\r
4560 /* Output the current notification value, which may or may not
\r
4562 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4565 /* If ucNotifyValue is set then either the task never entered the
\r
4566 blocked state (because a notification was already pending) or the
\r
4567 task unblocked because of a notification. Otherwise the task
\r
4568 unblocked because of a timeout. */
\r
4569 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4571 /* A notification was not received. */
\r
4572 xReturn = pdFALSE;
\r
4576 /* A notification was already pending or a notification was
\r
4577 received while the task was waiting. */
\r
4578 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4582 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4584 taskEXIT_CRITICAL();
\r
4589 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4590 /*-----------------------------------------------------------*/
\r
4592 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4594 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4597 BaseType_t xReturn = pdPASS;
\r
4598 uint8_t ucOriginalNotifyState;
\r
4600 configASSERT( xTaskToNotify );
\r
4601 pxTCB = xTaskToNotify;
\r
4603 taskENTER_CRITICAL();
\r
4605 if( pulPreviousNotificationValue != NULL )
\r
4607 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4610 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4612 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4617 pxTCB->ulNotifiedValue |= ulValue;
\r
4621 ( pxTCB->ulNotifiedValue )++;
\r
4624 case eSetValueWithOverwrite :
\r
4625 pxTCB->ulNotifiedValue = ulValue;
\r
4628 case eSetValueWithoutOverwrite :
\r
4629 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4631 pxTCB->ulNotifiedValue = ulValue;
\r
4635 /* The value could not be written to the task. */
\r
4641 /* The task is being notified without its notify value being
\r
4646 /* Should not get here if all enums are handled.
\r
4647 Artificially force an assert by testing a value the
\r
4648 compiler can't assume is const. */
\r
4649 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4654 traceTASK_NOTIFY();
\r
4656 /* If the task is in the blocked state specifically to wait for a
\r
4657 notification then unblock it now. */
\r
4658 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4660 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4661 prvAddTaskToReadyList( pxTCB );
\r
4663 /* The task should not have been on an event list. */
\r
4664 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4666 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4668 /* If a task is blocked waiting for a notification then
\r
4669 xNextTaskUnblockTime might be set to the blocked task's time
\r
4670 out time. If the task is unblocked for a reason other than
\r
4671 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4672 because it will automatically get reset to a new value when
\r
4673 the tick count equals xNextTaskUnblockTime. However if
\r
4674 tickless idling is used it might be more important to enter
\r
4675 sleep mode at the earliest possible time - so reset
\r
4676 xNextTaskUnblockTime here to ensure it is updated at the
\r
4677 earliest possible time. */
\r
4678 prvResetNextTaskUnblockTime();
\r
4682 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4684 /* The notified task has a priority above the currently
\r
4685 executing task so a yield is required. */
\r
4686 taskYIELD_IF_USING_PREEMPTION();
\r
4690 mtCOVERAGE_TEST_MARKER();
\r
4695 mtCOVERAGE_TEST_MARKER();
\r
4698 taskEXIT_CRITICAL();
\r
4703 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4704 /*-----------------------------------------------------------*/
\r
4706 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4708 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4711 uint8_t ucOriginalNotifyState;
\r
4712 BaseType_t xReturn = pdPASS;
\r
4713 UBaseType_t uxSavedInterruptStatus;
\r
4715 configASSERT( xTaskToNotify );
\r
4717 /* RTOS ports that support interrupt nesting have the concept of a
\r
4718 maximum system call (or maximum API call) interrupt priority.
\r
4719 Interrupts that are above the maximum system call priority are keep
\r
4720 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4721 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4722 is defined in FreeRTOSConfig.h then
\r
4723 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4724 failure if a FreeRTOS API function is called from an interrupt that has
\r
4725 been assigned a priority above the configured maximum system call
\r
4726 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4727 from interrupts that have been assigned a priority at or (logically)
\r
4728 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4729 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4730 simple as possible. More information (albeit Cortex-M specific) is
\r
4731 provided on the following link:
\r
4732 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4733 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4735 pxTCB = xTaskToNotify;
\r
4737 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4739 if( pulPreviousNotificationValue != NULL )
\r
4741 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4744 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4745 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4750 pxTCB->ulNotifiedValue |= ulValue;
\r
4754 ( pxTCB->ulNotifiedValue )++;
\r
4757 case eSetValueWithOverwrite :
\r
4758 pxTCB->ulNotifiedValue = ulValue;
\r
4761 case eSetValueWithoutOverwrite :
\r
4762 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4764 pxTCB->ulNotifiedValue = ulValue;
\r
4768 /* The value could not be written to the task. */
\r
4774 /* The task is being notified without its notify value being
\r
4779 /* Should not get here if all enums are handled.
\r
4780 Artificially force an assert by testing a value the
\r
4781 compiler can't assume is const. */
\r
4782 configASSERT( pxTCB->ulNotifiedValue == ~0UL );
\r
4786 traceTASK_NOTIFY_FROM_ISR();
\r
4788 /* If the task is in the blocked state specifically to wait for a
\r
4789 notification then unblock it now. */
\r
4790 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4792 /* The task should not have been on an event list. */
\r
4793 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4795 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4797 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4798 prvAddTaskToReadyList( pxTCB );
\r
4802 /* The delayed and ready lists cannot be accessed, so hold
\r
4803 this task pending until the scheduler is resumed. */
\r
4804 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4807 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4809 /* The notified task has a priority above the currently
\r
4810 executing task so a yield is required. */
\r
4811 if( pxHigherPriorityTaskWoken != NULL )
\r
4813 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4816 /* Mark that a yield is pending in case the user is not
\r
4817 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4818 safe FreeRTOS function. */
\r
4819 xYieldPending = pdTRUE;
\r
4823 mtCOVERAGE_TEST_MARKER();
\r
4827 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4832 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4833 /*-----------------------------------------------------------*/
\r
4835 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4837 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4840 uint8_t ucOriginalNotifyState;
\r
4841 UBaseType_t uxSavedInterruptStatus;
\r
4843 configASSERT( xTaskToNotify );
\r
4845 /* RTOS ports that support interrupt nesting have the concept of a
\r
4846 maximum system call (or maximum API call) interrupt priority.
\r
4847 Interrupts that are above the maximum system call priority are keep
\r
4848 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4849 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4850 is defined in FreeRTOSConfig.h then
\r
4851 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4852 failure if a FreeRTOS API function is called from an interrupt that has
\r
4853 been assigned a priority above the configured maximum system call
\r
4854 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4855 from interrupts that have been assigned a priority at or (logically)
\r
4856 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4857 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4858 simple as possible. More information (albeit Cortex-M specific) is
\r
4859 provided on the following link:
\r
4860 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4861 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4863 pxTCB = xTaskToNotify;
\r
4865 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4867 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4868 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4870 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4872 ( pxTCB->ulNotifiedValue )++;
\r
4874 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4876 /* If the task is in the blocked state specifically to wait for a
\r
4877 notification then unblock it now. */
\r
4878 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4880 /* The task should not have been on an event list. */
\r
4881 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4883 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4885 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4886 prvAddTaskToReadyList( pxTCB );
\r
4890 /* The delayed and ready lists cannot be accessed, so hold
\r
4891 this task pending until the scheduler is resumed. */
\r
4892 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4895 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4897 /* The notified task has a priority above the currently
\r
4898 executing task so a yield is required. */
\r
4899 if( pxHigherPriorityTaskWoken != NULL )
\r
4901 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4904 /* Mark that a yield is pending in case the user is not
\r
4905 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4906 safe FreeRTOS function. */
\r
4907 xYieldPending = pdTRUE;
\r
4911 mtCOVERAGE_TEST_MARKER();
\r
4915 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4918 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4920 /*-----------------------------------------------------------*/
\r
4922 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4924 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4927 BaseType_t xReturn;
\r
4929 /* If null is passed in here then it is the calling task that is having
\r
4930 its notification state cleared. */
\r
4931 pxTCB = prvGetTCBFromHandle( xTask );
\r
4933 taskENTER_CRITICAL();
\r
4935 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4937 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4945 taskEXIT_CRITICAL();
\r
4950 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4951 /*-----------------------------------------------------------*/
\r
4954 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4956 TickType_t xTimeToWake;
\r
4957 const TickType_t xConstTickCount = xTickCount;
\r
4959 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4961 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4962 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4963 when the task leaves the Blocked state. */
\r
4964 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4968 /* Remove the task from the ready list before adding it to the blocked list
\r
4969 as the same list item is used for both lists. */
\r
4970 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4972 /* The current task must be in a ready list, so there is no need to
\r
4973 check, and the port reset macro can be called directly. */
\r
4974 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
4978 mtCOVERAGE_TEST_MARKER();
\r
4981 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4983 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4985 /* Add the task to the suspended task list instead of a delayed task
\r
4986 list to ensure it is not woken by a timing event. It will block
\r
4988 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4992 /* Calculate the time at which the task should be woken if the event
\r
4993 does not occur. This may overflow but this doesn't matter, the
\r
4994 kernel will manage it correctly. */
\r
4995 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4997 /* The list item will be inserted in wake time order. */
\r
4998 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5000 if( xTimeToWake < xConstTickCount )
\r
5002 /* Wake time has overflowed. Place this item in the overflow
\r
5004 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5008 /* The wake time has not overflowed, so the current block list
\r
5010 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5012 /* If the task entering the blocked state was placed at the
\r
5013 head of the list of blocked tasks then xNextTaskUnblockTime
\r
5014 needs to be updated too. */
\r
5015 if( xTimeToWake < xNextTaskUnblockTime )
\r
5017 xNextTaskUnblockTime = xTimeToWake;
\r
5021 mtCOVERAGE_TEST_MARKER();
\r
5026 #else /* INCLUDE_vTaskSuspend */
\r
5028 /* Calculate the time at which the task should be woken if the event
\r
5029 does not occur. This may overflow but this doesn't matter, the kernel
\r
5030 will manage it correctly. */
\r
5031 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5033 /* The list item will be inserted in wake time order. */
\r
5034 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5036 if( xTimeToWake < xConstTickCount )
\r
5038 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5039 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5043 /* The wake time has not overflowed, so the current block list is used. */
\r
5044 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5046 /* If the task entering the blocked state was placed at the head of the
\r
5047 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5049 if( xTimeToWake < xNextTaskUnblockTime )
\r
5051 xNextTaskUnblockTime = xTimeToWake;
\r
5055 mtCOVERAGE_TEST_MARKER();
\r
5059 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5060 ( void ) xCanBlockIndefinitely;
\r
5062 #endif /* INCLUDE_vTaskSuspend */
\r
5065 /* Code below here allows additional code to be inserted into this source file,
\r
5066 especially where access to file scope functions and data is needed (for example
\r
5067 when performing module tests). */
\r
5069 #ifdef FREERTOS_MODULE_TEST
\r
5070 #include "tasks_test_access_functions.h"
\r
5074 #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5076 #include "freertos_tasks_c_additions.h"
\r
5078 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5079 static void freertos_tasks_c_additions_init( void )
\r
5081 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
projects / freertos / blob