2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 #if( configUSE_PREEMPTION == 0 )
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102 /* If the cooperative scheduler is being used then a yield should not be
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103 performed just because a higher priority task has been woken. */
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104 #define taskYIELD_IF_USING_PREEMPTION()
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106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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109 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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115 * The value used to fill the stack of a task when the task is created. This
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116 * is used purely for checking the high water mark for tasks.
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118 #define tskSTACK_FILL_BYTE ( 0xa5U )
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121 * Macros used by vListTask to indicate which state a task is in.
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123 #define tskBLOCKED_CHAR ( 'B' )
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124 #define tskREADY_CHAR ( 'R' )
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125 #define tskDELETED_CHAR ( 'D' )
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126 #define tskSUSPENDED_CHAR ( 'S' )
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129 * Some kernel aware debuggers require the data the debugger needs access to be
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130 * global, rather than file scope.
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132 #ifdef portREMOVE_STATIC_QUALIFIER
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136 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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138 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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139 performed in a generic way that is not optimised to any particular
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140 microcontroller architecture. */
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142 /* uxTopReadyPriority holds the priority of the highest priority ready
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144 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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146 if( ( uxPriority ) > uxTopReadyPriority ) \
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148 uxTopReadyPriority = ( uxPriority ); \
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150 } /* taskRECORD_READY_PRIORITY */
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152 /*-----------------------------------------------------------*/
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154 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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156 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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158 /* Find the highest priority queue that contains ready tasks. */ \
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159 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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161 configASSERT( uxTopPriority ); \
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165 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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166 the same priority get an equal share of the processor time. */ \
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167 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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168 uxTopReadyPriority = uxTopPriority; \
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169 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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171 /*-----------------------------------------------------------*/
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173 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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174 they are only required when a port optimised method of task selection is
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176 #define taskRESET_READY_PRIORITY( uxPriority )
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177 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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179 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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181 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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182 performed in a way that is tailored to the particular microcontroller
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183 architecture being used. */
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185 /* A port optimised version is provided. Call the port defined macros. */
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186 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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188 /*-----------------------------------------------------------*/
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190 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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192 UBaseType_t uxTopPriority; \
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194 /* Find the highest priority list that contains ready tasks. */ \
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195 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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196 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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197 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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198 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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200 /*-----------------------------------------------------------*/
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202 /* A port optimised version is provided, call it only if the TCB being reset
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203 is being referenced from a ready list. If it is referenced from a delayed
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204 or suspended list then it won't be in a ready list. */
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205 #define taskRESET_READY_PRIORITY( uxPriority ) \
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207 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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209 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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213 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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215 /*-----------------------------------------------------------*/
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217 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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218 count overflows. */
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219 #define taskSWITCH_DELAYED_LISTS() \
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223 /* The delayed tasks list should be empty when the lists are switched. */ \
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224 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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226 pxTemp = pxDelayedTaskList; \
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227 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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228 pxOverflowDelayedTaskList = pxTemp; \
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229 xNumOfOverflows++; \
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230 prvResetNextTaskUnblockTime(); \
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233 /*-----------------------------------------------------------*/
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236 * Place the task represented by pxTCB into the appropriate ready list for
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237 * the task. It is inserted at the end of the list.
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239 #define prvAddTaskToReadyList( pxTCB ) \
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240 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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241 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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242 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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243 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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244 /*-----------------------------------------------------------*/
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247 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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248 * where NULL is used to indicate that the handle of the currently executing
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249 * task should be used in place of the parameter. This macro simply checks to
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250 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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252 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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254 /* The item value of the event list item is normally used to hold the priority
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255 of the task to which it belongs (coded to allow it to be held in reverse
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256 priority order). However, it is occasionally borrowed for other purposes. It
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257 is important its value is not updated due to a task priority change while it is
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258 being used for another purpose. The following bit definition is used to inform
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259 the scheduler that the value should not be changed - in which case it is the
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260 responsibility of whichever module is using the value to ensure it gets set back
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261 to its original value when it is released. */
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262 #if( configUSE_16_BIT_TICKS == 1 )
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263 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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265 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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269 * Task control block. A task control block (TCB) is allocated for each task,
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270 * and stores task state information, including a pointer to the task's context
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271 * (the task's run time environment, including register values)
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273 typedef struct tskTaskControlBlock
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275 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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277 #if ( portUSING_MPU_WRAPPERS == 1 )
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278 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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281 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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282 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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283 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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284 StackType_t *pxStack; /*< Points to the start of the stack. */
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285 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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287 #if ( portSTACK_GROWTH > 0 )
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288 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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291 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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292 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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295 #if ( configUSE_TRACE_FACILITY == 1 )
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296 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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297 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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300 #if ( configUSE_MUTEXES == 1 )
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301 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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302 UBaseType_t uxMutexesHeld;
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305 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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306 TaskHookFunction_t pxTaskTag;
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309 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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310 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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313 #if( configGENERATE_RUN_TIME_STATS == 1 )
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314 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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317 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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318 /* Allocate a Newlib reent structure that is specific to this task.
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319 Note Newlib support has been included by popular demand, but is not
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320 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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321 responsible for resulting newlib operation. User must be familiar with
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322 newlib and must provide system-wide implementations of the necessary
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323 stubs. Be warned that (at the time of writing) the current newlib design
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324 implements a system-wide malloc() that must be provided with locks. */
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325 struct _reent xNewLib_reent;
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328 #if( configUSE_TASK_NOTIFICATIONS == 1 )
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329 volatile uint32_t ulNotifiedValue;
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330 volatile uint8_t ucNotifyState;
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333 #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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334 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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337 #if( INCLUDE_xTaskAbortDelay == 1 )
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338 uint8_t ucDelayAborted;
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343 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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344 below to enable the use of older kernel aware debuggers. */
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345 typedef tskTCB TCB_t;
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347 /*lint -e956 A manual analysis and inspection has been used to determine which
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348 static variables must be declared volatile. */
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350 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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352 /* Lists for ready and blocked tasks. --------------------*/
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353 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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354 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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355 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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356 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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357 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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358 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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360 #if( INCLUDE_vTaskDelete == 1 )
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362 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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363 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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367 #if ( INCLUDE_vTaskSuspend == 1 )
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369 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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373 /* Other file private variables. --------------------------------*/
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374 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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375 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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376 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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377 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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378 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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379 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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380 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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381 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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382 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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383 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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385 /* Context switches are held pending while the scheduler is suspended. Also,
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386 interrupts must not manipulate the xStateListItem of a TCB, or any of the
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387 lists the xStateListItem can be referenced from, if the scheduler is suspended.
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388 If an interrupt needs to unblock a task while the scheduler is suspended then it
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389 moves the task's event list item into the xPendingReadyList, ready for the
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390 kernel to move the task from the pending ready list into the real ready list
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391 when the scheduler is unsuspended. The pending ready list itself can only be
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392 accessed from a critical section. */
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393 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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395 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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397 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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398 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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404 /*-----------------------------------------------------------*/
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406 /* Callback function prototypes. --------------------------*/
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407 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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408 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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411 #if( configUSE_TICK_HOOK > 0 )
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412 extern void vApplicationTickHook( void );
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415 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
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416 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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419 /* File private functions. --------------------------------*/
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422 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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423 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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424 * is in any other state.
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426 #if ( INCLUDE_vTaskSuspend == 1 )
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427 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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428 #endif /* INCLUDE_vTaskSuspend */
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431 * Utility to ready all the lists used by the scheduler. This is called
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432 * automatically upon the creation of the first task.
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434 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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437 * The idle task, which as all tasks is implemented as a never ending loop.
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438 * The idle task is automatically created and added to the ready lists upon
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439 * creation of the first user task.
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441 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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442 * language extensions. The equivalent prototype for this function is:
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444 * void prvIdleTask( void *pvParameters );
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447 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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450 * Utility to free all memory allocated by the scheduler to hold a TCB,
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451 * including the stack pointed to by the TCB.
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453 * This does not free memory allocated by the task itself (i.e. memory
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454 * allocated by calls to pvPortMalloc from within the tasks application code).
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456 #if ( INCLUDE_vTaskDelete == 1 )
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458 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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463 * Used only by the idle task. This checks to see if anything has been placed
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464 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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465 * and its TCB deleted.
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467 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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470 * The currently executing task is entering the Blocked state. Add the task to
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471 * either the current or the overflow delayed task list.
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473 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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476 * Fills an TaskStatus_t structure with information on each task that is
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477 * referenced from the pxList list (which may be a ready list, a delayed list,
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478 * a suspended list, etc.).
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480 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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481 * NORMAL APPLICATION CODE.
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483 #if ( configUSE_TRACE_FACILITY == 1 )
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485 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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490 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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491 * the task if it is found, or NULL if the task is not found.
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493 #if ( INCLUDE_xTaskGetHandle == 1 )
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495 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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500 * When a task is created, the stack of the task is filled with a known value.
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501 * This function determines the 'high water mark' of the task stack by
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502 * determining how much of the stack remains at the original preset value.
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504 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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506 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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511 * Return the amount of time, in ticks, that will pass before the kernel will
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512 * next move a task from the Blocked state to the Running state.
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514 * This conditional compilation should use inequality to 0, not equality to 1.
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515 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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516 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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517 * set to a value other than 1.
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519 #if ( configUSE_TICKLESS_IDLE != 0 )
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521 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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526 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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527 * will exit the Blocked state.
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529 static void prvResetNextTaskUnblockTime( void );
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531 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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534 * Helper function used to pad task names with spaces when printing out
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535 * human readable tables of task information.
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537 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
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542 * Called after a Task_t structure has been allocated either statically or
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543 * dynamically to fill in the structure's members.
\r
545 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
548 * Called after a new task has been created and initialised to place the task
\r
549 * under the control of the scheduler.
\r
551 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
\r
553 /*-----------------------------------------------------------*/
\r
555 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
557 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
560 TaskHandle_t xReturn;
\r
562 configASSERT( puxStackBuffer != NULL );
\r
563 configASSERT( pxTaskBuffer != NULL );
\r
565 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
567 /* The memory used for the task's TCB and stack are passed into this
\r
568 function - use them. */
\r
569 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
570 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
572 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
574 /* Tasks can be created statically or dynamically, so note this
\r
575 task was created statically in case the task is later deleted. */
\r
576 pxNewTCB->ucStaticallyAllocated = pdTRUE;
\r
578 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
580 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB );
\r
581 prvAddNewTaskToReadyList( pxNewTCB );
\r
591 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
592 /*-----------------------------------------------------------*/
\r
594 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
596 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
599 BaseType_t xReturn;
\r
601 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
602 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
603 the TCB then the stack. */
\r
604 #if( portSTACK_GROWTH > 0 )
\r
606 /* Allocate space for the TCB. Where the memory comes from depends on
\r
607 the implementation of the port malloc function and whether or not static
\r
608 allocation is being used. */
\r
609 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
611 if( pxNewTCB != NULL )
\r
613 /* Allocate space for the stack used by the task being created.
\r
614 The base of the stack memory stored in the TCB so the task can
\r
615 be deleted later if required. */
\r
616 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
618 if( pxNewTCB->pxStack == NULL )
\r
620 /* Could not allocate the stack. Delete the allocated TCB. */
\r
621 vPortFree( pxNewTCB );
\r
626 #else /* portSTACK_GROWTH */
\r
628 StackType_t *pxStack;
\r
630 /* Allocate space for the stack used by the task being created. */
\r
631 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
633 if( pxStack != NULL )
\r
635 /* Allocate space for the TCB. */
\r
636 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */
\r
638 if( pxNewTCB != NULL )
\r
640 /* Store the stack location in the TCB. */
\r
641 pxNewTCB->pxStack = pxStack;
\r
645 /* The stack cannot be used as the TCB was not created. Free
\r
647 vPortFree( pxStack );
\r
655 #endif /* portSTACK_GROWTH */
\r
657 if( pxNewTCB != NULL )
\r
659 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
661 /* Tasks can be created statically or dynamically, so note this
\r
662 task was created dynamically in case it is later deleted. */
\r
663 pxNewTCB->ucStaticallyAllocated = pdFALSE;
\r
665 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
667 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );
\r
668 prvAddNewTaskToReadyList( pxNewTCB );
\r
673 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
679 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
680 /*-----------------------------------------------------------*/
\r
682 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
684 StackType_t *pxTopOfStack;
\r
687 #if( portUSING_MPU_WRAPPERS == 1 )
\r
688 /* Should the task be created in privileged mode? */
\r
689 BaseType_t xRunPrivileged;
\r
690 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
692 xRunPrivileged = pdTRUE;
\r
696 xRunPrivileged = pdFALSE;
\r
698 uxPriority &= ~portPRIVILEGE_BIT;
\r
699 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
701 /* Avoid dependency on memset() if it is not required. */
\r
702 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
704 /* Fill the stack with a known value to assist debugging. */
\r
705 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
707 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
709 /* Calculate the top of stack address. This depends on whether the stack
\r
710 grows from high memory to low (as per the 80x86) or vice versa.
\r
711 portSTACK_GROWTH is used to make the result positive or negative as required
\r
713 #if( portSTACK_GROWTH < 0 )
\r
715 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
716 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
718 /* Check the alignment of the calculated top of stack is correct. */
\r
719 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
721 #else /* portSTACK_GROWTH */
\r
723 pxTopOfStack = pxNewTCB->pxStack;
\r
725 /* Check the alignment of the stack buffer is correct. */
\r
726 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
728 /* The other extreme of the stack space is required if stack checking is
\r
730 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
732 #endif /* portSTACK_GROWTH */
\r
734 /* Store the task name in the TCB. */
\r
735 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
737 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
739 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
740 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
741 string is not accessible (extremely unlikely). */
\r
742 if( pcName[ x ] == 0x00 )
\r
748 mtCOVERAGE_TEST_MARKER();
\r
752 /* Ensure the name string is terminated in the case that the string length
\r
753 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
754 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
756 /* This is used as an array index so must ensure it's not too large. First
\r
757 remove the privilege bit if one is present. */
\r
758 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
760 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
764 mtCOVERAGE_TEST_MARKER();
\r
767 pxNewTCB->uxPriority = uxPriority;
\r
768 #if ( configUSE_MUTEXES == 1 )
\r
770 pxNewTCB->uxBasePriority = uxPriority;
\r
771 pxNewTCB->uxMutexesHeld = 0;
\r
773 #endif /* configUSE_MUTEXES */
\r
775 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
776 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
778 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
779 back to the containing TCB from a generic item in a list. */
\r
780 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
782 /* Event lists are always in priority order. */
\r
783 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
784 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
786 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
788 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
790 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
792 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
794 pxNewTCB->pxTaskTag = NULL;
\r
796 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
798 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
800 pxNewTCB->ulRunTimeCounter = 0UL;
\r
802 #endif /* configGENERATE_RUN_TIME_STATS */
\r
804 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
806 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
810 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
812 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
\r
814 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
\r
819 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
821 pxNewTCB->ulNotifiedValue = 0;
\r
822 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
826 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
828 /* Initialise this task's Newlib reent structure. */
\r
829 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
833 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
835 pxNewTCB->ucDelayAborted = pdFALSE;
\r
839 /* Initialize the TCB stack to look as if the task was already running,
\r
840 but had been interrupted by the scheduler. The return address is set
\r
841 to the start of the task function. Once the stack has been initialised
\r
842 the top of stack variable is updated. */
\r
843 #if( portUSING_MPU_WRAPPERS == 1 )
\r
845 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
847 #else /* portUSING_MPU_WRAPPERS */
\r
849 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
851 #endif /* portUSING_MPU_WRAPPERS */
\r
853 if( ( void * ) pxCreatedTask != NULL )
\r
855 /* Pass the handle out in an anonymous way. The handle can be used to
\r
856 change the created task's priority, delete the created task, etc.*/
\r
857 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
861 mtCOVERAGE_TEST_MARKER();
\r
864 /*-----------------------------------------------------------*/
\r
866 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
\r
868 /* Ensure interrupts don't access the task lists while the lists are being
\r
870 taskENTER_CRITICAL();
\r
872 uxCurrentNumberOfTasks++;
\r
873 if( pxCurrentTCB == NULL )
\r
875 /* There are no other tasks, or all the other tasks are in
\r
876 the suspended state - make this the current task. */
\r
877 pxCurrentTCB = pxNewTCB;
\r
879 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
881 /* This is the first task to be created so do the preliminary
\r
882 initialisation required. We will not recover if this call
\r
883 fails, but we will report the failure. */
\r
884 prvInitialiseTaskLists();
\r
888 mtCOVERAGE_TEST_MARKER();
\r
893 /* If the scheduler is not already running, make this task the
\r
894 current task if it is the highest priority task to be created
\r
896 if( xSchedulerRunning == pdFALSE )
\r
898 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
900 pxCurrentTCB = pxNewTCB;
\r
904 mtCOVERAGE_TEST_MARKER();
\r
909 mtCOVERAGE_TEST_MARKER();
\r
915 #if ( configUSE_TRACE_FACILITY == 1 )
\r
917 /* Add a counter into the TCB for tracing only. */
\r
918 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
920 #endif /* configUSE_TRACE_FACILITY */
\r
921 traceTASK_CREATE( pxNewTCB );
\r
923 prvAddTaskToReadyList( pxNewTCB );
\r
925 portSETUP_TCB( pxNewTCB );
\r
927 taskEXIT_CRITICAL();
\r
929 if( xSchedulerRunning != pdFALSE )
\r
931 /* If the created task is of a higher priority than the current task
\r
932 then it should run now. */
\r
933 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
935 taskYIELD_IF_USING_PREEMPTION();
\r
939 mtCOVERAGE_TEST_MARKER();
\r
944 mtCOVERAGE_TEST_MARKER();
\r
947 /*-----------------------------------------------------------*/
\r
949 #if ( INCLUDE_vTaskDelete == 1 )
\r
951 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
955 taskENTER_CRITICAL();
\r
957 /* If null is passed in here then it is the calling task that is
\r
959 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
961 /* Remove task from the ready list. */
\r
962 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
964 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
968 mtCOVERAGE_TEST_MARKER();
\r
971 /* Is the task waiting on an event also? */
\r
972 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
974 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
978 mtCOVERAGE_TEST_MARKER();
\r
981 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
982 detect that the task lists need re-generating. This is done before
\r
983 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
987 if( pxTCB == pxCurrentTCB )
\r
989 /* A task is deleting itself. This cannot complete within the
\r
990 task itself, as a context switch to another task is required.
\r
991 Place the task in the termination list. The idle task will
\r
992 check the termination list and free up any memory allocated by
\r
993 the scheduler for the TCB and stack of the deleted task. */
\r
994 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
996 /* Increment the ucTasksDeleted variable so the idle task knows
\r
997 there is a task that has been deleted and that it should therefore
\r
998 check the xTasksWaitingTermination list. */
\r
999 ++uxDeletedTasksWaitingCleanUp;
\r
1001 /* The pre-delete hook is primarily for the Windows simulator,
\r
1002 in which Windows specific clean up operations are performed,
\r
1003 after which it is not possible to yield away from this task -
\r
1004 hence xYieldPending is used to latch that a context switch is
\r
1006 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1010 --uxCurrentNumberOfTasks;
\r
1011 prvDeleteTCB( pxTCB );
\r
1013 /* Reset the next expected unblock time in case it referred to
\r
1014 the task that has just been deleted. */
\r
1015 prvResetNextTaskUnblockTime();
\r
1018 traceTASK_DELETE( pxTCB );
\r
1020 taskEXIT_CRITICAL();
\r
1022 /* Force a reschedule if it is the currently running task that has just
\r
1024 if( xSchedulerRunning != pdFALSE )
\r
1026 if( pxTCB == pxCurrentTCB )
\r
1028 configASSERT( uxSchedulerSuspended == 0 );
\r
1029 portYIELD_WITHIN_API();
\r
1033 mtCOVERAGE_TEST_MARKER();
\r
1038 #endif /* INCLUDE_vTaskDelete */
\r
1039 /*-----------------------------------------------------------*/
\r
1041 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1043 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
1045 TickType_t xTimeToWake;
\r
1046 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1048 configASSERT( pxPreviousWakeTime );
\r
1049 configASSERT( ( xTimeIncrement > 0U ) );
\r
1050 configASSERT( uxSchedulerSuspended == 0 );
\r
1052 vTaskSuspendAll();
\r
1054 /* Minor optimisation. The tick count cannot change in this
\r
1056 const TickType_t xConstTickCount = xTickCount;
\r
1058 /* Generate the tick time at which the task wants to wake. */
\r
1059 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1061 if( xConstTickCount < *pxPreviousWakeTime )
\r
1063 /* The tick count has overflowed since this function was
\r
1064 lasted called. In this case the only time we should ever
\r
1065 actually delay is if the wake time has also overflowed,
\r
1066 and the wake time is greater than the tick time. When this
\r
1067 is the case it is as if neither time had overflowed. */
\r
1068 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1070 xShouldDelay = pdTRUE;
\r
1074 mtCOVERAGE_TEST_MARKER();
\r
1079 /* The tick time has not overflowed. In this case we will
\r
1080 delay if either the wake time has overflowed, and/or the
\r
1081 tick time is less than the wake time. */
\r
1082 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1084 xShouldDelay = pdTRUE;
\r
1088 mtCOVERAGE_TEST_MARKER();
\r
1092 /* Update the wake time ready for the next call. */
\r
1093 *pxPreviousWakeTime = xTimeToWake;
\r
1095 if( xShouldDelay != pdFALSE )
\r
1097 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1099 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1100 the time to wake, so subtract the current tick count. */
\r
1101 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1105 mtCOVERAGE_TEST_MARKER();
\r
1108 xAlreadyYielded = xTaskResumeAll();
\r
1110 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1111 have put ourselves to sleep. */
\r
1112 if( xAlreadyYielded == pdFALSE )
\r
1114 portYIELD_WITHIN_API();
\r
1118 mtCOVERAGE_TEST_MARKER();
\r
1122 #endif /* INCLUDE_vTaskDelayUntil */
\r
1123 /*-----------------------------------------------------------*/
\r
1125 #if ( INCLUDE_vTaskDelay == 1 )
\r
1127 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1129 BaseType_t xAlreadyYielded = pdFALSE;
\r
1131 /* A delay time of zero just forces a reschedule. */
\r
1132 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1134 configASSERT( uxSchedulerSuspended == 0 );
\r
1135 vTaskSuspendAll();
\r
1137 traceTASK_DELAY();
\r
1139 /* A task that is removed from the event list while the
\r
1140 scheduler is suspended will not get placed in the ready
\r
1141 list or removed from the blocked list until the scheduler
\r
1144 This task cannot be in an event list as it is the currently
\r
1145 executing task. */
\r
1146 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1148 xAlreadyYielded = xTaskResumeAll();
\r
1152 mtCOVERAGE_TEST_MARKER();
\r
1155 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1156 have put ourselves to sleep. */
\r
1157 if( xAlreadyYielded == pdFALSE )
\r
1159 portYIELD_WITHIN_API();
\r
1163 mtCOVERAGE_TEST_MARKER();
\r
1167 #endif /* INCLUDE_vTaskDelay */
\r
1168 /*-----------------------------------------------------------*/
\r
1170 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
\r
1172 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1174 eTaskState eReturn;
\r
1175 List_t *pxStateList;
\r
1176 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1178 configASSERT( pxTCB );
\r
1180 if( pxTCB == pxCurrentTCB )
\r
1182 /* The task calling this function is querying its own state. */
\r
1183 eReturn = eRunning;
\r
1187 taskENTER_CRITICAL();
\r
1189 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1191 taskEXIT_CRITICAL();
\r
1193 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1195 /* The task being queried is referenced from one of the Blocked
\r
1197 eReturn = eBlocked;
\r
1200 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1201 else if( pxStateList == &xSuspendedTaskList )
\r
1203 /* The task being queried is referenced from the suspended
\r
1204 list. Is it genuinely suspended or is it block
\r
1206 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1208 eReturn = eSuspended;
\r
1212 eReturn = eBlocked;
\r
1217 #if ( INCLUDE_vTaskDelete == 1 )
\r
1218 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1220 /* The task being queried is referenced from the deleted
\r
1221 tasks list, or it is not referenced from any lists at
\r
1223 eReturn = eDeleted;
\r
1227 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1229 /* If the task is not in any other state, it must be in the
\r
1230 Ready (including pending ready) state. */
\r
1236 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1238 #endif /* INCLUDE_eTaskGetState */
\r
1239 /*-----------------------------------------------------------*/
\r
1241 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1243 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1246 UBaseType_t uxReturn;
\r
1248 taskENTER_CRITICAL();
\r
1250 /* If null is passed in here then it is the priority of the that
\r
1251 called uxTaskPriorityGet() that is being queried. */
\r
1252 pxTCB = prvGetTCBFromHandle( xTask );
\r
1253 uxReturn = pxTCB->uxPriority;
\r
1255 taskEXIT_CRITICAL();
\r
1260 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1261 /*-----------------------------------------------------------*/
\r
1263 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1265 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1268 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1270 /* RTOS ports that support interrupt nesting have the concept of a
\r
1271 maximum system call (or maximum API call) interrupt priority.
\r
1272 Interrupts that are above the maximum system call priority are keep
\r
1273 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1274 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1275 is defined in FreeRTOSConfig.h then
\r
1276 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1277 failure if a FreeRTOS API function is called from an interrupt that has
\r
1278 been assigned a priority above the configured maximum system call
\r
1279 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1280 from interrupts that have been assigned a priority at or (logically)
\r
1281 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1282 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1283 simple as possible. More information (albeit Cortex-M specific) is
\r
1284 provided on the following link:
\r
1285 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1286 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1288 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1290 /* If null is passed in here then it is the priority of the calling
\r
1291 task that is being queried. */
\r
1292 pxTCB = prvGetTCBFromHandle( xTask );
\r
1293 uxReturn = pxTCB->uxPriority;
\r
1295 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1300 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1301 /*-----------------------------------------------------------*/
\r
1303 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1305 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1308 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1309 BaseType_t xYieldRequired = pdFALSE;
\r
1311 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1313 /* Ensure the new priority is valid. */
\r
1314 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1316 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1323 taskENTER_CRITICAL();
\r
1325 /* If null is passed in here then it is the priority of the calling
\r
1326 task that is being changed. */
\r
1327 pxTCB = prvGetTCBFromHandle( xTask );
\r
1329 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1331 #if ( configUSE_MUTEXES == 1 )
\r
1333 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1337 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1341 if( uxCurrentBasePriority != uxNewPriority )
\r
1343 /* The priority change may have readied a task of higher
\r
1344 priority than the calling task. */
\r
1345 if( uxNewPriority > uxCurrentBasePriority )
\r
1347 if( pxTCB != pxCurrentTCB )
\r
1349 /* The priority of a task other than the currently
\r
1350 running task is being raised. Is the priority being
\r
1351 raised above that of the running task? */
\r
1352 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1354 xYieldRequired = pdTRUE;
\r
1358 mtCOVERAGE_TEST_MARKER();
\r
1363 /* The priority of the running task is being raised,
\r
1364 but the running task must already be the highest
\r
1365 priority task able to run so no yield is required. */
\r
1368 else if( pxTCB == pxCurrentTCB )
\r
1370 /* Setting the priority of the running task down means
\r
1371 there may now be another task of higher priority that
\r
1372 is ready to execute. */
\r
1373 xYieldRequired = pdTRUE;
\r
1377 /* Setting the priority of any other task down does not
\r
1378 require a yield as the running task must be above the
\r
1379 new priority of the task being modified. */
\r
1382 /* Remember the ready list the task might be referenced from
\r
1383 before its uxPriority member is changed so the
\r
1384 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1385 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1387 #if ( configUSE_MUTEXES == 1 )
\r
1389 /* Only change the priority being used if the task is not
\r
1390 currently using an inherited priority. */
\r
1391 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1393 pxTCB->uxPriority = uxNewPriority;
\r
1397 mtCOVERAGE_TEST_MARKER();
\r
1400 /* The base priority gets set whatever. */
\r
1401 pxTCB->uxBasePriority = uxNewPriority;
\r
1405 pxTCB->uxPriority = uxNewPriority;
\r
1409 /* Only reset the event list item value if the value is not
\r
1410 being used for anything else. */
\r
1411 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1413 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
1417 mtCOVERAGE_TEST_MARKER();
\r
1420 /* If the task is in the blocked or suspended list we need do
\r
1421 nothing more than change it's priority variable. However, if
\r
1422 the task is in a ready list it needs to be removed and placed
\r
1423 in the list appropriate to its new priority. */
\r
1424 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1426 /* The task is currently in its ready list - remove before adding
\r
1427 it to it's new ready list. As we are in a critical section we
\r
1428 can do this even if the scheduler is suspended. */
\r
1429 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1431 /* It is known that the task is in its ready list so
\r
1432 there is no need to check again and the port level
\r
1433 reset macro can be called directly. */
\r
1434 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1438 mtCOVERAGE_TEST_MARKER();
\r
1440 prvAddTaskToReadyList( pxTCB );
\r
1444 mtCOVERAGE_TEST_MARKER();
\r
1447 if( xYieldRequired != pdFALSE )
\r
1449 taskYIELD_IF_USING_PREEMPTION();
\r
1453 mtCOVERAGE_TEST_MARKER();
\r
1456 /* Remove compiler warning about unused variables when the port
\r
1457 optimised task selection is not being used. */
\r
1458 ( void ) uxPriorityUsedOnEntry;
\r
1461 taskEXIT_CRITICAL();
\r
1464 #endif /* INCLUDE_vTaskPrioritySet */
\r
1465 /*-----------------------------------------------------------*/
\r
1467 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1469 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1473 taskENTER_CRITICAL();
\r
1475 /* If null is passed in here then it is the running task that is
\r
1476 being suspended. */
\r
1477 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1479 traceTASK_SUSPEND( pxTCB );
\r
1481 /* Remove task from the ready/delayed list and place in the
\r
1482 suspended list. */
\r
1483 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1485 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1489 mtCOVERAGE_TEST_MARKER();
\r
1492 /* Is the task waiting on an event also? */
\r
1493 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1495 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1499 mtCOVERAGE_TEST_MARKER();
\r
1502 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1504 taskEXIT_CRITICAL();
\r
1506 if( xSchedulerRunning != pdFALSE )
\r
1508 /* Reset the next expected unblock time in case it referred to the
\r
1509 task that is now in the Suspended state. */
\r
1510 taskENTER_CRITICAL();
\r
1512 prvResetNextTaskUnblockTime();
\r
1514 taskEXIT_CRITICAL();
\r
1518 mtCOVERAGE_TEST_MARKER();
\r
1521 if( pxTCB == pxCurrentTCB )
\r
1523 if( xSchedulerRunning != pdFALSE )
\r
1525 /* The current task has just been suspended. */
\r
1526 configASSERT( uxSchedulerSuspended == 0 );
\r
1527 portYIELD_WITHIN_API();
\r
1531 /* The scheduler is not running, but the task that was pointed
\r
1532 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1533 must be adjusted to point to a different task. */
\r
1534 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1536 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1537 NULL so when the next task is created pxCurrentTCB will
\r
1538 be set to point to it no matter what its relative priority
\r
1540 pxCurrentTCB = NULL;
\r
1544 vTaskSwitchContext();
\r
1550 mtCOVERAGE_TEST_MARKER();
\r
1554 #endif /* INCLUDE_vTaskSuspend */
\r
1555 /*-----------------------------------------------------------*/
\r
1557 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1559 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1561 BaseType_t xReturn = pdFALSE;
\r
1562 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1564 /* Accesses xPendingReadyList so must be called from a critical
\r
1567 /* It does not make sense to check if the calling task is suspended. */
\r
1568 configASSERT( xTask );
\r
1570 /* Is the task being resumed actually in the suspended list? */
\r
1571 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1573 /* Has the task already been resumed from within an ISR? */
\r
1574 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1576 /* Is it in the suspended list because it is in the Suspended
\r
1577 state, or because is is blocked with no timeout? */
\r
1578 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1584 mtCOVERAGE_TEST_MARKER();
\r
1589 mtCOVERAGE_TEST_MARKER();
\r
1594 mtCOVERAGE_TEST_MARKER();
\r
1598 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1600 #endif /* INCLUDE_vTaskSuspend */
\r
1601 /*-----------------------------------------------------------*/
\r
1603 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1605 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1607 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1609 /* It does not make sense to resume the calling task. */
\r
1610 configASSERT( xTaskToResume );
\r
1612 /* The parameter cannot be NULL as it is impossible to resume the
\r
1613 currently executing task. */
\r
1614 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1616 taskENTER_CRITICAL();
\r
1618 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1620 traceTASK_RESUME( pxTCB );
\r
1622 /* As we are in a critical section we can access the ready
\r
1623 lists even if the scheduler is suspended. */
\r
1624 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1625 prvAddTaskToReadyList( pxTCB );
\r
1627 /* We may have just resumed a higher priority task. */
\r
1628 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1630 /* This yield may not cause the task just resumed to run,
\r
1631 but will leave the lists in the correct state for the
\r
1633 taskYIELD_IF_USING_PREEMPTION();
\r
1637 mtCOVERAGE_TEST_MARKER();
\r
1642 mtCOVERAGE_TEST_MARKER();
\r
1645 taskEXIT_CRITICAL();
\r
1649 mtCOVERAGE_TEST_MARKER();
\r
1653 #endif /* INCLUDE_vTaskSuspend */
\r
1655 /*-----------------------------------------------------------*/
\r
1657 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1659 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1661 BaseType_t xYieldRequired = pdFALSE;
\r
1662 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1663 UBaseType_t uxSavedInterruptStatus;
\r
1665 configASSERT( xTaskToResume );
\r
1667 /* RTOS ports that support interrupt nesting have the concept of a
\r
1668 maximum system call (or maximum API call) interrupt priority.
\r
1669 Interrupts that are above the maximum system call priority are keep
\r
1670 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1671 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1672 is defined in FreeRTOSConfig.h then
\r
1673 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1674 failure if a FreeRTOS API function is called from an interrupt that has
\r
1675 been assigned a priority above the configured maximum system call
\r
1676 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1677 from interrupts that have been assigned a priority at or (logically)
\r
1678 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1679 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1680 simple as possible. More information (albeit Cortex-M specific) is
\r
1681 provided on the following link:
\r
1682 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1683 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1685 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1687 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1689 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1691 /* Check the ready lists can be accessed. */
\r
1692 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1694 /* Ready lists can be accessed so move the task from the
\r
1695 suspended list to the ready list directly. */
\r
1696 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1698 xYieldRequired = pdTRUE;
\r
1702 mtCOVERAGE_TEST_MARKER();
\r
1705 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1706 prvAddTaskToReadyList( pxTCB );
\r
1710 /* The delayed or ready lists cannot be accessed so the task
\r
1711 is held in the pending ready list until the scheduler is
\r
1713 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1718 mtCOVERAGE_TEST_MARKER();
\r
1721 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1723 return xYieldRequired;
\r
1726 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1727 /*-----------------------------------------------------------*/
\r
1729 void vTaskStartScheduler( void )
\r
1731 BaseType_t xReturn;
\r
1733 /* Add the idle task at the lowest priority. */
\r
1734 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1736 StaticTask_t *pxIdleTaskTCBBuffer = NULL;
\r
1737 StackType_t *pxIdleTaskStackBuffer = NULL;
\r
1738 uint32_t ulIdleTaskStackSize;
\r
1740 /* The Idle task is created using user provided RAM - obtain the
\r
1741 address of the RAM then create the idle task. */
\r
1742 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1743 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, "IDLE", ulIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1745 if( xIdleTaskHandle != NULL )
\r
1756 /* The Idle task is being created using dynamically allocated RAM. */
\r
1757 xReturn = xTaskCreate( prvIdleTask, "IDLE", configMINIMAL_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1759 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
1761 #if ( configUSE_TIMERS == 1 )
\r
1763 if( xReturn == pdPASS )
\r
1765 xReturn = xTimerCreateTimerTask();
\r
1769 mtCOVERAGE_TEST_MARKER();
\r
1772 #endif /* configUSE_TIMERS */
\r
1774 if( xReturn == pdPASS )
\r
1776 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1777 before or during the call to xPortStartScheduler(). The stacks of
\r
1778 the created tasks contain a status word with interrupts switched on
\r
1779 so interrupts will automatically get re-enabled when the first task
\r
1781 portDISABLE_INTERRUPTS();
\r
1783 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1785 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1786 structure specific to the task that will run first. */
\r
1787 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1789 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1791 xNextTaskUnblockTime = portMAX_DELAY;
\r
1792 xSchedulerRunning = pdTRUE;
\r
1793 xTickCount = ( TickType_t ) 0U;
\r
1795 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1796 macro must be defined to configure the timer/counter used to generate
\r
1797 the run time counter time base. */
\r
1798 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1800 /* Setting up the timer tick is hardware specific and thus in the
\r
1801 portable interface. */
\r
1802 if( xPortStartScheduler() != pdFALSE )
\r
1804 /* Should not reach here as if the scheduler is running the
\r
1805 function will not return. */
\r
1809 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1814 /* This line will only be reached if the kernel could not be started,
\r
1815 because there was not enough FreeRTOS heap to create the idle task
\r
1816 or the timer task. */
\r
1817 configASSERT( xReturn );
\r
1820 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
1821 meaning xIdleTaskHandle is not used anywhere else. */
\r
1822 ( void ) xIdleTaskHandle;
\r
1824 /*-----------------------------------------------------------*/
\r
1826 void vTaskEndScheduler( void )
\r
1828 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1829 routine so the original ISRs can be restored if necessary. The port
\r
1830 layer must ensure interrupts enable bit is left in the correct state. */
\r
1831 portDISABLE_INTERRUPTS();
\r
1832 xSchedulerRunning = pdFALSE;
\r
1833 vPortEndScheduler();
\r
1835 /*----------------------------------------------------------*/
\r
1837 void vTaskSuspendAll( void )
\r
1839 /* A critical section is not required as the variable is of type
\r
1840 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1841 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1842 http://goo.gl/wu4acr */
\r
1843 ++uxSchedulerSuspended;
\r
1845 /*----------------------------------------------------------*/
\r
1847 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1849 static TickType_t prvGetExpectedIdleTime( void )
\r
1851 TickType_t xReturn;
\r
1852 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
1854 /* uxHigherPriorityReadyTasks takes care of the case where
\r
1855 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
1856 task that are in the Ready state, even though the idle task is
\r
1858 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
1860 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
1862 uxHigherPriorityReadyTasks = pdTRUE;
\r
1867 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
1869 /* When port optimised task selection is used the uxTopReadyPriority
\r
1870 variable is used as a bit map. If bits other than the least
\r
1871 significant bit are set then there are tasks that have a priority
\r
1872 above the idle priority that are in the Ready state. This takes
\r
1873 care of the case where the co-operative scheduler is in use. */
\r
1874 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
1876 uxHigherPriorityReadyTasks = pdTRUE;
\r
1881 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1885 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1887 /* There are other idle priority tasks in the ready state. If
\r
1888 time slicing is used then the very next tick interrupt must be
\r
1892 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
1894 /* There are tasks in the Ready state that have a priority above the
\r
1895 idle priority. This path can only be reached if
\r
1896 configUSE_PREEMPTION is 0. */
\r
1901 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1907 #endif /* configUSE_TICKLESS_IDLE */
\r
1908 /*----------------------------------------------------------*/
\r
1910 BaseType_t xTaskResumeAll( void )
\r
1912 TCB_t *pxTCB = NULL;
\r
1913 BaseType_t xAlreadyYielded = pdFALSE;
\r
1915 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1916 previous call to vTaskSuspendAll(). */
\r
1917 configASSERT( uxSchedulerSuspended );
\r
1919 /* It is possible that an ISR caused a task to be removed from an event
\r
1920 list while the scheduler was suspended. If this was the case then the
\r
1921 removed task will have been added to the xPendingReadyList. Once the
\r
1922 scheduler has been resumed it is safe to move all the pending ready
\r
1923 tasks from this list into their appropriate ready list. */
\r
1924 taskENTER_CRITICAL();
\r
1926 --uxSchedulerSuspended;
\r
1928 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1930 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1932 /* Move any readied tasks from the pending list into the
\r
1933 appropriate ready list. */
\r
1934 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1936 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1937 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1938 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1939 prvAddTaskToReadyList( pxTCB );
\r
1941 /* If the moved task has a priority higher than the current
\r
1942 task then a yield must be performed. */
\r
1943 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1945 xYieldPending = pdTRUE;
\r
1949 mtCOVERAGE_TEST_MARKER();
\r
1953 if( pxTCB != NULL )
\r
1955 /* A task was unblocked while the scheduler was suspended,
\r
1956 which may have prevented the next unblock time from being
\r
1957 re-calculated, in which case re-calculate it now. Mainly
\r
1958 important for low power tickless implementations, where
\r
1959 this can prevent an unnecessary exit from low power
\r
1961 prvResetNextTaskUnblockTime();
\r
1964 /* If any ticks occurred while the scheduler was suspended then
\r
1965 they should be processed now. This ensures the tick count does
\r
1966 not slip, and that any delayed tasks are resumed at the correct
\r
1969 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
\r
1971 if( uxPendedCounts > ( UBaseType_t ) 0U )
\r
1975 if( xTaskIncrementTick() != pdFALSE )
\r
1977 xYieldPending = pdTRUE;
\r
1981 mtCOVERAGE_TEST_MARKER();
\r
1984 } while( uxPendedCounts > ( UBaseType_t ) 0U );
\r
1986 uxPendedTicks = 0;
\r
1990 mtCOVERAGE_TEST_MARKER();
\r
1994 if( xYieldPending != pdFALSE )
\r
1996 #if( configUSE_PREEMPTION != 0 )
\r
1998 xAlreadyYielded = pdTRUE;
\r
2001 taskYIELD_IF_USING_PREEMPTION();
\r
2005 mtCOVERAGE_TEST_MARKER();
\r
2011 mtCOVERAGE_TEST_MARKER();
\r
2014 taskEXIT_CRITICAL();
\r
2016 return xAlreadyYielded;
\r
2018 /*-----------------------------------------------------------*/
\r
2020 TickType_t xTaskGetTickCount( void )
\r
2022 TickType_t xTicks;
\r
2024 /* Critical section required if running on a 16 bit processor. */
\r
2025 portTICK_TYPE_ENTER_CRITICAL();
\r
2027 xTicks = xTickCount;
\r
2029 portTICK_TYPE_EXIT_CRITICAL();
\r
2033 /*-----------------------------------------------------------*/
\r
2035 TickType_t xTaskGetTickCountFromISR( void )
\r
2037 TickType_t xReturn;
\r
2038 UBaseType_t uxSavedInterruptStatus;
\r
2040 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2041 system call (or maximum API call) interrupt priority. Interrupts that are
\r
2042 above the maximum system call priority are kept permanently enabled, even
\r
2043 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2044 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2045 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2046 failure if a FreeRTOS API function is called from an interrupt that has been
\r
2047 assigned a priority above the configured maximum system call priority.
\r
2048 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2049 that have been assigned a priority at or (logically) below the maximum
\r
2050 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2051 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2052 More information (albeit Cortex-M specific) is provided on the following
\r
2053 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
2054 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2056 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2058 xReturn = xTickCount;
\r
2060 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2064 /*-----------------------------------------------------------*/
\r
2066 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2068 /* A critical section is not required because the variables are of type
\r
2070 return uxCurrentNumberOfTasks;
\r
2072 /*-----------------------------------------------------------*/
\r
2074 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2078 /* If null is passed in here then the name of the calling task is being
\r
2080 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2081 configASSERT( pxTCB );
\r
2082 return &( pxTCB->pcTaskName[ 0 ] );
\r
2084 /*-----------------------------------------------------------*/
\r
2086 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2088 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
\r
2090 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
\r
2094 /* This function is called with the scheduler suspended. */
\r
2096 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2098 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2102 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2104 /* Check each character in the name looking for a match or
\r
2106 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2108 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2110 if( cNextChar != pcNameToQuery[ x ] )
\r
2112 /* Characters didn't match. */
\r
2115 else if( cNextChar == 0x00 )
\r
2117 /* Both strings terminated, a match must have been
\r
2119 pxReturn = pxNextTCB;
\r
2124 mtCOVERAGE_TEST_MARKER();
\r
2128 if( pxReturn != NULL )
\r
2130 /* The handle has been found. */
\r
2134 } while( pxNextTCB != pxFirstTCB );
\r
2138 mtCOVERAGE_TEST_MARKER();
\r
2144 #endif /* INCLUDE_xTaskGetHandle */
\r
2145 /*-----------------------------------------------------------*/
\r
2147 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2149 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2151 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2154 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2155 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2157 vTaskSuspendAll();
\r
2159 /* Search the ready lists. */
\r
2163 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2165 if( pxTCB != NULL )
\r
2167 /* Found the handle. */
\r
2171 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2173 /* Search the delayed lists. */
\r
2174 if( pxTCB == NULL )
\r
2176 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2179 if( pxTCB == NULL )
\r
2181 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2184 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2186 if( pxTCB == NULL )
\r
2188 /* Search the suspended list. */
\r
2189 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2194 #if( INCLUDE_vTaskDelete == 1 )
\r
2196 if( pxTCB == NULL )
\r
2198 /* Search the deleted list. */
\r
2199 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2204 ( void ) xTaskResumeAll();
\r
2206 return ( TaskHandle_t ) pxTCB;
\r
2209 #endif /* INCLUDE_xTaskGetHandle */
\r
2210 /*-----------------------------------------------------------*/
\r
2212 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2214 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
2216 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2218 vTaskSuspendAll();
\r
2220 /* Is there a space in the array for each task in the system? */
\r
2221 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2223 /* Fill in an TaskStatus_t structure with information on each
\r
2224 task in the Ready state. */
\r
2228 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2230 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2232 /* Fill in an TaskStatus_t structure with information on each
\r
2233 task in the Blocked state. */
\r
2234 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2235 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2237 #if( INCLUDE_vTaskDelete == 1 )
\r
2239 /* Fill in an TaskStatus_t structure with information on
\r
2240 each task that has been deleted but not yet cleaned up. */
\r
2241 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2245 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2247 /* Fill in an TaskStatus_t structure with information on
\r
2248 each task in the Suspended state. */
\r
2249 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2253 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
2255 if( pulTotalRunTime != NULL )
\r
2257 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2258 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2260 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2266 if( pulTotalRunTime != NULL )
\r
2268 *pulTotalRunTime = 0;
\r
2275 mtCOVERAGE_TEST_MARKER();
\r
2278 ( void ) xTaskResumeAll();
\r
2283 #endif /* configUSE_TRACE_FACILITY */
\r
2284 /*----------------------------------------------------------*/
\r
2286 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2288 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2290 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2291 started, then xIdleTaskHandle will be NULL. */
\r
2292 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2293 return xIdleTaskHandle;
\r
2296 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2297 /*----------------------------------------------------------*/
\r
2299 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2300 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2301 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2303 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2305 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2307 /* Correct the tick count value after a period during which the tick
\r
2308 was suppressed. Note this does *not* call the tick hook function for
\r
2309 each stepped tick. */
\r
2310 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2311 xTickCount += xTicksToJump;
\r
2312 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2315 #endif /* configUSE_TICKLESS_IDLE */
\r
2316 /*----------------------------------------------------------*/
\r
2318 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2320 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2322 TCB_t *pxTCB = ( TCB_t * ) xTask;
\r
2323 BaseType_t xReturn = pdFALSE;
\r
2325 configASSERT( pxTCB );
\r
2327 vTaskSuspendAll();
\r
2329 /* A task can only be prematurely removed from the Blocked state if
\r
2330 it is actually in the Blocked state. */
\r
2331 if( eTaskGetState( xTask ) == eBlocked )
\r
2333 /* Remove the reference to the task from the blocked list. An
\r
2334 interrupt won't touch the xStateListItem because the
\r
2335 scheduler is suspended. */
\r
2336 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2338 /* Is the task waiting on an event also? If so remove it from
\r
2339 the event list too. Interrupts can touch the event list item,
\r
2340 even though the scheduler is suspended, so a critical section
\r
2342 taskENTER_CRITICAL();
\r
2344 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2346 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2347 pxTCB->ucDelayAborted = pdTRUE;
\r
2351 mtCOVERAGE_TEST_MARKER();
\r
2354 taskEXIT_CRITICAL();
\r
2356 /* Place the unblocked task into the appropriate ready list. */
\r
2357 prvAddTaskToReadyList( pxTCB );
\r
2359 /* A task being unblocked cannot cause an immediate context
\r
2360 switch if preemption is turned off. */
\r
2361 #if ( configUSE_PREEMPTION == 1 )
\r
2363 /* Preemption is on, but a context switch should only be
\r
2364 performed if the unblocked task has a priority that is
\r
2365 equal to or higher than the currently executing task. */
\r
2366 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2368 /* Pend the yield to be performed when the scheduler
\r
2369 is unsuspended. */
\r
2370 xYieldPending = pdTRUE;
\r
2374 mtCOVERAGE_TEST_MARKER();
\r
2377 #endif /* configUSE_PREEMPTION */
\r
2381 mtCOVERAGE_TEST_MARKER();
\r
2389 #endif /* INCLUDE_xTaskAbortDelay */
\r
2390 /*----------------------------------------------------------*/
\r
2392 BaseType_t xTaskIncrementTick( void )
\r
2395 TickType_t xItemValue;
\r
2396 BaseType_t xSwitchRequired = pdFALSE;
\r
2398 /* Called by the portable layer each time a tick interrupt occurs.
\r
2399 Increments the tick then checks to see if the new tick value will cause any
\r
2400 tasks to be unblocked. */
\r
2401 traceTASK_INCREMENT_TICK( xTickCount );
\r
2402 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2404 /* Minor optimisation. The tick count cannot change in this
\r
2406 const TickType_t xConstTickCount = xTickCount + 1;
\r
2408 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2409 delayed lists if it wraps to 0. */
\r
2410 xTickCount = xConstTickCount;
\r
2412 if( xConstTickCount == ( TickType_t ) 0U )
\r
2414 taskSWITCH_DELAYED_LISTS();
\r
2418 mtCOVERAGE_TEST_MARKER();
\r
2421 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2422 the queue in the order of their wake time - meaning once one task
\r
2423 has been found whose block time has not expired there is no need to
\r
2424 look any further down the list. */
\r
2425 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2429 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2431 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2432 to the maximum possible value so it is extremely
\r
2434 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2435 next time through. */
\r
2436 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2441 /* The delayed list is not empty, get the value of the
\r
2442 item at the head of the delayed list. This is the time
\r
2443 at which the task at the head of the delayed list must
\r
2444 be removed from the Blocked state. */
\r
2445 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2446 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2448 if( xConstTickCount < xItemValue )
\r
2450 /* It is not time to unblock this item yet, but the
\r
2451 item value is the time at which the task at the head
\r
2452 of the blocked list must be removed from the Blocked
\r
2453 state - so record the item value in
\r
2454 xNextTaskUnblockTime. */
\r
2455 xNextTaskUnblockTime = xItemValue;
\r
2460 mtCOVERAGE_TEST_MARKER();
\r
2463 /* It is time to remove the item from the Blocked state. */
\r
2464 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2466 /* Is the task waiting on an event also? If so remove
\r
2467 it from the event list. */
\r
2468 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2470 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2474 mtCOVERAGE_TEST_MARKER();
\r
2477 /* Place the unblocked task into the appropriate ready
\r
2479 prvAddTaskToReadyList( pxTCB );
\r
2481 /* A task being unblocked cannot cause an immediate
\r
2482 context switch if preemption is turned off. */
\r
2483 #if ( configUSE_PREEMPTION == 1 )
\r
2485 /* Preemption is on, but a context switch should
\r
2486 only be performed if the unblocked task has a
\r
2487 priority that is equal to or higher than the
\r
2488 currently executing task. */
\r
2489 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2491 xSwitchRequired = pdTRUE;
\r
2495 mtCOVERAGE_TEST_MARKER();
\r
2498 #endif /* configUSE_PREEMPTION */
\r
2503 /* Tasks of equal priority to the currently running task will share
\r
2504 processing time (time slice) if preemption is on, and the application
\r
2505 writer has not explicitly turned time slicing off. */
\r
2506 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2508 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2510 xSwitchRequired = pdTRUE;
\r
2514 mtCOVERAGE_TEST_MARKER();
\r
2517 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2519 #if ( configUSE_TICK_HOOK == 1 )
\r
2521 /* Guard against the tick hook being called when the pended tick
\r
2522 count is being unwound (when the scheduler is being unlocked). */
\r
2523 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2525 vApplicationTickHook();
\r
2529 mtCOVERAGE_TEST_MARKER();
\r
2532 #endif /* configUSE_TICK_HOOK */
\r
2538 /* The tick hook gets called at regular intervals, even if the
\r
2539 scheduler is locked. */
\r
2540 #if ( configUSE_TICK_HOOK == 1 )
\r
2542 vApplicationTickHook();
\r
2547 #if ( configUSE_PREEMPTION == 1 )
\r
2549 if( xYieldPending != pdFALSE )
\r
2551 xSwitchRequired = pdTRUE;
\r
2555 mtCOVERAGE_TEST_MARKER();
\r
2558 #endif /* configUSE_PREEMPTION */
\r
2560 return xSwitchRequired;
\r
2562 /*-----------------------------------------------------------*/
\r
2564 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2566 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2570 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2572 if( xTask == NULL )
\r
2574 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2578 xTCB = ( TCB_t * ) xTask;
\r
2581 /* Save the hook function in the TCB. A critical section is required as
\r
2582 the value can be accessed from an interrupt. */
\r
2583 taskENTER_CRITICAL();
\r
2584 xTCB->pxTaskTag = pxHookFunction;
\r
2585 taskEXIT_CRITICAL();
\r
2588 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2589 /*-----------------------------------------------------------*/
\r
2591 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2593 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2596 TaskHookFunction_t xReturn;
\r
2598 /* If xTask is NULL then we are setting our own task hook. */
\r
2599 if( xTask == NULL )
\r
2601 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2605 xTCB = ( TCB_t * ) xTask;
\r
2608 /* Save the hook function in the TCB. A critical section is required as
\r
2609 the value can be accessed from an interrupt. */
\r
2610 taskENTER_CRITICAL();
\r
2612 xReturn = xTCB->pxTaskTag;
\r
2614 taskEXIT_CRITICAL();
\r
2619 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2620 /*-----------------------------------------------------------*/
\r
2622 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2624 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2627 BaseType_t xReturn;
\r
2629 /* If xTask is NULL then we are calling our own task hook. */
\r
2630 if( xTask == NULL )
\r
2632 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2636 xTCB = ( TCB_t * ) xTask;
\r
2639 if( xTCB->pxTaskTag != NULL )
\r
2641 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2651 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2652 /*-----------------------------------------------------------*/
\r
2654 void vTaskSwitchContext( void )
\r
2656 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2658 /* The scheduler is currently suspended - do not allow a context
\r
2660 xYieldPending = pdTRUE;
\r
2664 xYieldPending = pdFALSE;
\r
2665 traceTASK_SWITCHED_OUT();
\r
2667 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2669 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2670 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2672 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2675 /* Add the amount of time the task has been running to the
\r
2676 accumulated time so far. The time the task started running was
\r
2677 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2678 protection here so count values are only valid until the timer
\r
2679 overflows. The guard against negative values is to protect
\r
2680 against suspect run time stat counter implementations - which
\r
2681 are provided by the application, not the kernel. */
\r
2682 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2684 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2688 mtCOVERAGE_TEST_MARKER();
\r
2690 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2692 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2694 /* Check for stack overflow, if configured. */
\r
2695 taskCHECK_FOR_STACK_OVERFLOW();
\r
2697 /* Select a new task to run using either the generic C or port
\r
2698 optimised asm code. */
\r
2699 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2700 traceTASK_SWITCHED_IN();
\r
2702 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2704 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2705 structure specific to this task. */
\r
2706 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2708 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2711 /*-----------------------------------------------------------*/
\r
2713 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2715 configASSERT( pxEventList );
\r
2717 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2718 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2720 /* Place the event list item of the TCB in the appropriate event list.
\r
2721 This is placed in the list in priority order so the highest priority task
\r
2722 is the first to be woken by the event. The queue that contains the event
\r
2723 list is locked, preventing simultaneous access from interrupts. */
\r
2724 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2726 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2728 /*-----------------------------------------------------------*/
\r
2730 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2732 configASSERT( pxEventList );
\r
2734 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2735 the event groups implementation. */
\r
2736 configASSERT( uxSchedulerSuspended != 0 );
\r
2738 /* Store the item value in the event list item. It is safe to access the
\r
2739 event list item here as interrupts won't access the event list item of a
\r
2740 task that is not in the Blocked state. */
\r
2741 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2743 /* Place the event list item of the TCB at the end of the appropriate event
\r
2744 list. It is safe to access the event list here because it is part of an
\r
2745 event group implementation - and interrupts don't access event groups
\r
2746 directly (instead they access them indirectly by pending function calls to
\r
2747 the task level). */
\r
2748 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2750 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
2752 /*-----------------------------------------------------------*/
\r
2754 #if( configUSE_TIMERS == 1 )
\r
2756 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
\r
2758 configASSERT( pxEventList );
\r
2760 /* This function should not be called by application code hence the
\r
2761 'Restricted' in its name. It is not part of the public API. It is
\r
2762 designed for use by kernel code, and has special calling requirements -
\r
2763 it should be called with the scheduler suspended. */
\r
2766 /* Place the event list item of the TCB in the appropriate event list.
\r
2767 In this case it is assume that this is the only task that is going to
\r
2768 be waiting on this event list, so the faster vListInsertEnd() function
\r
2769 can be used in place of vListInsert. */
\r
2770 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2772 /* If the task should block indefinitely then set the block time to a
\r
2773 value that will be recognised as an indefinite delay inside the
\r
2774 prvAddCurrentTaskToDelayedList() function. */
\r
2775 if( xWaitIndefinitely != pdFALSE )
\r
2777 xTicksToWait = portMAX_DELAY;
\r
2780 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
2781 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
2784 #endif /* configUSE_TIMERS */
\r
2785 /*-----------------------------------------------------------*/
\r
2787 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2789 TCB_t *pxUnblockedTCB;
\r
2790 BaseType_t xReturn;
\r
2792 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2793 called from a critical section within an ISR. */
\r
2795 /* The event list is sorted in priority order, so the first in the list can
\r
2796 be removed as it is known to be the highest priority. Remove the TCB from
\r
2797 the delayed list, and add it to the ready list.
\r
2799 If an event is for a queue that is locked then this function will never
\r
2800 get called - the lock count on the queue will get modified instead. This
\r
2801 means exclusive access to the event list is guaranteed here.
\r
2803 This function assumes that a check has already been made to ensure that
\r
2804 pxEventList is not empty. */
\r
2805 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2806 configASSERT( pxUnblockedTCB );
\r
2807 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2809 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2811 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2812 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2816 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2817 pending until the scheduler is resumed. */
\r
2818 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2821 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2823 /* Return true if the task removed from the event list has a higher
\r
2824 priority than the calling task. This allows the calling task to know if
\r
2825 it should force a context switch now. */
\r
2828 /* Mark that a yield is pending in case the user is not using the
\r
2829 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2830 xYieldPending = pdTRUE;
\r
2834 xReturn = pdFALSE;
\r
2837 #if( configUSE_TICKLESS_IDLE != 0 )
\r
2839 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2840 might be set to the blocked task's time out time. If the task is
\r
2841 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2842 normally left unchanged, because it is automatically reset to a new
\r
2843 value when the tick count equals xNextTaskUnblockTime. However if
\r
2844 tickless idling is used it might be more important to enter sleep mode
\r
2845 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2846 ensure it is updated at the earliest possible time. */
\r
2847 prvResetNextTaskUnblockTime();
\r
2853 /*-----------------------------------------------------------*/
\r
2855 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2857 TCB_t *pxUnblockedTCB;
\r
2858 BaseType_t xReturn;
\r
2860 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2861 the event flags implementation. */
\r
2862 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2864 /* Store the new item value in the event list. */
\r
2865 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2867 /* Remove the event list form the event flag. Interrupts do not access
\r
2869 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2870 configASSERT( pxUnblockedTCB );
\r
2871 ( void ) uxListRemove( pxEventListItem );
\r
2873 /* Remove the task from the delayed list and add it to the ready list. The
\r
2874 scheduler is suspended so interrupts will not be accessing the ready
\r
2876 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
2877 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2879 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2881 /* Return true if the task removed from the event list has
\r
2882 a higher priority than the calling task. This allows
\r
2883 the calling task to know if it should force a context
\r
2887 /* Mark that a yield is pending in case the user is not using the
\r
2888 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2889 xYieldPending = pdTRUE;
\r
2893 xReturn = pdFALSE;
\r
2898 /*-----------------------------------------------------------*/
\r
2900 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2902 configASSERT( pxTimeOut );
\r
2903 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2904 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2906 /*-----------------------------------------------------------*/
\r
2908 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2910 BaseType_t xReturn;
\r
2912 configASSERT( pxTimeOut );
\r
2913 configASSERT( pxTicksToWait );
\r
2915 taskENTER_CRITICAL();
\r
2917 /* Minor optimisation. The tick count cannot change in this block. */
\r
2918 const TickType_t xConstTickCount = xTickCount;
\r
2920 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
2921 if( pxCurrentTCB->ucDelayAborted != pdFALSE )
\r
2923 /* The delay was aborted, which is not the same as a time out,
\r
2924 but has the same result. */
\r
2925 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
2931 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2932 if( *pxTicksToWait == portMAX_DELAY )
\r
2934 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
2935 specified is the maximum block time then the task should block
\r
2936 indefinitely, and therefore never time out. */
\r
2937 xReturn = pdFALSE;
\r
2942 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2944 /* The tick count is greater than the time at which
\r
2945 vTaskSetTimeout() was called, but has also overflowed since
\r
2946 vTaskSetTimeOut() was called. It must have wrapped all the way
\r
2947 around and gone past again. This passed since vTaskSetTimeout()
\r
2951 else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
2953 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2954 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2955 vTaskSetTimeOutState( pxTimeOut );
\r
2956 xReturn = pdFALSE;
\r
2963 taskEXIT_CRITICAL();
\r
2967 /*-----------------------------------------------------------*/
\r
2969 void vTaskMissedYield( void )
\r
2971 xYieldPending = pdTRUE;
\r
2973 /*-----------------------------------------------------------*/
\r
2975 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2977 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2979 UBaseType_t uxReturn;
\r
2982 if( xTask != NULL )
\r
2984 pxTCB = ( TCB_t * ) xTask;
\r
2985 uxReturn = pxTCB->uxTaskNumber;
\r
2995 #endif /* configUSE_TRACE_FACILITY */
\r
2996 /*-----------------------------------------------------------*/
\r
2998 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3000 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
3004 if( xTask != NULL )
\r
3006 pxTCB = ( TCB_t * ) xTask;
\r
3007 pxTCB->uxTaskNumber = uxHandle;
\r
3011 #endif /* configUSE_TRACE_FACILITY */
\r
3014 * -----------------------------------------------------------
\r
3016 * ----------------------------------------------------------
\r
3018 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3019 * language extensions. The equivalent prototype for this function is:
\r
3021 * void prvIdleTask( void *pvParameters );
\r
3024 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3026 /* Stop warnings. */
\r
3027 ( void ) pvParameters;
\r
3029 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3030 SCHEDULER IS STARTED. **/
\r
3034 /* See if any tasks have deleted themselves - if so then the idle task
\r
3035 is responsible for freeing the deleted task's TCB and stack. */
\r
3036 prvCheckTasksWaitingTermination();
\r
3038 #if ( configUSE_PREEMPTION == 0 )
\r
3040 /* If we are not using preemption we keep forcing a task switch to
\r
3041 see if any other task has become available. If we are using
\r
3042 preemption we don't need to do this as any task becoming available
\r
3043 will automatically get the processor anyway. */
\r
3046 #endif /* configUSE_PREEMPTION */
\r
3048 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3050 /* When using preemption tasks of equal priority will be
\r
3051 timesliced. If a task that is sharing the idle priority is ready
\r
3052 to run then the idle task should yield before the end of the
\r
3055 A critical region is not required here as we are just reading from
\r
3056 the list, and an occasional incorrect value will not matter. If
\r
3057 the ready list at the idle priority contains more than one task
\r
3058 then a task other than the idle task is ready to execute. */
\r
3059 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3065 mtCOVERAGE_TEST_MARKER();
\r
3068 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3070 #if ( configUSE_IDLE_HOOK == 1 )
\r
3072 extern void vApplicationIdleHook( void );
\r
3074 /* Call the user defined function from within the idle task. This
\r
3075 allows the application designer to add background functionality
\r
3076 without the overhead of a separate task.
\r
3077 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3078 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3079 vApplicationIdleHook();
\r
3081 #endif /* configUSE_IDLE_HOOK */
\r
3083 /* This conditional compilation should use inequality to 0, not equality
\r
3084 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3085 user defined low power mode implementations require
\r
3086 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3087 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3089 TickType_t xExpectedIdleTime;
\r
3091 /* It is not desirable to suspend then resume the scheduler on
\r
3092 each iteration of the idle task. Therefore, a preliminary
\r
3093 test of the expected idle time is performed without the
\r
3094 scheduler suspended. The result here is not necessarily
\r
3096 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3098 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3100 vTaskSuspendAll();
\r
3102 /* Now the scheduler is suspended, the expected idle
\r
3103 time can be sampled again, and this time its value can
\r
3105 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3106 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3108 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3110 traceLOW_POWER_IDLE_BEGIN();
\r
3111 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3112 traceLOW_POWER_IDLE_END();
\r
3116 mtCOVERAGE_TEST_MARKER();
\r
3119 ( void ) xTaskResumeAll();
\r
3123 mtCOVERAGE_TEST_MARKER();
\r
3126 #endif /* configUSE_TICKLESS_IDLE */
\r
3129 /*-----------------------------------------------------------*/
\r
3131 #if( configUSE_TICKLESS_IDLE != 0 )
\r
3133 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3135 /* The idle task exists in addition to the application tasks. */
\r
3136 const UBaseType_t uxNonApplicationTasks = 1;
\r
3137 eSleepModeStatus eReturn = eStandardSleep;
\r
3139 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3141 /* A task was made ready while the scheduler was suspended. */
\r
3142 eReturn = eAbortSleep;
\r
3144 else if( xYieldPending != pdFALSE )
\r
3146 /* A yield was pended while the scheduler was suspended. */
\r
3147 eReturn = eAbortSleep;
\r
3151 /* If all the tasks are in the suspended list (which might mean they
\r
3152 have an infinite block time rather than actually being suspended)
\r
3153 then it is safe to turn all clocks off and just wait for external
\r
3155 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3157 eReturn = eNoTasksWaitingTimeout;
\r
3161 mtCOVERAGE_TEST_MARKER();
\r
3168 #endif /* configUSE_TICKLESS_IDLE */
\r
3169 /*-----------------------------------------------------------*/
\r
3171 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3173 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
\r
3177 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3179 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3180 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3184 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3185 /*-----------------------------------------------------------*/
\r
3187 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3189 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
\r
3191 void *pvReturn = NULL;
\r
3194 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3196 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3197 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3207 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3208 /*-----------------------------------------------------------*/
\r
3210 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3212 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
3216 /* If null is passed in here then we are modifying the MPU settings of
\r
3217 the calling task. */
\r
3218 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3220 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3223 #endif /* portUSING_MPU_WRAPPERS */
\r
3224 /*-----------------------------------------------------------*/
\r
3226 static void prvInitialiseTaskLists( void )
\r
3228 UBaseType_t uxPriority;
\r
3230 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3232 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3235 vListInitialise( &xDelayedTaskList1 );
\r
3236 vListInitialise( &xDelayedTaskList2 );
\r
3237 vListInitialise( &xPendingReadyList );
\r
3239 #if ( INCLUDE_vTaskDelete == 1 )
\r
3241 vListInitialise( &xTasksWaitingTermination );
\r
3243 #endif /* INCLUDE_vTaskDelete */
\r
3245 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3247 vListInitialise( &xSuspendedTaskList );
\r
3249 #endif /* INCLUDE_vTaskSuspend */
\r
3251 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3253 pxDelayedTaskList = &xDelayedTaskList1;
\r
3254 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3256 /*-----------------------------------------------------------*/
\r
3258 static void prvCheckTasksWaitingTermination( void )
\r
3261 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3263 #if ( INCLUDE_vTaskDelete == 1 )
\r
3265 BaseType_t xListIsEmpty;
\r
3267 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
3268 too often in the idle task. */
\r
3269 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3271 vTaskSuspendAll();
\r
3273 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
3275 ( void ) xTaskResumeAll();
\r
3277 if( xListIsEmpty == pdFALSE )
\r
3281 taskENTER_CRITICAL();
\r
3283 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
3284 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3285 --uxCurrentNumberOfTasks;
\r
3286 --uxDeletedTasksWaitingCleanUp;
\r
3288 taskEXIT_CRITICAL();
\r
3290 prvDeleteTCB( pxTCB );
\r
3294 mtCOVERAGE_TEST_MARKER();
\r
3298 #endif /* INCLUDE_vTaskDelete */
\r
3300 /*-----------------------------------------------------------*/
\r
3302 #if( configUSE_TRACE_FACILITY == 1 )
\r
3304 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
\r
3308 /* xTask is NULL then get the state of the calling task. */
\r
3309 pxTCB = prvGetTCBFromHandle( xTask );
\r
3311 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3312 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
\r
3313 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3314 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3315 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3317 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3319 /* If the task is in the suspended list then there is a chance it is
\r
3320 actually just blocked indefinitely - so really it should be reported as
\r
3321 being in the Blocked state. */
\r
3322 if( pxTaskStatus->eCurrentState == eSuspended )
\r
3324 vTaskSuspendAll();
\r
3326 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3328 pxTaskStatus->eCurrentState = eBlocked;
\r
3334 #endif /* INCLUDE_vTaskSuspend */
\r
3336 #if ( configUSE_MUTEXES == 1 )
\r
3338 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3342 pxTaskStatus->uxBasePriority = 0;
\r
3346 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3348 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3352 pxTaskStatus->ulRunTimeCounter = 0;
\r
3356 /* Obtaining the task state is a little fiddly, so is only done if the value
\r
3357 of eState passed into this function is eInvalid - otherwise the state is
\r
3358 just set to whatever is passed in. */
\r
3359 if( eState != eInvalid )
\r
3361 pxTaskStatus->eCurrentState = eState;
\r
3365 pxTaskStatus->eCurrentState = eTaskGetState( xTask );
\r
3368 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3369 parameter is provided to allow it to be skipped. */
\r
3370 if( xGetFreeStackSpace != pdFALSE )
\r
3372 #if ( portSTACK_GROWTH > 0 )
\r
3374 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3378 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3384 pxTaskStatus->usStackHighWaterMark = 0;
\r
3388 #endif /* configUSE_TRACE_FACILITY */
\r
3389 /*-----------------------------------------------------------*/
\r
3391 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3393 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3395 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3396 UBaseType_t uxTask = 0;
\r
3398 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3400 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3402 /* Populate an TaskStatus_t structure within the
\r
3403 pxTaskStatusArray array for each task that is referenced from
\r
3404 pxList. See the definition of TaskStatus_t in task.h for the
\r
3405 meaning of each TaskStatus_t structure member. */
\r
3408 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3409 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3411 } while( pxNextTCB != pxFirstTCB );
\r
3415 mtCOVERAGE_TEST_MARKER();
\r
3421 #endif /* configUSE_TRACE_FACILITY */
\r
3422 /*-----------------------------------------------------------*/
\r
3424 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3426 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3428 uint32_t ulCount = 0U;
\r
3430 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3432 pucStackByte -= portSTACK_GROWTH;
\r
3436 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3438 return ( uint16_t ) ulCount;
\r
3441 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3442 /*-----------------------------------------------------------*/
\r
3444 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3446 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3449 uint8_t *pucEndOfStack;
\r
3450 UBaseType_t uxReturn;
\r
3452 pxTCB = prvGetTCBFromHandle( xTask );
\r
3454 #if portSTACK_GROWTH < 0
\r
3456 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3460 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3464 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3469 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3470 /*-----------------------------------------------------------*/
\r
3472 #if ( INCLUDE_vTaskDelete == 1 )
\r
3474 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3476 /* This call is required specifically for the TriCore port. It must be
\r
3477 above the vPortFree() calls. The call is also used by ports/demos that
\r
3478 want to allocate and clean RAM statically. */
\r
3479 portCLEAN_UP_TCB( pxTCB );
\r
3481 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3482 to the task to free any memory allocated at the application level. */
\r
3483 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3485 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3487 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3489 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
\r
3491 /* The task can only have been allocated dynamically - free it
\r
3493 vPortFree( pxTCB->pxStack );
\r
3494 vPortFree( pxTCB );
\r
3496 #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
3498 /* The task could have been allocated statically or dynamically, so
\r
3499 check before attempting to free the memory. */
\r
3500 if( pxTCB->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
\r
3502 vPortFree( pxTCB->pxStack );
\r
3503 vPortFree( pxTCB );
\r
3507 mtCOVERAGE_TEST_MARKER();
\r
3510 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3513 #endif /* INCLUDE_vTaskDelete */
\r
3514 /*-----------------------------------------------------------*/
\r
3516 static void prvResetNextTaskUnblockTime( void )
\r
3520 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3522 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3523 the maximum possible value so it is extremely unlikely that the
\r
3524 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3525 there is an item in the delayed list. */
\r
3526 xNextTaskUnblockTime = portMAX_DELAY;
\r
3530 /* The new current delayed list is not empty, get the value of
\r
3531 the item at the head of the delayed list. This is the time at
\r
3532 which the task at the head of the delayed list should be removed
\r
3533 from the Blocked state. */
\r
3534 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3535 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
\r
3538 /*-----------------------------------------------------------*/
\r
3540 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3542 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3544 TaskHandle_t xReturn;
\r
3546 /* A critical section is not required as this is not called from
\r
3547 an interrupt and the current TCB will always be the same for any
\r
3548 individual execution thread. */
\r
3549 xReturn = pxCurrentTCB;
\r
3554 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3555 /*-----------------------------------------------------------*/
\r
3557 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3559 BaseType_t xTaskGetSchedulerState( void )
\r
3561 BaseType_t xReturn;
\r
3563 if( xSchedulerRunning == pdFALSE )
\r
3565 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3569 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3571 xReturn = taskSCHEDULER_RUNNING;
\r
3575 xReturn = taskSCHEDULER_SUSPENDED;
\r
3582 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3583 /*-----------------------------------------------------------*/
\r
3585 #if ( configUSE_MUTEXES == 1 )
\r
3587 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3589 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3591 /* If the mutex was given back by an interrupt while the queue was
\r
3592 locked then the mutex holder might now be NULL. */
\r
3593 if( pxMutexHolder != NULL )
\r
3595 /* If the holder of the mutex has a priority below the priority of
\r
3596 the task attempting to obtain the mutex then it will temporarily
\r
3597 inherit the priority of the task attempting to obtain the mutex. */
\r
3598 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3600 /* Adjust the mutex holder state to account for its new
\r
3601 priority. Only reset the event list item value if the value is
\r
3602 not being used for anything else. */
\r
3603 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3605 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3609 mtCOVERAGE_TEST_MARKER();
\r
3612 /* If the task being modified is in the ready state it will need
\r
3613 to be moved into a new list. */
\r
3614 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
3616 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3618 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3622 mtCOVERAGE_TEST_MARKER();
\r
3625 /* Inherit the priority before being moved into the new list. */
\r
3626 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3627 prvAddTaskToReadyList( pxTCB );
\r
3631 /* Just inherit the priority. */
\r
3632 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3635 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3639 mtCOVERAGE_TEST_MARKER();
\r
3644 mtCOVERAGE_TEST_MARKER();
\r
3648 #endif /* configUSE_MUTEXES */
\r
3649 /*-----------------------------------------------------------*/
\r
3651 #if ( configUSE_MUTEXES == 1 )
\r
3653 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3655 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3656 BaseType_t xReturn = pdFALSE;
\r
3658 if( pxMutexHolder != NULL )
\r
3660 /* A task can only have an inherited priority if it holds the mutex.
\r
3661 If the mutex is held by a task then it cannot be given from an
\r
3662 interrupt, and if a mutex is given by the holding task then it must
\r
3663 be the running state task. */
\r
3664 configASSERT( pxTCB == pxCurrentTCB );
\r
3666 configASSERT( pxTCB->uxMutexesHeld );
\r
3667 ( pxTCB->uxMutexesHeld )--;
\r
3669 /* Has the holder of the mutex inherited the priority of another
\r
3671 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3673 /* Only disinherit if no other mutexes are held. */
\r
3674 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3676 /* A task can only have an inherited priority if it holds
\r
3677 the mutex. If the mutex is held by a task then it cannot be
\r
3678 given from an interrupt, and if a mutex is given by the
\r
3679 holding task then it must be the running state task. Remove
\r
3680 the holding task from the ready list. */
\r
3681 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
3683 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3687 mtCOVERAGE_TEST_MARKER();
\r
3690 /* Disinherit the priority before adding the task into the
\r
3691 new ready list. */
\r
3692 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3693 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3695 /* Reset the event list item value. It cannot be in use for
\r
3696 any other purpose if this task is running, and it must be
\r
3697 running to give back the mutex. */
\r
3698 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
3699 prvAddTaskToReadyList( pxTCB );
\r
3701 /* Return true to indicate that a context switch is required.
\r
3702 This is only actually required in the corner case whereby
\r
3703 multiple mutexes were held and the mutexes were given back
\r
3704 in an order different to that in which they were taken.
\r
3705 If a context switch did not occur when the first mutex was
\r
3706 returned, even if a task was waiting on it, then a context
\r
3707 switch should occur when the last mutex is returned whether
\r
3708 a task is waiting on it or not. */
\r
3713 mtCOVERAGE_TEST_MARKER();
\r
3718 mtCOVERAGE_TEST_MARKER();
\r
3723 mtCOVERAGE_TEST_MARKER();
\r
3729 #endif /* configUSE_MUTEXES */
\r
3730 /*-----------------------------------------------------------*/
\r
3732 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3734 void vTaskEnterCritical( void )
\r
3736 portDISABLE_INTERRUPTS();
\r
3738 if( xSchedulerRunning != pdFALSE )
\r
3740 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3742 /* This is not the interrupt safe version of the enter critical
\r
3743 function so assert() if it is being called from an interrupt
\r
3744 context. Only API functions that end in "FromISR" can be used in an
\r
3745 interrupt. Only assert if the critical nesting count is 1 to
\r
3746 protect against recursive calls if the assert function also uses a
\r
3747 critical section. */
\r
3748 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3750 portASSERT_IF_IN_ISR();
\r
3755 mtCOVERAGE_TEST_MARKER();
\r
3759 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3760 /*-----------------------------------------------------------*/
\r
3762 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3764 void vTaskExitCritical( void )
\r
3766 if( xSchedulerRunning != pdFALSE )
\r
3768 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3770 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3772 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3774 portENABLE_INTERRUPTS();
\r
3778 mtCOVERAGE_TEST_MARKER();
\r
3783 mtCOVERAGE_TEST_MARKER();
\r
3788 mtCOVERAGE_TEST_MARKER();
\r
3792 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3793 /*-----------------------------------------------------------*/
\r
3795 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3797 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3801 /* Start by copying the entire string. */
\r
3802 strcpy( pcBuffer, pcTaskName );
\r
3804 /* Pad the end of the string with spaces to ensure columns line up when
\r
3806 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3808 pcBuffer[ x ] = ' ';
\r
3812 pcBuffer[ x ] = 0x00;
\r
3814 /* Return the new end of string. */
\r
3815 return &( pcBuffer[ x ] );
\r
3818 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3819 /*-----------------------------------------------------------*/
\r
3821 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3823 void vTaskList( char * pcWriteBuffer )
\r
3825 TaskStatus_t *pxTaskStatusArray;
\r
3826 volatile UBaseType_t uxArraySize, x;
\r
3832 * This function is provided for convenience only, and is used by many
\r
3833 * of the demo applications. Do not consider it to be part of the
\r
3836 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3837 * uxTaskGetSystemState() output into a human readable table that
\r
3838 * displays task names, states and stack usage.
\r
3840 * vTaskList() has a dependency on the sprintf() C library function that
\r
3841 * might bloat the code size, use a lot of stack, and provide different
\r
3842 * results on different platforms. An alternative, tiny, third party,
\r
3843 * and limited functionality implementation of sprintf() is provided in
\r
3844 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3845 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3846 * snprintf() implementation!).
\r
3848 * It is recommended that production systems call uxTaskGetSystemState()
\r
3849 * directly to get access to raw stats data, rather than indirectly
\r
3850 * through a call to vTaskList().
\r
3854 /* Make sure the write buffer does not contain a string. */
\r
3855 *pcWriteBuffer = 0x00;
\r
3857 /* Take a snapshot of the number of tasks in case it changes while this
\r
3858 function is executing. */
\r
3859 uxArraySize = uxCurrentNumberOfTasks;
\r
3861 /* Allocate an array index for each task. NOTE! if
\r
3862 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
3863 equate to NULL. */
\r
3864 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3866 if( pxTaskStatusArray != NULL )
\r
3868 /* Generate the (binary) data. */
\r
3869 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3871 /* Create a human readable table from the binary data. */
\r
3872 for( x = 0; x < uxArraySize; x++ )
\r
3874 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3876 case eReady: cStatus = tskREADY_CHAR;
\r
3879 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3882 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3885 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3888 default: /* Should not get here, but it is included
\r
3889 to prevent static checking errors. */
\r
3894 /* Write the task name to the string, padding with spaces so it
\r
3895 can be printed in tabular form more easily. */
\r
3896 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3898 /* Write the rest of the string. */
\r
3899 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3900 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3903 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
3904 is 0 then vPortFree() will be #defined to nothing. */
\r
3905 vPortFree( pxTaskStatusArray );
\r
3909 mtCOVERAGE_TEST_MARKER();
\r
3913 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3914 /*----------------------------------------------------------*/
\r
3916 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3918 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3920 TaskStatus_t *pxTaskStatusArray;
\r
3921 volatile UBaseType_t uxArraySize, x;
\r
3922 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3924 #if( configUSE_TRACE_FACILITY != 1 )
\r
3926 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3933 * This function is provided for convenience only, and is used by many
\r
3934 * of the demo applications. Do not consider it to be part of the
\r
3937 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3938 * of the uxTaskGetSystemState() output into a human readable table that
\r
3939 * displays the amount of time each task has spent in the Running state
\r
3940 * in both absolute and percentage terms.
\r
3942 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3943 * function that might bloat the code size, use a lot of stack, and
\r
3944 * provide different results on different platforms. An alternative,
\r
3945 * tiny, third party, and limited functionality implementation of
\r
3946 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3947 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3948 * a full snprintf() implementation!).
\r
3950 * It is recommended that production systems call uxTaskGetSystemState()
\r
3951 * directly to get access to raw stats data, rather than indirectly
\r
3952 * through a call to vTaskGetRunTimeStats().
\r
3955 /* Make sure the write buffer does not contain a string. */
\r
3956 *pcWriteBuffer = 0x00;
\r
3958 /* Take a snapshot of the number of tasks in case it changes while this
\r
3959 function is executing. */
\r
3960 uxArraySize = uxCurrentNumberOfTasks;
\r
3962 /* Allocate an array index for each task. NOTE! If
\r
3963 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
3964 equate to NULL. */
\r
3965 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3967 if( pxTaskStatusArray != NULL )
\r
3969 /* Generate the (binary) data. */
\r
3970 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3972 /* For percentage calculations. */
\r
3973 ulTotalTime /= 100UL;
\r
3975 /* Avoid divide by zero errors. */
\r
3976 if( ulTotalTime > 0 )
\r
3978 /* Create a human readable table from the binary data. */
\r
3979 for( x = 0; x < uxArraySize; x++ )
\r
3981 /* What percentage of the total run time has the task used?
\r
3982 This will always be rounded down to the nearest integer.
\r
3983 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3984 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3986 /* Write the task name to the string, padding with
\r
3987 spaces so it can be printed in tabular form more
\r
3989 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3991 if( ulStatsAsPercentage > 0UL )
\r
3993 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3995 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3999 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4000 printf() library can be used. */
\r
4001 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
4007 /* If the percentage is zero here then the task has
\r
4008 consumed less than 1% of the total run time. */
\r
4009 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4011 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4015 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4016 printf() library can be used. */
\r
4017 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4022 pcWriteBuffer += strlen( pcWriteBuffer );
\r
4027 mtCOVERAGE_TEST_MARKER();
\r
4030 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4031 is 0 then vPortFree() will be #defined to nothing. */
\r
4032 vPortFree( pxTaskStatusArray );
\r
4036 mtCOVERAGE_TEST_MARKER();
\r
4040 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
4041 /*-----------------------------------------------------------*/
\r
4043 TickType_t uxTaskResetEventItemValue( void )
\r
4045 TickType_t uxReturn;
\r
4047 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4049 /* Reset the event list item to its normal value - so it can be used with
\r
4050 queues and semaphores. */
\r
4051 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
4055 /*-----------------------------------------------------------*/
\r
4057 #if ( configUSE_MUTEXES == 1 )
\r
4059 void *pvTaskIncrementMutexHeldCount( void )
\r
4061 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4062 then pxCurrentTCB will be NULL. */
\r
4063 if( pxCurrentTCB != NULL )
\r
4065 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4068 return pxCurrentTCB;
\r
4071 #endif /* configUSE_MUTEXES */
\r
4072 /*-----------------------------------------------------------*/
\r
4074 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4076 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
4078 uint32_t ulReturn;
\r
4080 taskENTER_CRITICAL();
\r
4082 /* Only block if the notification count is not already non-zero. */
\r
4083 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
4085 /* Mark this task as waiting for a notification. */
\r
4086 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4088 if( xTicksToWait > ( TickType_t ) 0 )
\r
4090 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4091 traceTASK_NOTIFY_TAKE_BLOCK();
\r
4093 /* All ports are written to allow a yield in a critical
\r
4094 section (some will yield immediately, others wait until the
\r
4095 critical section exits) - but it is not something that
\r
4096 application code should ever do. */
\r
4097 portYIELD_WITHIN_API();
\r
4101 mtCOVERAGE_TEST_MARKER();
\r
4106 mtCOVERAGE_TEST_MARKER();
\r
4109 taskEXIT_CRITICAL();
\r
4111 taskENTER_CRITICAL();
\r
4113 traceTASK_NOTIFY_TAKE();
\r
4114 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
4116 if( ulReturn != 0UL )
\r
4118 if( xClearCountOnExit != pdFALSE )
\r
4120 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
4124 pxCurrentTCB->ulNotifiedValue = ulReturn - 1;
\r
4129 mtCOVERAGE_TEST_MARKER();
\r
4132 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4134 taskEXIT_CRITICAL();
\r
4139 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4140 /*-----------------------------------------------------------*/
\r
4142 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4144 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
4146 BaseType_t xReturn;
\r
4148 taskENTER_CRITICAL();
\r
4150 /* Only block if a notification is not already pending. */
\r
4151 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
\r
4153 /* Clear bits in the task's notification value as bits may get
\r
4154 set by the notifying task or interrupt. This can be used to
\r
4155 clear the value to zero. */
\r
4156 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
4158 /* Mark this task as waiting for a notification. */
\r
4159 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
\r
4161 if( xTicksToWait > ( TickType_t ) 0 )
\r
4163 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4164 traceTASK_NOTIFY_WAIT_BLOCK();
\r
4166 /* All ports are written to allow a yield in a critical
\r
4167 section (some will yield immediately, others wait until the
\r
4168 critical section exits) - but it is not something that
\r
4169 application code should ever do. */
\r
4170 portYIELD_WITHIN_API();
\r
4174 mtCOVERAGE_TEST_MARKER();
\r
4179 mtCOVERAGE_TEST_MARKER();
\r
4182 taskEXIT_CRITICAL();
\r
4184 taskENTER_CRITICAL();
\r
4186 traceTASK_NOTIFY_WAIT();
\r
4188 if( pulNotificationValue != NULL )
\r
4190 /* Output the current notification value, which may or may not
\r
4192 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4195 /* If ucNotifyValue is set then either the task never entered the
\r
4196 blocked state (because a notification was already pending) or the
\r
4197 task unblocked because of a notification. Otherwise the task
\r
4198 unblocked because of a timeout. */
\r
4199 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
\r
4201 /* A notification was not received. */
\r
4202 xReturn = pdFALSE;
\r
4206 /* A notification was already pending or a notification was
\r
4207 received while the task was waiting. */
\r
4208 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4212 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4214 taskEXIT_CRITICAL();
\r
4219 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4220 /*-----------------------------------------------------------*/
\r
4222 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4224 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
\r
4227 BaseType_t xReturn = pdPASS;
\r
4228 uint8_t ucOriginalNotifyState;
\r
4230 configASSERT( xTaskToNotify );
\r
4231 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4233 taskENTER_CRITICAL();
\r
4235 if( pulPreviousNotificationValue != NULL )
\r
4237 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4240 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4242 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4247 pxTCB->ulNotifiedValue |= ulValue;
\r
4251 ( pxTCB->ulNotifiedValue )++;
\r
4254 case eSetValueWithOverwrite :
\r
4255 pxTCB->ulNotifiedValue = ulValue;
\r
4258 case eSetValueWithoutOverwrite :
\r
4259 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4261 pxTCB->ulNotifiedValue = ulValue;
\r
4265 /* The value could not be written to the task. */
\r
4271 /* The task is being notified without its notify value being
\r
4276 traceTASK_NOTIFY();
\r
4278 /* If the task is in the blocked state specifically to wait for a
\r
4279 notification then unblock it now. */
\r
4280 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4282 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4283 prvAddTaskToReadyList( pxTCB );
\r
4285 /* The task should not have been on an event list. */
\r
4286 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4288 #if( configUSE_TICKLESS_IDLE != 0 )
\r
4290 /* If a task is blocked waiting for a notification then
\r
4291 xNextTaskUnblockTime might be set to the blocked task's time
\r
4292 out time. If the task is unblocked for a reason other than
\r
4293 a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4294 because it will automatically get reset to a new value when
\r
4295 the tick count equals xNextTaskUnblockTime. However if
\r
4296 tickless idling is used it might be more important to enter
\r
4297 sleep mode at the earliest possible time - so reset
\r
4298 xNextTaskUnblockTime here to ensure it is updated at the
\r
4299 earliest possible time. */
\r
4300 prvResetNextTaskUnblockTime();
\r
4304 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4306 /* The notified task has a priority above the currently
\r
4307 executing task so a yield is required. */
\r
4308 taskYIELD_IF_USING_PREEMPTION();
\r
4312 mtCOVERAGE_TEST_MARKER();
\r
4317 mtCOVERAGE_TEST_MARKER();
\r
4320 taskEXIT_CRITICAL();
\r
4325 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4326 /*-----------------------------------------------------------*/
\r
4328 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4330 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
\r
4333 uint8_t ucOriginalNotifyState;
\r
4334 BaseType_t xReturn = pdPASS;
\r
4335 UBaseType_t uxSavedInterruptStatus;
\r
4337 configASSERT( xTaskToNotify );
\r
4339 /* RTOS ports that support interrupt nesting have the concept of a
\r
4340 maximum system call (or maximum API call) interrupt priority.
\r
4341 Interrupts that are above the maximum system call priority are keep
\r
4342 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4343 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4344 is defined in FreeRTOSConfig.h then
\r
4345 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4346 failure if a FreeRTOS API function is called from an interrupt that has
\r
4347 been assigned a priority above the configured maximum system call
\r
4348 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4349 from interrupts that have been assigned a priority at or (logically)
\r
4350 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4351 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4352 simple as possible. More information (albeit Cortex-M specific) is
\r
4353 provided on the following link:
\r
4354 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4355 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4357 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4359 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4361 if( pulPreviousNotificationValue != NULL )
\r
4363 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
\r
4366 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4367 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4372 pxTCB->ulNotifiedValue |= ulValue;
\r
4376 ( pxTCB->ulNotifiedValue )++;
\r
4379 case eSetValueWithOverwrite :
\r
4380 pxTCB->ulNotifiedValue = ulValue;
\r
4383 case eSetValueWithoutOverwrite :
\r
4384 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4386 pxTCB->ulNotifiedValue = ulValue;
\r
4390 /* The value could not be written to the task. */
\r
4396 /* The task is being notified without its notify value being
\r
4401 traceTASK_NOTIFY_FROM_ISR();
\r
4403 /* If the task is in the blocked state specifically to wait for a
\r
4404 notification then unblock it now. */
\r
4405 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4407 /* The task should not have been on an event list. */
\r
4408 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4410 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4412 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4413 prvAddTaskToReadyList( pxTCB );
\r
4417 /* The delayed and ready lists cannot be accessed, so hold
\r
4418 this task pending until the scheduler is resumed. */
\r
4419 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4422 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4424 /* The notified task has a priority above the currently
\r
4425 executing task so a yield is required. */
\r
4426 if( pxHigherPriorityTaskWoken != NULL )
\r
4428 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4432 /* Mark that a yield is pending in case the user is not
\r
4433 using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
4434 safe FreeRTOS function. */
\r
4435 xYieldPending = pdTRUE;
\r
4440 mtCOVERAGE_TEST_MARKER();
\r
4444 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4449 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4450 /*-----------------------------------------------------------*/
\r
4452 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4454 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4457 uint8_t ucOriginalNotifyState;
\r
4458 UBaseType_t uxSavedInterruptStatus;
\r
4460 configASSERT( xTaskToNotify );
\r
4462 /* RTOS ports that support interrupt nesting have the concept of a
\r
4463 maximum system call (or maximum API call) interrupt priority.
\r
4464 Interrupts that are above the maximum system call priority are keep
\r
4465 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4466 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4467 is defined in FreeRTOSConfig.h then
\r
4468 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4469 failure if a FreeRTOS API function is called from an interrupt that has
\r
4470 been assigned a priority above the configured maximum system call
\r
4471 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4472 from interrupts that have been assigned a priority at or (logically)
\r
4473 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4474 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4475 simple as possible. More information (albeit Cortex-M specific) is
\r
4476 provided on the following link:
\r
4477 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4478 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4480 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4482 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4484 ucOriginalNotifyState = pxTCB->ucNotifyState;
\r
4485 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
\r
4487 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4489 ( pxTCB->ulNotifiedValue )++;
\r
4491 traceTASK_NOTIFY_GIVE_FROM_ISR();
\r
4493 /* If the task is in the blocked state specifically to wait for a
\r
4494 notification then unblock it now. */
\r
4495 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4497 /* The task should not have been on an event list. */
\r
4498 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4500 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4502 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4503 prvAddTaskToReadyList( pxTCB );
\r
4507 /* The delayed and ready lists cannot be accessed, so hold
\r
4508 this task pending until the scheduler is resumed. */
\r
4509 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4512 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4514 /* The notified task has a priority above the currently
\r
4515 executing task so a yield is required. */
\r
4516 if( pxHigherPriorityTaskWoken != NULL )
\r
4518 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4522 /* Mark that a yield is pending in case the user is not
\r
4523 using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
4524 safe FreeRTOS function. */
\r
4525 xYieldPending = pdTRUE;
\r
4530 mtCOVERAGE_TEST_MARKER();
\r
4534 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4537 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4539 /*-----------------------------------------------------------*/
\r
4541 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4543 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
\r
4546 BaseType_t xReturn;
\r
4548 /* If null is passed in here then it is the calling task that is having
\r
4549 its notification state cleared. */
\r
4550 pxTCB = prvGetTCBFromHandle( xTask );
\r
4552 taskENTER_CRITICAL();
\r
4554 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
\r
4556 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
\r
4564 taskEXIT_CRITICAL();
\r
4569 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4570 /*-----------------------------------------------------------*/
\r
4573 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
\r
4575 TickType_t xTimeToWake;
\r
4576 const TickType_t xConstTickCount = xTickCount;
\r
4578 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
4580 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
4581 reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
4582 when the task leaves the Blocked state. */
\r
4583 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
4587 /* Remove the task from the ready list before adding it to the blocked list
\r
4588 as the same list item is used for both lists. */
\r
4589 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4591 /* The current task must be in a ready list, so there is no need to
\r
4592 check, and the port reset macro can be called directly. */
\r
4593 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
4597 mtCOVERAGE_TEST_MARKER();
\r
4600 #if ( INCLUDE_vTaskSuspend == 1 )
\r
4602 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
4604 /* Add the task to the suspended task list instead of a delayed task
\r
4605 list to ensure it is not woken by a timing event. It will block
\r
4607 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4611 /* Calculate the time at which the task should be woken if the event
\r
4612 does not occur. This may overflow but this doesn't matter, the
\r
4613 kernel will manage it correctly. */
\r
4614 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4616 /* The list item will be inserted in wake time order. */
\r
4617 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4619 if( xTimeToWake < xConstTickCount )
\r
4621 /* Wake time has overflowed. Place this item in the overflow
\r
4623 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4627 /* The wake time has not overflowed, so the current block list
\r
4629 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4631 /* If the task entering the blocked state was placed at the
\r
4632 head of the list of blocked tasks then xNextTaskUnblockTime
\r
4633 needs to be updated too. */
\r
4634 if( xTimeToWake < xNextTaskUnblockTime )
\r
4636 xNextTaskUnblockTime = xTimeToWake;
\r
4640 mtCOVERAGE_TEST_MARKER();
\r
4645 #else /* INCLUDE_vTaskSuspend */
\r
4647 /* Calculate the time at which the task should be woken if the event
\r
4648 does not occur. This may overflow but this doesn't matter, the kernel
\r
4649 will manage it correctly. */
\r
4650 xTimeToWake = xConstTickCount + xTicksToWait;
\r
4652 /* The list item will be inserted in wake time order. */
\r
4653 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
4655 if( xTimeToWake < xConstTickCount )
\r
4657 /* Wake time has overflowed. Place this item in the overflow list. */
\r
4658 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4662 /* The wake time has not overflowed, so the current block list is used. */
\r
4663 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
4665 /* If the task entering the blocked state was placed at the head of the
\r
4666 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
4668 if( xTimeToWake < xNextTaskUnblockTime )
\r
4670 xNextTaskUnblockTime = xTimeToWake;
\r
4674 mtCOVERAGE_TEST_MARKER();
\r
4678 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
4679 ( void ) xCanBlockIndefinitely;
\r
4681 #endif /* INCLUDE_vTaskSuspend */
\r
4685 #ifdef FREERTOS_MODULE_TEST
\r
4686 #include "tasks_test_access_functions.h"
\r
projects / freertos / blob