Add support for statically allocated memory protected tasks - previously only dynamic...

[freertos] / FreeRTOS / Source / tasks.c

diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c
index 8a296ba53d519f81b8d9024ba1dce1c5dcef54f8..1cdb016db6c83724e02104ab354666592624afaf 100644 (file)
--- a/FreeRTOS/Source/tasks.c
+++ b/FreeRTOS/Source/tasks.c
@@ -134,7 +134,7 @@ that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
 a statically allocated stack and a dynamically allocated TCB.\r
 !!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is\r
 changed then the definition of StaticTask_t must also be updated. */\r
-#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )\r
+#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE   ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )\r
 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB                 ( ( uint8_t ) 0 )\r
 #define tskSTATICALLY_ALLOCATED_STACK_ONLY                     ( ( uint8_t ) 1 )\r
 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB          ( ( uint8_t ) 2 )\r
@@ -667,7 +667,53 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
 #endif /* SUPPORT_STATIC_ALLOCATION */\r
 /*-----------------------------------------------------------*/\r
 \r
-#if( portUSING_MPU_WRAPPERS == 1 )\r
+#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )\r
+\r
+       BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )\r
+       {\r
+       TCB_t *pxNewTCB;\r
+       BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+\r
+               configASSERT( pxTaskDefinition->puxStackBuffer != NULL );\r
+               configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );\r
+\r
+               if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )\r
+               {\r
+                       /* Allocate space for the TCB.  Where the memory comes from depends\r
+                       on the implementation of the port malloc function and whether or\r
+                       not static allocation is being used. */\r
+                       pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;\r
+\r
+                       /* Store the stack location in the TCB. */\r
+                       pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;\r
+\r
+                       #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )\r
+                       {\r
+                               /* Tasks can be created statically or dynamically, so note this\r
+                               task was created statically in case the task is later deleted. */\r
+                               pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;\r
+                       }\r
+                       #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
+                       \r
+                       prvInitialiseNewTask(   pxTaskDefinition->pvTaskCode,\r
+                                                                       pxTaskDefinition->pcName,\r
+                                                                       ( uint32_t ) pxTaskDefinition->usStackDepth,\r
+                                                                       pxTaskDefinition->pvParameters,\r
+                                                                       pxTaskDefinition->uxPriority,\r
+                                                                       pxCreatedTask, pxNewTCB,\r
+                                                                       pxTaskDefinition->xRegions );\r
+\r
+                       prvAddNewTaskToReadyList( pxNewTCB );\r
+                       xReturn = pdPASS;\r
+               }\r
+\r
+               return xReturn;\r
+       }\r
+\r
+#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )\r
 \r
        BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )\r
        {\r
@@ -3987,7 +4033,7 @@ TCB_t *pxTCB;
 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */\r
 /*-----------------------------------------------------------*/\r
 \r
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )\r
 \r
        void vTaskList( char * pcWriteBuffer )\r
        {\r
@@ -4079,10 +4125,10 @@ TCB_t *pxTCB;
                }\r
        }\r
 \r
-#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */\r
 /*----------------------------------------------------------*/\r
 \r
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )\r
 \r
        void vTaskGetRunTimeStats( char *pcWriteBuffer )\r
        {\r
@@ -4206,7 +4252,7 @@ TCB_t *pxTCB;
                }\r
        }\r
 \r
-#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */\r
 /*-----------------------------------------------------------*/\r
 \r
 TickType_t uxTaskResetEventItemValue( void )\r