/*\r
- FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
-\r
- FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT \r
- http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
-\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS tutorial books are available in pdf and paperback. *\r
- * Complete, revised, and edited pdf reference manuals are also *\r
- * available. *\r
- * *\r
- * Purchasing FreeRTOS documentation will not only help you, by *\r
- * ensuring you get running as quickly as possible and with an *\r
- * in-depth knowledge of how to use FreeRTOS, it will also help *\r
- * the FreeRTOS project to continue with its mission of providing *\r
- * professional grade, cross platform, de facto standard solutions *\r
- * for microcontrollers - completely free of charge! *\r
- * *\r
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
- * *\r
- * Thank you for using FreeRTOS, and thank you for your support! *\r
- * *\r
- ***************************************************************************\r
+ FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.\r
+ All rights reserved\r
\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- >>>NOTE<<< The modification to the GPL is included to allow you to\r
- distribute a combined work that includes FreeRTOS without being obliged to\r
- provide the source code for proprietary components outside of the FreeRTOS\r
- kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
- WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
- or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
- more details. You should have received a copy of the GNU General Public\r
- License and the FreeRTOS license exception along with FreeRTOS; if not it\r
- can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
- by writing to Richard Barry, contact details for whom are available on the\r
- FreeRTOS WEB site.\r
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
+ link: http://www.freertos.org/a00114.html\r
\r
- 1 tab == 4 spaces!\r
- \r
***************************************************************************\r
* *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
* *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
* *\r
***************************************************************************\r
\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest versions, license \r
- and contact details. \r
- \r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
+\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool.\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
- the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
- the SafeRTOS brand: http://www.SafeRTOS.com.\r
+ 1 tab == 4 spaces!\r
*/\r
\r
/* Standard includes. */\r
-#include <stdio.h>\r
#include <stdlib.h>\r
#include <string.h>\r
\r
#include "timers.h"\r
#include "StackMacros.h"\r
\r
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the\r
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the\r
+header files above, but not in this file, in order to generate the correct\r
+privileged Vs unprivileged linkage and placement. */\r
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */\r
+\r
+/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting\r
+functions but without including stdio.h here. */\r
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )\r
+ /* At the bottom of this file are two optional functions that can be used\r
+ to generate human readable text from the raw data generated by the\r
+ uxTaskGetSystemState() function. Note the formatting functions are provided\r
+ for convenience only, and are NOT considered part of the kernel. */\r
+ #include <stdio.h>\r
+#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */\r
+\r
+/* Sanity check the configuration. */\r
+#if configUSE_TICKLESS_IDLE != 0\r
+ #if INCLUDE_vTaskSuspend != 1\r
+ #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+#endif /* configUSE_TICKLESS_IDLE */\r
\r
/*\r
* Defines the size, in words, of the stack allocated to the idle task.\r
*/\r
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE\r
\r
+#if( configUSE_PREEMPTION == 0 )\r
+ /* If the cooperative scheduler is being used then a yield should not be\r
+ performed just because a higher priority task has been woken. */\r
+ #define taskYIELD_IF_USING_PREEMPTION()\r
+#else\r
+ #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()\r
+#endif\r
+\r
+/* Value that can be assigned to the eNotifyState member of the TCB. */\r
+typedef enum\r
+{\r
+ eNotWaitingNotification = 0,\r
+ eWaitingNotification,\r
+ eNotified\r
+} eNotifyValue;\r
+\r
/*\r
* Task control block. A task control block (TCB) is allocated for each task,\r
* and stores task state information, including a pointer to the task's context\r
*/\r
typedef struct tskTaskControlBlock\r
{\r
- volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */\r
+ 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. */\r
\r
#if ( portUSING_MPU_WRAPPERS == 1 )\r
- xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */\r
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */\r
+ BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */\r
#endif\r
\r
- xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */\r
- xListItem xEventListItem; /*< Used to reference a task from an event list. */\r
- unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */\r
- portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */\r
- signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */\r
+ ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */\r
+ ListItem_t xEventListItem; /*< Used to reference a task from an event list. */\r
+ UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */\r
+ StackType_t *pxStack; /*< Points to the start of the stack. */\r
+ 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. */\r
\r
#if ( portSTACK_GROWTH > 0 )\r
- portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */\r
+ StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */\r
#endif\r
\r
#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
- unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */\r
+ UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */\r
#endif\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
- unsigned portBASE_TYPE 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. */\r
- unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */\r
+ 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. */\r
+ UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */\r
#endif\r
\r
#if ( configUSE_MUTEXES == 1 )\r
- unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
+ UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
+ UBaseType_t uxMutexesHeld;\r
#endif\r
\r
#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
- pdTASK_HOOK_CODE pxTaskTag;\r
+ TaskHookFunction_t pxTaskTag;\r
+ #endif\r
+\r
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )\r
+ void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];\r
#endif\r
\r
#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
- unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */\r
+ uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */\r
+ #endif\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ /* Allocate a Newlib reent structure that is specific to this task.\r
+ Note Newlib support has been included by popular demand, but is not\r
+ used by the FreeRTOS maintainers themselves. FreeRTOS is not\r
+ responsible for resulting newlib operation. User must be familiar with\r
+ newlib and must provide system-wide implementations of the necessary\r
+ stubs. Be warned that (at the time of writing) the current newlib design\r
+ implements a system-wide malloc() that must be provided with locks. */\r
+ struct _reent xNewLib_reent;\r
+ #endif\r
+\r
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
+ volatile uint32_t ulNotifiedValue;\r
+ volatile eNotifyValue eNotifyState;\r
#endif\r
\r
} tskTCB;\r
\r
+/* The old tskTCB name is maintained above then typedefed to the new TCB_t name\r
+below to enable the use of older kernel aware debuggers. */\r
+typedef tskTCB TCB_t;\r
\r
/*\r
* Some kernel aware debuggers require the data the debugger needs access to to\r
#define static\r
#endif\r
\r
-/*lint -e956 */\r
-PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;\r
+/*lint -e956 A manual analysis and inspection has been used to determine which\r
+static variables must be declared volatile. */\r
+\r
+PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;\r
\r
/* Lists for ready and blocked tasks. --------------------*/\r
-PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */\r
-PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */\r
-PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
-PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */\r
-PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */\r
-PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */\r
+PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */\r
+PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */\r
+PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
+PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */\r
+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. */\r
+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. */\r
\r
#if ( INCLUDE_vTaskDelete == 1 )\r
\r
- PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */\r
- PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;\r
+ PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */\r
+ PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;\r
\r
#endif\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
\r
- PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
+ PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
\r
#endif\r
\r
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
\r
- PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */\r
+ 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. */\r
\r
#endif\r
\r
-/* File private variables. --------------------------------*/\r
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;\r
-PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;\r
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;\r
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;\r
-PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;\r
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;\r
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;\r
-PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;\r
-PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;\r
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;\r
-PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;\r
+/* Other file private variables. --------------------------------*/\r
+PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;\r
+PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;\r
+PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;\r
+PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;\r
+PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;\r
+PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;\r
+\r
+/* Context switches are held pending while the scheduler is suspended. Also,\r
+interrupts must not manipulate the xGenericListItem of a TCB, or any of the\r
+lists the xGenericListItem can be referenced from, if the scheduler is suspended.\r
+If an interrupt needs to unblock a task while the scheduler is suspended then it\r
+moves the task's event list item into the xPendingReadyList, ready for the\r
+kernel to move the task from the pending ready list into the real ready list\r
+when the scheduler is unsuspended. The pending ready list itself can only be\r
+accessed from a critical section. */\r
+PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;\r
\r
#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
\r
- PRIVILEGED_DATA static char pcStatsString[ 50 ] ;\r
- PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */\r
- static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;\r
+ PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */\r
+ PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */\r
\r
#endif\r
\r
+/*lint +e956 */\r
+\r
/* Debugging and trace facilities private variables and macros. ------------*/\r
\r
/*\r
/*\r
* Macros used by vListTask to indicate which state a task is in.\r
*/\r
-#define tskBLOCKED_CHAR ( ( signed char ) 'B' )\r
-#define tskREADY_CHAR ( ( signed char ) 'R' )\r
-#define tskDELETED_CHAR ( ( signed char ) 'D' )\r
-#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )\r
+#define tskBLOCKED_CHAR ( 'B' )\r
+#define tskREADY_CHAR ( 'R' )\r
+#define tskDELETED_CHAR ( 'D' )\r
+#define tskSUSPENDED_CHAR ( 'S' )\r
\r
/*-----------------------------------------------------------*/\r
\r
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0\r
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
\r
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is\r
performed in a generic way that is not optimised to any particular\r
\r
/* uxTopReadyPriority holds the priority of the highest priority ready\r
state task. */\r
- #define taskRECORD_READY_PRIORITY( uxPriority ) \\r
- { \\r
- if( ( uxPriority ) > uxTopReadyPriority ) \\r
- { \\r
- uxTopReadyPriority = ( uxPriority ); \\r
- } \\r
+ #define taskRECORD_READY_PRIORITY( uxPriority ) \\r
+ { \\r
+ if( ( uxPriority ) > uxTopReadyPriority ) \\r
+ { \\r
+ uxTopReadyPriority = ( uxPriority ); \\r
+ } \\r
} /* taskRECORD_READY_PRIORITY */\r
\r
/*-----------------------------------------------------------*/\r
\r
- #define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
- { \\r
- /* Find the highest priority queue that contains ready tasks. */ \\r
- while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \\r
- { \\r
- configASSERT( uxTopReadyPriority ); \\r
- --uxTopReadyPriority; \\r
- } \\r
- \\r
- /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \\r
- the same priority get an equal share of the processor time. */ \\r
- listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \\r
+ #define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
+ { \\r
+ /* Find the highest priority queue that contains ready tasks. */ \\r
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \\r
+ { \\r
+ configASSERT( uxTopReadyPriority ); \\r
+ --uxTopReadyPriority; \\r
+ } \\r
+ \\r
+ /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \\r
+ the same priority get an equal share of the processor time. */ \\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \\r
} /* taskSELECT_HIGHEST_PRIORITY_TASK */\r
\r
/*-----------------------------------------------------------*/\r
\r
#define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
{ \\r
- unsigned portBASE_TYPE uxTopPriority; \\r
+ UBaseType_t uxTopPriority; \\r
\\r
/* Find the highest priority queue that contains ready tasks. */ \\r
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \\r
/* A port optimised version is provided, call it only if the TCB being reset\r
is being referenced from a ready list. If it is referenced from a delayed\r
or suspended list then it won't be in a ready list. */\r
- #define taskRESET_READY_PRIORITY( uxPriority ) \\r
- { \\r
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \\r
- { \\r
- portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \\r
- } \\r
+ #define taskRESET_READY_PRIORITY( uxPriority ) \\r
+ { \\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \\r
+ { \\r
+ portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \\r
+ } \\r
}\r
\r
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
\r
-/*\r
- * Place the task represented by pxTCB into the appropriate ready queue for\r
- * the task. It is inserted at the end of the list. One quirk of this is\r
- * that if the task being inserted is at the same priority as the currently\r
- * executing task, then it will only be rescheduled after the currently\r
- * executing task has been rescheduled.\r
- */\r
-#define prvAddTaskToReadyQueue( pxTCB ) \\r
- traceMOVED_TASK_TO_READY_STATE( pxTCB ) \\r
- taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \\r
- vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )\r
+/*-----------------------------------------------------------*/\r
+\r
+/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick\r
+count overflows. */\r
+#define taskSWITCH_DELAYED_LISTS() \\r
+{ \\r
+ List_t *pxTemp; \\r
+ \\r
+ /* The delayed tasks list should be empty when the lists are switched. */ \\r
+ configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \\r
+ \\r
+ pxTemp = pxDelayedTaskList; \\r
+ pxDelayedTaskList = pxOverflowDelayedTaskList; \\r
+ pxOverflowDelayedTaskList = pxTemp; \\r
+ xNumOfOverflows++; \\r
+ prvResetNextTaskUnblockTime(); \\r
+}\r
+\r
/*-----------------------------------------------------------*/\r
\r
/*\r
- * Macro that looks at the list of tasks that are currently delayed to see if\r
- * any require waking.\r
- *\r
- * Tasks are stored in the queue in the order of their wake time - meaning\r
- * once one tasks has been found whose timer has not expired we need not look\r
- * any further down the list.\r
+ * Place the task represented by pxTCB into the appropriate ready list for\r
+ * the task. It is inserted at the end of the list.\r
*/\r
-#define prvCheckDelayedTasks() \\r
-{ \\r
-portTickType xItemValue; \\r
- \\r
- /* Is the tick count greater than or equal to the wake time of the first \\r
- task referenced from the delayed tasks list? */ \\r
- if( xTickCount >= xNextTaskUnblockTime ) \\r
- { \\r
- for( ;; ) \\r
- { \\r
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \\r
- { \\r
- /* The delayed list is empty. Set xNextTaskUnblockTime to the \\r
- maximum possible value so it is extremely unlikely that the \\r
- if( xTickCount >= xNextTaskUnblockTime ) test will pass next \\r
- time through. */ \\r
- xNextTaskUnblockTime = portMAX_DELAY; \\r
- break; \\r
- } \\r
- else \\r
- { \\r
- /* The delayed list is not empty, get the value of the item at \\r
- the head of the delayed list. This is the time at which the \\r
- task at the head of the delayed list should be removed from \\r
- the Blocked state. */ \\r
- pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \\r
- xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \\r
- \\r
- if( xTickCount < xItemValue ) \\r
- { \\r
- /* It is not time to unblock this item yet, but the item \\r
- value is the time at which the task at the head of the \\r
- blocked list should be removed from the Blocked state - \\r
- so record the item value in xNextTaskUnblockTime. */ \\r
- xNextTaskUnblockTime = xItemValue; \\r
- break; \\r
- } \\r
- \\r
- /* It is time to remove the item from the Blocked state. */ \\r
- uxListRemove( &( pxTCB->xGenericListItem ) ); \\r
- \\r
- /* Is the task waiting on an event also? */ \\r
- if( pxTCB->xEventListItem.pvContainer != NULL ) \\r
- { \\r
- uxListRemove( &( pxTCB->xEventListItem ) ); \\r
- } \\r
- prvAddTaskToReadyQueue( pxTCB ); \\r
- } \\r
- } \\r
- } \\r
-}\r
+#define prvAddTaskToReadyList( pxTCB ) \\r
+ traceMOVED_TASK_TO_READY_STATE( pxTCB ); \\r
+ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \\r
+ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )\r
/*-----------------------------------------------------------*/\r
\r
/*\r
- * Several functions take an xTaskHandle parameter that can optionally be NULL,\r
+ * Several functions take an TaskHandle_t parameter that can optionally be NULL,\r
* where NULL is used to indicate that the handle of the currently executing\r
* task should be used in place of the parameter. This macro simply checks to\r
* see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
*/\r
-#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )\r
+#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )\r
+\r
+/* The item value of the event list item is normally used to hold the priority\r
+of the task to which it belongs (coded to allow it to be held in reverse\r
+priority order). However, it is occasionally borrowed for other purposes. It\r
+is important its value is not updated due to a task priority change while it is\r
+being used for another purpose. The following bit definition is used to inform\r
+the scheduler that the value should not be changed - in which case it is the\r
+responsibility of whichever module is using the value to ensure it gets set back\r
+to its original value when it is released. */\r
+#if configUSE_16_BIT_TICKS == 1\r
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U\r
+#else\r
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL\r
+#endif\r
\r
/* Callback function prototypes. --------------------------*/\r
-extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );\r
-extern void vApplicationTickHook( void );\r
+#if configCHECK_FOR_STACK_OVERFLOW > 0\r
+ extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );\r
+#endif\r
+\r
+#if configUSE_TICK_HOOK > 0\r
+ extern void vApplicationTickHook( void );\r
+#endif\r
\r
/* File private functions. --------------------------------*/\r
\r
* Utility to ready a TCB for a given task. Mainly just copies the parameters\r
* into the TCB structure.\r
*/\r
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;\r
+static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+\r
+/**\r
+ * Utility task that simply returns pdTRUE if the task referenced by xTask is\r
+ * currently in the Suspended state, or pdFALSE if the task referenced by xTask\r
+ * is in any other state.\r
+ */\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;\r
+#endif /* INCLUDE_vTaskSuspend */\r
\r
/*\r
* Utility to ready all the lists used by the scheduler. This is called\r
*/\r
#if ( INCLUDE_vTaskDelete == 1 )\r
\r
- static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;\r
+ static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;\r
\r
#endif\r
\r
* The currently executing task is entering the Blocked state. Add the task to\r
* either the current or the overflow delayed task list.\r
*/\r
-static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;\r
+static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Allocates memory from the heap for a TCB and associated stack. Checks the\r
* allocation was successful.\r
*/\r
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;\r
+static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;\r
\r
/*\r
- * Called from vTaskList. vListTasks details all the tasks currently under\r
- * control of the scheduler. The tasks may be in one of a number of lists.\r
- * prvListTaskWithinSingleList accepts a list and details the tasks from\r
- * within just that list.\r
+ * Fills an TaskStatus_t structure with information on each task that is\r
+ * referenced from the pxList list (which may be a ready list, a delayed list,\r
+ * a suspended list, etc.).\r
*\r
* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
* NORMAL APPLICATION CODE.\r
*/\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
\r
- static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;\r
+ static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;\r
\r
#endif\r
\r
*/\r
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
\r
- static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;\r
+ static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;\r
\r
#endif\r
\r
/*\r
* Return the amount of time, in ticks, that will pass before the kernel will\r
* next move a task from the Blocked state to the Running state.\r
+ *\r
+ * This conditional compilation should use inequality to 0, not equality to 1.\r
+ * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user\r
+ * defined low power mode implementations require configUSE_TICKLESS_IDLE to be\r
+ * set to a value other than 1.\r
*/\r
-#if ( configUSE_TICKLESS_IDLE == 1 )\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
\r
- static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;\r
+ static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;\r
\r
#endif\r
\r
-/*lint +e956 */\r
+/*\r
+ * Set xNextTaskUnblockTime to the time at which the next Blocked state task\r
+ * will exit the Blocked state.\r
+ */\r
+static void prvResetNextTaskUnblockTime( void );\r
\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
\r
+ /*\r
+ * Helper function used to pad task names with spaces when printing out\r
+ * human readable tables of task information.\r
+ */\r
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );\r
\r
-/*-----------------------------------------------------------\r
- * TASK CREATION API documented in task.h\r
- *----------------------------------------------------------*/\r
+#endif\r
+/*-----------------------------------------------------------*/\r
\r
-signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )\r
+BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
{\r
-signed portBASE_TYPE xReturn;\r
-tskTCB * pxNewTCB;\r
+BaseType_t xReturn;\r
+TCB_t * pxNewTCB;\r
+StackType_t *pxTopOfStack;\r
\r
configASSERT( pxTaskCode );\r
- configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );\r
+ configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );\r
\r
/* Allocate the memory required by the TCB and stack for the new task,\r
checking that the allocation was successful. */\r
\r
if( pxNewTCB != NULL )\r
{\r
- portSTACK_TYPE *pxTopOfStack;\r
-\r
#if( portUSING_MPU_WRAPPERS == 1 )\r
/* Should the task be created in privileged mode? */\r
- portBASE_TYPE xRunPrivileged;\r
+ BaseType_t xRunPrivileged;\r
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )\r
{\r
xRunPrivileged = pdTRUE;\r
xRunPrivileged = pdFALSE;\r
}\r
uxPriority &= ~portPRIVILEGE_BIT;\r
+\r
+ if( puxStackBuffer != NULL )\r
+ {\r
+ /* The application provided its own stack. Note this so no\r
+ attempt is made to delete the stack should that task be\r
+ deleted. */\r
+ pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ /* The stack was allocated dynamically. Note this so it can be\r
+ deleted again if the task is deleted. */\r
+ pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;\r
+ }\r
#endif /* portUSING_MPU_WRAPPERS == 1 */\r
\r
/* Calculate the top of stack address. This depends on whether the\r
- stack grows from high memory to low (as per the 80x86) or visa versa.\r
+ stack grows from high memory to low (as per the 80x86) or vice versa.\r
portSTACK_GROWTH is used to make the result positive or negative as\r
required by the port. */\r
#if( portSTACK_GROWTH < 0 )\r
{\r
- pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );\r
- pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );\r
+ pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );\r
+ 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
\r
/* Check the alignment of the calculated top of stack is correct. */\r
- configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
}\r
- #else\r
+ #else /* portSTACK_GROWTH */\r
{\r
pxTopOfStack = pxNewTCB->pxStack;\r
\r
/* Check the alignment of the stack buffer is correct. */\r
- configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
\r
/* If we want to use stack checking on architectures that use\r
a positive stack growth direction then we also need to store the\r
other extreme of the stack space. */\r
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
}\r
- #endif\r
+ #endif /* portSTACK_GROWTH */\r
\r
/* Setup the newly allocated TCB with the initial state of the task. */\r
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );\r
{\r
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
}\r
- #else\r
+ #else /* portUSING_MPU_WRAPPERS */\r
{\r
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
}\r
- #endif\r
-\r
- /* Check the alignment of the initialised stack. */\r
- portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ #endif /* portUSING_MPU_WRAPPERS */\r
\r
if( ( void * ) pxCreatedTask != NULL )\r
{\r
/* Pass the TCB out - in an anonymous way. The calling function/\r
task can use this as a handle to delete the task later if\r
required.*/\r
- *pxCreatedTask = ( xTaskHandle ) pxNewTCB;\r
+ *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- /* We are going to manipulate the task queues to add this task to a\r
- ready list, so must make sure no interrupts occur. */\r
+ /* Ensure interrupts don't access the task lists while they are being\r
+ updated. */\r
taskENTER_CRITICAL();\r
{\r
uxCurrentNumberOfTasks++;\r
the suspended state - make this the current task. */\r
pxCurrentTCB = pxNewTCB;\r
\r
- if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )\r
+ if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )\r
{\r
/* This is the first task to be created so do the preliminary\r
initialisation required. We will not recover if this call\r
fails, but we will report the failure. */\r
prvInitialiseTaskLists();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
else\r
{\r
{\r
pxCurrentTCB = pxNewTCB;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
\r
- /* Remember the top priority to make context switching faster. Use\r
- the priority in pxNewTCB as this has been capped to a valid value. */\r
- if( pxNewTCB->uxPriority > uxTopUsedPriority )\r
- {\r
- uxTopUsedPriority = pxNewTCB->uxPriority;\r
- }\r
+ uxTaskNumber++;\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
{\r
/* Add a counter into the TCB for tracing only. */\r
pxNewTCB->uxTCBNumber = uxTaskNumber;\r
}\r
- #endif\r
- uxTaskNumber++;\r
+ #endif /* configUSE_TRACE_FACILITY */\r
+ traceTASK_CREATE( pxNewTCB );\r
\r
- prvAddTaskToReadyQueue( pxNewTCB );\r
+ prvAddTaskToReadyList( pxNewTCB );\r
\r
xReturn = pdPASS;\r
portSETUP_TCB( pxNewTCB );\r
- traceTASK_CREATE( pxNewTCB );\r
}\r
taskEXIT_CRITICAL();\r
}\r
then it should run now. */\r
if( pxCurrentTCB->uxPriority < uxPriority )\r
{\r
- portYIELD_WITHIN_API();\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
return xReturn;\r
\r
#if ( INCLUDE_vTaskDelete == 1 )\r
\r
- void vTaskDelete( xTaskHandle pxTaskToDelete )\r
+ void vTaskDelete( TaskHandle_t xTaskToDelete )\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t *pxTCB;\r
\r
taskENTER_CRITICAL();\r
{\r
- /* Ensure a yield is performed if the current task is being\r
- deleted. */\r
- if( pxTaskToDelete == pxCurrentTCB )\r
- {\r
- pxTaskToDelete = NULL;\r
- }\r
-\r
- /* If null is passed in here then we are deleting ourselves. */\r
- pxTCB = prvGetTCBFromHandle( pxTaskToDelete );\r
+ /* If null is passed in here then it is the calling task that is\r
+ being deleted. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToDelete );\r
\r
/* Remove task from the ready list and place in the termination list.\r
This will stop the task from be scheduled. The idle task will check\r
the termination list and free up any memory allocated by the\r
scheduler for the TCB and stack. */\r
- if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* Is the task waiting on an event also? */\r
- if( pxTCB->xEventListItem.pvContainer != NULL )\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
{\r
- uxListRemove( &( pxTCB->xEventListItem ) );\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
+ vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
\r
/* Increment the ucTasksDeleted variable so the idle task knows\r
there is a task that has been deleted and that it should therefore\r
}\r
taskEXIT_CRITICAL();\r
\r
- /* Force a reschedule if we have just deleted the current task. */\r
+ /* Force a reschedule if it is the currently running task that has just\r
+ been deleted. */\r
if( xSchedulerRunning != pdFALSE )\r
{\r
- if( ( void * ) pxTaskToDelete == NULL )\r
+ if( pxTCB == pxCurrentTCB )\r
{\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
+\r
+ /* The pre-delete hook is primarily for the Windows simulator,\r
+ in which Windows specific clean up operations are performed,\r
+ after which it is not possible to yield away from this task -\r
+ hence xYieldPending is used to latch that a context switch is\r
+ required. */\r
+ portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );\r
portYIELD_WITHIN_API();\r
}\r
+ else\r
+ {\r
+ /* Reset the next expected unblock time in case it referred to\r
+ the task that has just been deleted. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
}\r
}\r
\r
-#endif\r
-\r
-\r
-\r
-\r
-\r
-\r
-/*-----------------------------------------------------------\r
- * TASK CONTROL API documented in task.h\r
- *----------------------------------------------------------*/\r
+#endif /* INCLUDE_vTaskDelete */\r
+/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskDelayUntil == 1 )\r
\r
- void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )\r
+ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )\r
{\r
- portTickType xTimeToWake;\r
- portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;\r
\r
configASSERT( pxPreviousWakeTime );\r
configASSERT( ( xTimeIncrement > 0U ) );\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
\r
vTaskSuspendAll();\r
{\r
+ /* Minor optimisation. The tick count cannot change in this\r
+ block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
/* Generate the tick time at which the task wants to wake. */\r
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
\r
- if( xTickCount < *pxPreviousWakeTime )\r
+ if( xConstTickCount < *pxPreviousWakeTime )\r
{\r
/* The tick count has overflowed since this function was\r
lasted called. In this case the only time we should ever\r
actually delay is if the wake time has also overflowed,\r
and the wake time is greater than the tick time. When this\r
is the case it is as if neither time had overflowed. */\r
- if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )\r
{\r
xShouldDelay = pdTRUE;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
else\r
{\r
/* The tick time has not overflowed. In this case we will\r
delay if either the wake time has overflowed, and/or the\r
tick time is less than the wake time. */\r
- if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )\r
{\r
xShouldDelay = pdTRUE;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
/* Update the wake time ready for the next call. */\r
{\r
traceTASK_DELAY_UNTIL();\r
\r
- /* We must remove ourselves from the ready list before adding\r
- ourselves to the blocked list as the same list item is used for\r
- both lists. */\r
- if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )\r
+ /* Remove the task from the ready list before adding it to the\r
+ blocked list as the same list item is used for both lists. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
/* The current task must be in a ready list, so there is\r
no need to check, and the port reset macro can be called\r
directly. */\r
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
prvAddCurrentTaskToDelayedList( xTimeToWake );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
xAlreadyYielded = xTaskResumeAll();\r
\r
{\r
portYIELD_WITHIN_API();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskDelayUntil */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskDelay == 1 )\r
\r
- void vTaskDelay( portTickType xTicksToDelay )\r
+ void vTaskDelay( const TickType_t xTicksToDelay )\r
{\r
- portTickType xTimeToWake;\r
- signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xAlreadyYielded = pdFALSE;\r
+\r
\r
/* A delay time of zero just forces a reschedule. */\r
- if( xTicksToDelay > ( portTickType ) 0U )\r
+ if( xTicksToDelay > ( TickType_t ) 0U )\r
{\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
vTaskSuspendAll();\r
{\r
traceTASK_DELAY();\r
/* We must remove ourselves from the ready list before adding\r
ourselves to the blocked list as the same list item is used for\r
both lists. */\r
- if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
/* The current task must be in a ready list, so there is\r
no need to check, and the port reset macro can be called\r
directly. */\r
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
prvAddCurrentTaskToDelayedList( xTimeToWake );\r
}\r
xAlreadyYielded = xTaskResumeAll();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* Force a reschedule if xTaskResumeAll has not already done so, we may\r
have put ourselves to sleep. */\r
{\r
portYIELD_WITHIN_API();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskDelay */\r
/*-----------------------------------------------------------*/\r
\r
-#if ( INCLUDE_eTaskStateGet == 1 )\r
+#if ( INCLUDE_eTaskGetState == 1 )\r
\r
- eTaskState eTaskStateGet( xTaskHandle pxTask )\r
+ eTaskState eTaskGetState( TaskHandle_t xTask )\r
{\r
eTaskState eReturn;\r
- xList *pxStateList;\r
- tskTCB *pxTCB;\r
+ List_t *pxStateList;\r
+ const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
\r
- pxTCB = ( tskTCB * ) pxTask;\r
+ configASSERT( pxTCB );\r
\r
if( pxTCB == pxCurrentTCB )\r
{\r
{\r
taskENTER_CRITICAL();\r
{\r
- pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );\r
+ pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );\r
}\r
taskEXIT_CRITICAL();\r
\r
else if( pxStateList == &xSuspendedTaskList )\r
{\r
/* The task being queried is referenced from the suspended\r
- list. */\r
- eReturn = eSuspended;\r
+ list. Is it genuinely suspended or is it block\r
+ indefinitely? */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )\r
+ {\r
+ eReturn = eSuspended;\r
+ }\r
+ else\r
+ {\r
+ eReturn = eBlocked;\r
+ }\r
}\r
#endif\r
\r
}\r
#endif\r
\r
- else\r
+ else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */\r
{\r
/* If the task is not in any other state, it must be in the\r
Ready (including pending ready) state. */\r
}\r
\r
return eReturn;\r
- }\r
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
\r
-#endif\r
+#endif /* INCLUDE_eTaskGetState */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_uxTaskPriorityGet == 1 )\r
\r
- unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )\r
+ UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )\r
{\r
- tskTCB *pxTCB;\r
- unsigned portBASE_TYPE uxReturn;\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxReturn;\r
\r
taskENTER_CRITICAL();\r
{\r
/* If null is passed in here then we are changing the\r
priority of the calling function. */\r
- pxTCB = prvGetTCBFromHandle( pxTask );\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
uxReturn = pxTCB->uxPriority;\r
}\r
taskEXIT_CRITICAL();\r
return uxReturn;\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_uxTaskPriorityGet */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_uxTaskPriorityGet == 1 )\r
+\r
+ UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxReturn, uxSavedInterruptState;\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ /* If null is passed in here then it is the priority of the calling\r
+ task that is being queried. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+ uxReturn = pxTCB->uxPriority;\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_uxTaskPriorityGet */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskPrioritySet == 1 )\r
\r
- void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )\r
+ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )\r
{\r
- tskTCB *pxTCB;\r
- unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;\r
- portBASE_TYPE xYieldRequired = pdFALSE;\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;\r
+ BaseType_t xYieldRequired = pdFALSE;\r
\r
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );\r
\r
/* Ensure the new priority is valid. */\r
- if( uxNewPriority >= configMAX_PRIORITIES )\r
+ if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
+ {\r
+ uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
+ }\r
+ else\r
{\r
- uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
taskENTER_CRITICAL();\r
{\r
- if( pxTask == pxCurrentTCB )\r
- {\r
- pxTask = NULL;\r
- }\r
-\r
- /* If null is passed in here then we are changing the\r
- priority of the calling function. */\r
- pxTCB = prvGetTCBFromHandle( pxTask );\r
+ /* If null is passed in here then it is the priority of the calling\r
+ task that is being changed. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
\r
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );\r
\r
#if ( configUSE_MUTEXES == 1 )\r
{\r
- uxCurrentPriority = pxTCB->uxBasePriority;\r
+ uxCurrentBasePriority = pxTCB->uxBasePriority;\r
}\r
#else\r
{\r
- uxCurrentPriority = pxTCB->uxPriority;\r
+ uxCurrentBasePriority = pxTCB->uxPriority;\r
}\r
#endif\r
\r
- if( uxCurrentPriority != uxNewPriority )\r
+ if( uxCurrentBasePriority != uxNewPriority )\r
{\r
/* The priority change may have readied a task of higher\r
priority than the calling task. */\r
- if( uxNewPriority > uxCurrentPriority )\r
+ if( uxNewPriority > uxCurrentBasePriority )\r
{\r
- if( pxTask != NULL )\r
+ if( pxTCB != pxCurrentTCB )\r
{\r
- /* The priority of another task is being raised. If we\r
- were raising the priority of the currently running task\r
- there would be no need to switch as it must have already\r
- been the highest priority task. */\r
- xYieldRequired = pdTRUE;\r
+ /* The priority of a task other than the currently\r
+ running task is being raised. Is the priority being\r
+ raised above that of the running task? */\r
+ if( uxNewPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* The priority of the running task is being raised,\r
+ but the running task must already be the highest\r
+ priority task able to run so no yield is required. */\r
}\r
}\r
- else if( pxTask == NULL )\r
+ else if( pxTCB == pxCurrentTCB )\r
{\r
- /* Setting our own priority down means there may now be another\r
- task of higher priority that is ready to execute. */\r
+ /* Setting the priority of the running task down means\r
+ there may now be another task of higher priority that\r
+ is ready to execute. */\r
xYieldRequired = pdTRUE;\r
}\r
+ else\r
+ {\r
+ /* Setting the priority of any other task down does not\r
+ require a yield as the running task must be above the\r
+ new priority of the task being modified. */\r
+ }\r
\r
/* Remember the ready list the task might be referenced from\r
before its uxPriority member is changed so the\r
{\r
pxTCB->uxPriority = uxNewPriority;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* The base priority gets set whatever. */\r
pxTCB->uxBasePriority = uxNewPriority;\r
}\r
#endif\r
\r
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );\r
+ /* Only reset the event list item value if the value is not\r
+ being used for anything else. */\r
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
+ {\r
+ 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
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* If the task is in the blocked or suspended list we need do\r
nothing more than change it's priority variable. However, if\r
the task is in a ready list it needs to be removed and placed\r
- in the queue appropriate to its new priority. */\r
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
+ in the list appropriate to its new priority. */\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
{\r
/* The task is currently in its ready list - remove before adding\r
it to it's new ready list. As we are in a critical section we\r
can do this even if the scheduler is suspended. */\r
- if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
- taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );\r
+ /* It is known that the task is in its ready list so\r
+ there is no need to check again and the port level\r
+ reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );\r
}\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
if( xYieldRequired == pdTRUE )\r
{\r
- portYIELD_WITHIN_API();\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
+\r
+ /* Remove compiler warning about unused variables when the port\r
+ optimised task selection is not being used. */\r
+ ( void ) uxPriorityUsedOnEntry;\r
}\r
}\r
taskEXIT_CRITICAL();\r
-\r
- /* Remove compiler warning about unused parameter when the port\r
- optimised task selection is not being used. */\r
- ( void ) uxPriorityUsedOnEntry;\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskPrioritySet */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
\r
- void vTaskSuspend( xTaskHandle pxTaskToSuspend )\r
+ void vTaskSuspend( TaskHandle_t xTaskToSuspend )\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t *pxTCB;\r
\r
taskENTER_CRITICAL();\r
{\r
- /* Ensure a yield is performed if the current task is being\r
- suspended. */\r
- if( pxTaskToSuspend == pxCurrentTCB )\r
- {\r
- pxTaskToSuspend = NULL;\r
- }\r
-\r
- /* If null is passed in here then we are suspending ourselves. */\r
- pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );\r
+ /* If null is passed in here then it is the running task that is\r
+ being suspended. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToSuspend );\r
\r
traceTASK_SUSPEND( pxTCB );\r
\r
- /* Remove task from the ready/delayed list and place in the suspended list. */\r
- if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )\r
+ /* Remove task from the ready/delayed list and place in the\r
+ suspended list. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* Is the task waiting on an event also? */\r
- if( pxTCB->xEventListItem.pvContainer != NULL )\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
{\r
- uxListRemove( &( pxTCB->xEventListItem ) );\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
}\r
taskEXIT_CRITICAL();\r
\r
- if( ( void * ) pxTaskToSuspend == NULL )\r
+ if( pxTCB == pxCurrentTCB )\r
{\r
if( xSchedulerRunning != pdFALSE )\r
{\r
- /* We have just suspended the current task. */\r
+ /* The current task has just been suspended. */\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
portYIELD_WITHIN_API();\r
}\r
else\r
}\r
}\r
}\r
+ else\r
+ {\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ /* A task other than the currently running task was suspended,\r
+ reset the next expected unblock time in case it referred to the\r
+ task that is now in the Suspended state. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskSuspend */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
\r
- signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )\r
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )\r
{\r
- portBASE_TYPE xReturn = pdFALSE;\r
- const tskTCB * const pxTCB = ( tskTCB * ) xTask;\r
+ BaseType_t xReturn = pdFALSE;\r
+ const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
+\r
+ /* Accesses xPendingReadyList so must be called from a critical\r
+ section. */\r
\r
/* It does not make sense to check if the calling task is suspended. */\r
configASSERT( xTask );\r
\r
- /* Is the task we are attempting to resume actually in the\r
- suspended list? */\r
+ /* Is the task being resumed actually in the suspended list? */\r
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
{\r
/* Has the task already been resumed from within an ISR? */\r
- if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )\r
+ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )\r
{\r
- /* Is it in the suspended list because it is in the\r
- Suspended state? It is possible to be in the suspended\r
- list because it is blocked on a task with no timeout\r
- specified. */\r
- if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )\r
+ /* Is it in the suspended list because it is in the Suspended\r
+ state, or because is is blocked with no timeout? */\r
+ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )\r
{\r
xReturn = pdTRUE;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
return xReturn;\r
- }\r
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskSuspend */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
\r
- void vTaskResume( xTaskHandle pxTaskToResume )\r
+ void vTaskResume( TaskHandle_t xTaskToResume )\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
\r
/* It does not make sense to resume the calling task. */\r
- configASSERT( pxTaskToResume );\r
-\r
- /* Remove the task from whichever list it is currently in, and place\r
- it in the ready list. */\r
- pxTCB = ( tskTCB * ) pxTaskToResume;\r
+ configASSERT( xTaskToResume );\r
\r
/* The parameter cannot be NULL as it is impossible to resume the\r
currently executing task. */\r
{\r
taskENTER_CRITICAL();\r
{\r
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
{\r
traceTASK_RESUME( pxTCB );\r
\r
/* As we are in a critical section we can access the ready\r
lists even if the scheduler is suspended. */\r
- uxListRemove( &( pxTCB->xGenericListItem ) );\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
\r
/* We may have just resumed a higher priority task. */\r
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
{\r
- /* This yield may not cause the task just resumed to run, but\r
- will leave the lists in the correct state for the next yield. */\r
- portYIELD_WITHIN_API();\r
+ /* This yield may not cause the task just resumed to run,\r
+ but will leave the lists in the correct state for the\r
+ next yield. */\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
taskEXIT_CRITICAL();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskSuspend */\r
\r
/*-----------------------------------------------------------*/\r
\r
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
\r
- portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )\r
+ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )\r
{\r
- portBASE_TYPE xYieldRequired = pdFALSE;\r
- tskTCB *pxTCB;\r
- unsigned portBASE_TYPE uxSavedInterruptStatus;\r
-\r
- configASSERT( pxTaskToResume );\r
-\r
- pxTCB = ( tskTCB * ) pxTaskToResume;\r
+ BaseType_t xYieldRequired = pdFALSE;\r
+ TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToResume );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
\r
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
{\r
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
{\r
traceTASK_RESUME_FROM_ISR( pxTCB );\r
\r
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ /* Check the ready lists can be accessed. */\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
- xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );\r
- uxListRemove( &( pxTCB->xGenericListItem ) );\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ /* Ready lists can be accessed so move the task from the\r
+ suspended list to the ready list directly. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
}\r
else\r
{\r
- /* We cannot access the delayed or ready lists, so will hold this\r
- task pending until the scheduler is resumed, at which point a\r
- yield will be performed if necessary. */\r
- vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ /* The delayed or ready lists cannot be accessed so the task\r
+ is held in the pending ready list until the scheduler is\r
+ unsuspended. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
\r
return xYieldRequired;\r
}\r
\r
-#endif\r
-\r
-\r
-\r
-\r
-/*-----------------------------------------------------------\r
- * PUBLIC SCHEDULER CONTROL documented in task.h\r
- *----------------------------------------------------------*/\r
-\r
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */\r
+/*-----------------------------------------------------------*/\r
\r
void vTaskStartScheduler( void )\r
{\r
-portBASE_TYPE xReturn;\r
+BaseType_t xReturn;\r
\r
/* Add the idle task at the lowest priority. */\r
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
{\r
/* Create the idle task, storing its handle in xIdleTaskHandle so it can\r
be returned by the xTaskGetIdleTaskHandle() function. */\r
- xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );\r
+ xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_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
}\r
#else\r
{\r
/* Create the idle task without storing its handle. */\r
- xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );\r
+ xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */\r
}\r
- #endif\r
+ #endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
\r
#if ( configUSE_TIMERS == 1 )\r
{\r
{\r
xReturn = xTimerCreateTimerTask();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
- #endif\r
+ #endif /* configUSE_TIMERS */\r
\r
if( xReturn == pdPASS )\r
{\r
before or during the call to xPortStartScheduler(). The stacks of\r
the created tasks contain a status word with interrupts switched on\r
so interrupts will automatically get re-enabled when the first task\r
- starts to run.\r
-\r
- STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE\r
- DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */\r
+ starts to run. */\r
portDISABLE_INTERRUPTS();\r
\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Switch Newlib's _impure_ptr variable to point to the _reent\r
+ structure specific to the task that will run first. */\r
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+\r
xSchedulerRunning = pdTRUE;\r
- xTickCount = ( portTickType ) 0U;\r
+ xTickCount = ( TickType_t ) 0U;\r
\r
/* If configGENERATE_RUN_TIME_STATS is defined then the following\r
macro must be defined to configure the timer/counter used to generate\r
/* Should only reach here if a task calls xTaskEndScheduler(). */\r
}\r
}\r
-\r
- /* This line will only be reached if the kernel could not be started. */\r
- configASSERT( xReturn );\r
+ else\r
+ {\r
+ /* This line will only be reached if the kernel could not be started,\r
+ because there was not enough FreeRTOS heap to create the idle task\r
+ or the timer task. */\r
+ configASSERT( xReturn );\r
+ }\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vTaskSuspendAll( void )\r
{\r
/* A critical section is not required as the variable is of type\r
- portBASE_TYPE. */\r
+ BaseType_t. Please read Richard Barry's reply in the following link to a\r
+ post in the FreeRTOS support forum before reporting this as a bug! -\r
+ http://goo.gl/wu4acr */\r
++uxSchedulerSuspended;\r
}\r
/*----------------------------------------------------------*/\r
\r
-portTickType prvGetExpectedIdleTime( void )\r
-{\r
-portTickType xReturn;\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
\r
- if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )\r
- {\r
- xReturn = 0;\r
- }\r
- else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )\r
+ static TickType_t prvGetExpectedIdleTime( void )\r
{\r
- /* There are other idle priority tasks in the ready state. If\r
- time slicing is used then the very next tick interrupt must be\r
- processed. */\r
- xReturn = 0;\r
- }\r
- else\r
- {\r
- xReturn = xNextTaskUnblockTime - xTickCount;\r
+ TickType_t xReturn;\r
+\r
+ if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )\r
+ {\r
+ xReturn = 0;\r
+ }\r
+ else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )\r
+ {\r
+ /* There are other idle priority tasks in the ready state. If\r
+ time slicing is used then the very next tick interrupt must be\r
+ processed. */\r
+ xReturn = 0;\r
+ }\r
+ else\r
+ {\r
+ xReturn = xNextTaskUnblockTime - xTickCount;\r
+ }\r
+\r
+ return xReturn;\r
}\r
\r
- return xReturn;\r
-}\r
+#endif /* configUSE_TICKLESS_IDLE */\r
/*----------------------------------------------------------*/\r
\r
-signed portBASE_TYPE xTaskResumeAll( void )\r
+BaseType_t xTaskResumeAll( void )\r
{\r
-register tskTCB *pxTCB;\r
-signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
+TCB_t *pxTCB;\r
+BaseType_t xAlreadyYielded = pdFALSE;\r
\r
/* If uxSchedulerSuspended is zero then this function does not match a\r
previous call to vTaskSuspendAll(). */\r
{\r
--uxSchedulerSuspended;\r
\r
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
- if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )\r
+ if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )\r
{\r
- portBASE_TYPE xYieldRequired = pdFALSE;\r
-\r
/* Move any readied tasks from the pending list into the\r
appropriate ready list. */\r
- while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )\r
+ while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )\r
{\r
- pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );\r
- uxListRemove( &( pxTCB->xEventListItem ) );\r
- uxListRemove( &( pxTCB->xGenericListItem ) );\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
\r
- /* If we have moved a task that has a priority higher than\r
- the current task then we should yield. */\r
+ /* If the moved task has a priority higher than the current\r
+ task then a yield must be performed. */\r
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
{\r
- xYieldRequired = pdTRUE;\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
\r
/* If any ticks occurred while the scheduler was suspended then\r
- they should be processed now. This ensures the tick count does not\r
- slip, and that any delayed tasks are resumed at the correct time. */\r
- if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )\r
+ they should be processed now. This ensures the tick count does\r
+ not slip, and that any delayed tasks are resumed at the correct\r
+ time. */\r
+ if( uxPendedTicks > ( UBaseType_t ) 0U )\r
{\r
- while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )\r
+ while( uxPendedTicks > ( UBaseType_t ) 0U )\r
{\r
- vTaskIncrementTick();\r
- --uxMissedTicks;\r
+ if( xTaskIncrementTick() != pdFALSE )\r
+ {\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ --uxPendedTicks;\r
}\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- /* As we have processed some ticks it is appropriate to yield\r
- to ensure the highest priority task that is ready to run is\r
- the task actually running. */\r
- #if configUSE_PREEMPTION == 1\r
+ if( xYieldPending == pdTRUE )\r
+ {\r
+ #if( configUSE_PREEMPTION != 0 )\r
{\r
- xYieldRequired = pdTRUE;\r
+ xAlreadyYielded = pdTRUE;\r
}\r
#endif\r
+ taskYIELD_IF_USING_PREEMPTION();\r
}\r
-\r
- if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )\r
+ else\r
{\r
- xAlreadyYielded = pdTRUE;\r
- xMissedYield = pdFALSE;\r
- portYIELD_WITHIN_API();\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
taskEXIT_CRITICAL();\r
\r
return xAlreadyYielded;\r
}\r
+/*-----------------------------------------------------------*/\r
\r
-\r
-\r
-\r
-\r
-\r
-/*-----------------------------------------------------------\r
- * PUBLIC TASK UTILITIES documented in task.h\r
- *----------------------------------------------------------*/\r
-\r
-\r
-\r
-portTickType xTaskGetTickCount( void )\r
+TickType_t xTaskGetTickCount( void )\r
{\r
-portTickType xTicks;\r
+TickType_t xTicks;\r
\r
/* Critical section required if running on a 16 bit processor. */\r
- taskENTER_CRITICAL();\r
+ portTICK_TYPE_ENTER_CRITICAL();\r
{\r
xTicks = xTickCount;\r
}\r
- taskEXIT_CRITICAL();\r
+ portTICK_TYPE_EXIT_CRITICAL();\r
\r
return xTicks;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-portTickType xTaskGetTickCountFromISR( void )\r
+TickType_t xTaskGetTickCountFromISR( void )\r
{\r
-portTickType xReturn;\r
-unsigned portBASE_TYPE uxSavedInterruptStatus;\r
-\r
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
- xReturn = xTickCount;\r
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+TickType_t xReturn;\r
+UBaseType_t uxSavedInterruptStatus;\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a maximum\r
+ system call (or maximum API call) interrupt priority. Interrupts that are\r
+ above the maximum system call priority are kept permanently enabled, even\r
+ when the RTOS kernel is in a critical section, but cannot make any calls to\r
+ FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h\r
+ then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has been\r
+ assigned a priority above the configured maximum system call priority.\r
+ Only FreeRTOS functions that end in FromISR can be called from interrupts\r
+ that have been assigned a priority at or (logically) below the maximum\r
+ system call interrupt priority. FreeRTOS maintains a separate interrupt\r
+ safe API to ensure interrupt entry is as fast and as simple as possible.\r
+ More information (albeit Cortex-M specific) is provided on the following\r
+ link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ xReturn = xTickCount;\r
+ }\r
+ portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
\r
return xReturn;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )\r
+UBaseType_t uxTaskGetNumberOfTasks( void )\r
{\r
/* A critical section is not required because the variables are of type\r
- portBASE_TYPE. */\r
+ BaseType_t. */\r
return uxCurrentNumberOfTasks;\r
}\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_pcTaskGetTaskName == 1 )\r
\r
- signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )\r
+ char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t *pxTCB;\r
\r
/* If null is passed in here then the name of the calling task is being queried. */\r
pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
return &( pxTCB->pcTaskName[ 0 ] );\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_pcTaskGetTaskName */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
\r
- void vTaskList( signed char *pcWriteBuffer )\r
+ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )\r
{\r
- unsigned portBASE_TYPE uxQueue;\r
-\r
- /* This is a VERY costly function that should be used for debug only.\r
- It leaves interrupts disabled for a LONG time. */\r
+ UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;\r
\r
vTaskSuspendAll();\r
{\r
- /* Run through all the lists that could potentially contain a TCB and\r
- report the task name, state and stack high water mark. */\r
-\r
- *pcWriteBuffer = ( signed char ) 0x00;\r
- strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );\r
-\r
- uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;\r
-\r
- do\r
+ /* Is there a space in the array for each task in the system? */\r
+ if( uxArraySize >= uxCurrentNumberOfTasks )\r
{\r
- uxQueue--;\r
-\r
- if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )\r
+ /* Fill in an TaskStatus_t structure with information on each\r
+ task in the Ready state. */\r
+ do\r
{\r
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );\r
- }\r
- }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );\r
+ uxQueue--;\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );\r
\r
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )\r
- {\r
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );\r
- }\r
+ } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
\r
- if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )\r
- {\r
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );\r
- }\r
+ /* Fill in an TaskStatus_t structure with information on each\r
+ task in the Blocked state. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );\r
\r
- #if( INCLUDE_vTaskDelete == 1 )\r
- {\r
- if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )\r
+ #if( INCLUDE_vTaskDelete == 1 )\r
{\r
- prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );\r
+ /* Fill in an TaskStatus_t structure with information on\r
+ each task that has been deleted but not yet cleaned up. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );\r
}\r
- }\r
- #endif\r
+ #endif\r
\r
- #if ( INCLUDE_vTaskSuspend == 1 )\r
- {\r
- if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
{\r
- prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );\r
+ /* Fill in an TaskStatus_t structure with information on\r
+ each task in the Suspended state. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );\r
}\r
- }\r
- #endif\r
- }\r
- xTaskResumeAll();\r
- }\r
-\r
-#endif\r
-/*----------------------------------------------------------*/\r
-\r
-#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
-\r
- void vTaskGetRunTimeStats( signed char *pcWriteBuffer )\r
- {\r
- unsigned portBASE_TYPE uxQueue;\r
- unsigned long ulTotalRunTime;\r
-\r
- /* This is a VERY costly function that should be used for debug only.\r
- It leaves interrupts disabled for a LONG time. */\r
-\r
- vTaskSuspendAll();\r
- {\r
- #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
- portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );\r
- #else\r
- ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
- #endif\r
-\r
- /* Divide ulTotalRunTime by 100 to make the percentage caluclations\r
- simpler in the prvGenerateRunTimeStatsForTasksInList() function. */\r
- ulTotalRunTime /= 100UL;\r
-\r
- /* Run through all the lists that could potentially contain a TCB,\r
- generating a table of run timer percentages in the provided\r
- buffer. */\r
-\r
- *pcWriteBuffer = ( signed char ) 0x00;\r
- strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );\r
-\r
- uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;\r
-\r
- do\r
- {\r
- uxQueue--;\r
+ #endif\r
\r
- if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1)\r
{\r
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );\r
+ if( pulTotalRunTime != NULL )\r
+ {\r
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );\r
+ #else\r
+ *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
+ #endif\r
+ }\r
}\r
- }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );\r
-\r
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )\r
- {\r
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );\r
- }\r
-\r
- if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )\r
- {\r
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );\r
- }\r
-\r
- #if ( INCLUDE_vTaskDelete == 1 )\r
- {\r
- if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )\r
+ #else\r
{\r
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );\r
+ if( pulTotalRunTime != NULL )\r
+ {\r
+ *pulTotalRunTime = 0;\r
+ }\r
}\r
+ #endif\r
}\r
- #endif\r
-\r
- #if ( INCLUDE_vTaskSuspend == 1 )\r
+ else\r
{\r
- if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )\r
- {\r
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );\r
- }\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
- #endif\r
}\r
- xTaskResumeAll();\r
+ ( void ) xTaskResumeAll();\r
+\r
+ return uxTask;\r
}\r
\r
-#endif\r
+#endif /* configUSE_TRACE_FACILITY */\r
/*----------------------------------------------------------*/\r
\r
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
\r
- xTaskHandle xTaskGetIdleTaskHandle( void )\r
+ TaskHandle_t xTaskGetIdleTaskHandle( void )\r
{\r
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been\r
started, then xIdleTaskHandle will be NULL. */\r
return xIdleTaskHandle;\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
/*----------------------------------------------------------*/\r
\r
-#if ( configUSE_TICKLESS_IDLE == 1 )\r
+/* This conditional compilation should use inequality to 0, not equality to 1.\r
+This is to ensure vTaskStepTick() is available when user defined low power mode\r
+implementations require configUSE_TICKLESS_IDLE to be set to a value other than\r
+1. */\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
\r
- void vTaskStepTick( portTickType xTicksToJump )\r
+ void vTaskStepTick( const TickType_t xTicksToJump )\r
{\r
- configASSERT( xTicksToJump <= xNextTaskUnblockTime );\r
+ /* Correct the tick count value after a period during which the tick\r
+ was suppressed. Note this does *not* call the tick hook function for\r
+ each stepped tick. */\r
+ configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );\r
xTickCount += xTicksToJump;\r
+ traceINCREASE_TICK_COUNT( xTicksToJump );\r
}\r
\r
-#endif\r
-\r
-/*-----------------------------------------------------------\r
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
- * documented in task.h\r
- *----------------------------------------------------------*/\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+/*----------------------------------------------------------*/\r
\r
-void vTaskIncrementTick( void )\r
+BaseType_t xTaskIncrementTick( void )\r
{\r
-tskTCB * pxTCB;\r
+TCB_t * pxTCB;\r
+TickType_t xItemValue;\r
+BaseType_t xSwitchRequired = pdFALSE;\r
\r
/* Called by the portable layer each time a tick interrupt occurs.\r
Increments the tick then checks to see if the new tick value will cause any\r
tasks to be unblocked. */\r
traceTASK_INCREMENT_TICK( xTickCount );\r
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
+ /* Increment the RTOS tick, switching the delayed and overflowed\r
+ delayed lists if it wraps to 0. */\r
++xTickCount;\r
- if( xTickCount == ( portTickType ) 0U )\r
+\r
{\r
- xList *pxTemp;\r
+ /* Minor optimisation. The tick count cannot change in this\r
+ block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
+ if( xConstTickCount == ( TickType_t ) 0U )\r
+ {\r
+ taskSWITCH_DELAYED_LISTS();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* See if this tick has made a timeout expire. Tasks are stored in\r
+ the queue in the order of their wake time - meaning once one task\r
+ has been found whose block time has not expired there is no need to\r
+ look any further down the list. */\r
+ if( xConstTickCount >= xNextTaskUnblockTime )\r
+ {\r
+ for( ;; )\r
+ {\r
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
+ {\r
+ /* The delayed list is empty. Set xNextTaskUnblockTime\r
+ to the maximum possible value so it is extremely\r
+ unlikely that the\r
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass\r
+ next time through. */\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ /* The delayed list is not empty, get the value of the\r
+ item at the head of the delayed list. This is the time\r
+ at which the task at the head of the delayed list must\r
+ be removed from the Blocked state. */\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
+ xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );\r
+\r
+ if( xConstTickCount < xItemValue )\r
+ {\r
+ /* It is not time to unblock this item yet, but the\r
+ item value is the time at which the task at the head\r
+ of the blocked list must be removed from the Blocked\r
+ state - so record the item value in\r
+ xNextTaskUnblockTime. */\r
+ xNextTaskUnblockTime = xItemValue;\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* It is time to remove the item from the Blocked state. */\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Is the task waiting on an event also? If so remove\r
+ it from the event list. */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- /* Tick count has overflowed so we need to swap the delay lists.\r
- If there are any items in pxDelayedTaskList here then there is\r
- an error! */\r
- configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );\r
+ /* Place the unblocked task into the appropriate ready\r
+ list. */\r
+ prvAddTaskToReadyList( pxTCB );\r
\r
- pxTemp = pxDelayedTaskList;\r
- pxDelayedTaskList = pxOverflowDelayedTaskList;\r
- pxOverflowDelayedTaskList = pxTemp;\r
- xNumOfOverflows++;\r
+ /* A task being unblocked cannot cause an immediate\r
+ context switch if preemption is turned off. */\r
+ #if ( configUSE_PREEMPTION == 1 )\r
+ {\r
+ /* Preemption is on, but a context switch should\r
+ only be performed if the unblocked task has a\r
+ priority that is equal to or higher than the\r
+ currently executing task. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xSwitchRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_PREEMPTION */\r
+ }\r
+ }\r
+ }\r
+ }\r
\r
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
+ /* Tasks of equal priority to the currently running task will share\r
+ processing time (time slice) if preemption is on, and the application\r
+ writer has not explicitly turned time slicing off. */\r
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )\r
+ {\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )\r
{\r
- /* The new current delayed list is empty. Set\r
- xNextTaskUnblockTime to the maximum possible value so it is\r
- extremely unlikely that the\r
- if( xTickCount >= xNextTaskUnblockTime ) test will pass until\r
- there is an item in the delayed list. */\r
- xNextTaskUnblockTime = portMAX_DELAY;\r
+ xSwitchRequired = pdTRUE;\r
}\r
else\r
{\r
- /* The new current delayed list is not empty, get the value of\r
- the item at the head of the delayed list. This is the time at\r
- which the task at the head of the delayed list should be removed\r
- from the Blocked state. */\r
- pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
- xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */\r
\r
- /* See if this tick has made a timeout expire. */\r
- prvCheckDelayedTasks();\r
+ #if ( configUSE_TICK_HOOK == 1 )\r
+ {\r
+ /* Guard against the tick hook being called when the pended tick\r
+ count is being unwound (when the scheduler is being unlocked). */\r
+ if( uxPendedTicks == ( UBaseType_t ) 0U )\r
+ {\r
+ vApplicationTickHook();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_TICK_HOOK */\r
}\r
else\r
{\r
- ++uxMissedTicks;\r
+ ++uxPendedTicks;\r
\r
/* The tick hook gets called at regular intervals, even if the\r
scheduler is locked. */\r
#endif\r
}\r
\r
- #if ( configUSE_TICK_HOOK == 1 )\r
+ #if ( configUSE_PREEMPTION == 1 )\r
{\r
- /* Guard against the tick hook being called when the missed tick\r
- count is being unwound (when the scheduler is being unlocked. */\r
- if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )\r
+ if( xYieldPending != pdFALSE )\r
{\r
- vApplicationTickHook();\r
+ xSwitchRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
- #endif\r
+ #endif /* configUSE_PREEMPTION */\r
+\r
+ return xSwitchRequired;\r
}\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
\r
- void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )\r
+ void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )\r
{\r
- tskTCB *xTCB;\r
+ TCB_t *xTCB;\r
\r
- /* If xTask is NULL then we are setting our own task hook. */\r
+ /* If xTask is NULL then it is the task hook of the calling task that is\r
+ getting set. */\r
if( xTask == NULL )\r
{\r
- xTCB = ( tskTCB * ) pxCurrentTCB;\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
}\r
else\r
{\r
- xTCB = ( tskTCB * ) xTask;\r
+ xTCB = ( TCB_t * ) xTask;\r
}\r
\r
/* Save the hook function in the TCB. A critical section is required as\r
taskEXIT_CRITICAL();\r
}\r
\r
-#endif\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
\r
- pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )\r
+ TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )\r
{\r
- tskTCB *xTCB;\r
- pdTASK_HOOK_CODE xReturn;\r
+ TCB_t *xTCB;\r
+ TaskHookFunction_t xReturn;\r
\r
/* If xTask is NULL then we are setting our own task hook. */\r
if( xTask == NULL )\r
{\r
- xTCB = ( tskTCB * ) pxCurrentTCB;\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
}\r
else\r
{\r
- xTCB = ( tskTCB * ) xTask;\r
+ xTCB = ( TCB_t * ) xTask;\r
}\r
\r
/* Save the hook function in the TCB. A critical section is required as\r
the value can be accessed from an interrupt. */\r
taskENTER_CRITICAL();\r
+ {\r
xReturn = xTCB->pxTaskTag;\r
+ }\r
taskEXIT_CRITICAL();\r
\r
return xReturn;\r
}\r
\r
-#endif\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
\r
- portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )\r
+ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )\r
{\r
- tskTCB *xTCB;\r
- portBASE_TYPE xReturn;\r
+ TCB_t *xTCB;\r
+ BaseType_t xReturn;\r
\r
/* If xTask is NULL then we are calling our own task hook. */\r
if( xTask == NULL )\r
{\r
- xTCB = ( tskTCB * ) pxCurrentTCB;\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
}\r
else\r
{\r
- xTCB = ( tskTCB * ) xTask;\r
+ xTCB = ( TCB_t * ) xTask;\r
}\r
\r
if( xTCB->pxTaskTag != NULL )\r
return xReturn;\r
}\r
\r
-#endif\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
/*-----------------------------------------------------------*/\r
\r
void vTaskSwitchContext( void )\r
{\r
- if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )\r
+ if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )\r
{\r
/* The scheduler is currently suspended - do not allow a context\r
switch. */\r
- xMissedYield = pdTRUE;\r
+ xYieldPending = pdTRUE;\r
}\r
else\r
{\r
+ xYieldPending = pdFALSE;\r
traceTASK_SWITCHED_OUT();\r
\r
#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
{\r
- unsigned long ulTempCounter;\r
-\r
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
- portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );\r
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );\r
#else\r
- ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();\r
+ ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
#endif\r
\r
- /* Add the amount of time the task has been running to the accumulated\r
- time so far. The time the task started running was stored in\r
- ulTaskSwitchedInTime. Note that there is no overflow protection here\r
- so count values are only valid until the timer overflows. Generally\r
- this will be about 1 hour assuming a 1uS timer increment. */\r
- pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );\r
- ulTaskSwitchedInTime = ulTempCounter;\r
+ /* Add the amount of time the task has been running to the\r
+ accumulated time so far. The time the task started running was\r
+ stored in ulTaskSwitchedInTime. Note that there is no overflow\r
+ protection here so count values are only valid until the timer\r
+ overflows. The guard against negative values is to protect\r
+ against suspect run time stat counter implementations - which\r
+ are provided by the application, not the kernel. */\r
+ if( ulTotalRunTime > ulTaskSwitchedInTime )\r
+ {\r
+ pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ ulTaskSwitchedInTime = ulTotalRunTime;\r
}\r
- #endif\r
+ #endif /* configGENERATE_RUN_TIME_STATS */\r
\r
+ /* Check for stack overflow, if configured. */\r
taskFIRST_CHECK_FOR_STACK_OVERFLOW();\r
taskSECOND_CHECK_FOR_STACK_OVERFLOW();\r
\r
+ /* Select a new task to run using either the generic C or port\r
+ optimised asm code. */\r
taskSELECT_HIGHEST_PRIORITY_TASK();\r
-\r
traceTASK_SWITCHED_IN();\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Switch Newlib's _impure_ptr variable to point to the _reent\r
+ structure specific to this task. */\r
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )\r
+void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )\r
{\r
-portTickType xTimeToWake;\r
+TickType_t xTimeToWake;\r
\r
configASSERT( pxEventList );\r
\r
- /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
- SCHEDULER SUSPENDED. */\r
+ /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE\r
+ SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */\r
\r
/* Place the event list item of the TCB in the appropriate event list.\r
This is placed in the list in priority order so the highest priority task\r
- is the first to be woken by the event. */\r
- vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
-\r
- /* We must remove ourselves from the ready list before adding ourselves\r
- to the blocked list as the same list item is used for both lists. We have\r
- exclusive access to the ready lists as the scheduler is locked. */\r
- if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )\r
+ is the first to be woken by the event. The queue that contains the event\r
+ list is locked, preventing simultaneous access from interrupts. */\r
+ vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* The task must be removed from from the ready list before it is added to\r
+ the blocked list as the same list item is used for both lists. Exclusive\r
+ access to the ready lists guaranteed because the scheduler is locked. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
/* The current task must be in a ready list, so there is no need to\r
check, and the port reset macro can be called directly. */\r
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
{\r
if( xTicksToWait == portMAX_DELAY )\r
{\r
- /* Add ourselves to the suspended task list instead of a delayed task\r
- list to ensure we are not woken by a timing event. We will block\r
- indefinitely. */\r
- vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ /* Add the task to the suspended task list instead of a delayed task\r
+ list to ensure the task is not woken by a timing event. It will\r
+ block indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
}\r
else\r
{\r
- /* Calculate the time at which the task should be woken if the event does\r
- not occur. This may overflow but this doesn't matter. */\r
+ /* Calculate the time at which the task should be woken if the event\r
+ does not occur. This may overflow but this doesn't matter, the\r
+ scheduler will handle it. */\r
xTimeToWake = xTickCount + xTicksToWait;\r
prvAddCurrentTaskToDelayedList( xTimeToWake );\r
}\r
}\r
- #else\r
+ #else /* INCLUDE_vTaskSuspend */\r
{\r
/* Calculate the time at which the task should be woken if the event does\r
- not occur. This may overflow but this doesn't matter. */\r
+ not occur. This may overflow but this doesn't matter, the scheduler\r
+ will handle it. */\r
xTimeToWake = xTickCount + xTicksToWait;\r
prvAddCurrentTaskToDelayedList( xTimeToWake );\r
}\r
- #endif\r
+ #endif /* INCLUDE_vTaskSuspend */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-#if configUSE_TIMERS == 1\r
-\r
- void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )\r
- {\r
- portTickType xTimeToWake;\r
-\r
- configASSERT( pxEventList );\r
-\r
- /* This function should not be called by application code hence the\r
- 'Restricted' in its name. It is not part of the public API. It is\r
- designed for use by kernel code, and has special calling requirements -\r
- it should be called from a critical section. */\r
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )\r
+{\r
+TickType_t xTimeToWake;\r
\r
+ configASSERT( pxEventList );\r
\r
- /* Place the event list item of the TCB in the appropriate event list.\r
- In this case it is assume that this is the only task that is going to\r
- be waiting on this event list, so the faster vListInsertEnd() function\r
- can be used in place of vListInsert. */\r
- vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by\r
+ the event groups implementation. */\r
+ configASSERT( uxSchedulerSuspended != 0 );\r
+\r
+ /* Store the item value in the event list item. It is safe to access the\r
+ event list item here as interrupts won't access the event list item of a\r
+ task that is not in the Blocked state. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
+\r
+ /* Place the event list item of the TCB at the end of the appropriate event\r
+ list. It is safe to access the event list here because it is part of an\r
+ event group implementation - and interrupts don't access event groups\r
+ directly (instead they access them indirectly by pending function calls to\r
+ the task level). */\r
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* The task must be removed from the ready list before it is added to the\r
+ blocked list. Exclusive access can be assured to the ready list as the\r
+ scheduler is locked. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is no need to\r
+ check, and the port reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead of a delayed task\r
+ list to ensure it is not woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event\r
+ does not occur. This may overflow but this doesn't matter, the\r
+ kernel will manage it correctly. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event does\r
+ not occur. This may overflow but this doesn't matter, the kernel\r
+ will manage it correctly. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_TIMERS == 1\r
+\r
+ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )\r
+ {\r
+ TickType_t xTimeToWake;\r
+\r
+ configASSERT( pxEventList );\r
+\r
+ /* This function should not be called by application code hence the\r
+ 'Restricted' in its name. It is not part of the public API. It is\r
+ designed for use by kernel code, and has special calling requirements -\r
+ it should be called with the scheduler suspended. */\r
+\r
+\r
+ /* Place the event list item of the TCB in the appropriate event list.\r
+ In this case it is assume that this is the only task that is going to\r
+ be waiting on this event list, so the faster vListInsertEnd() function\r
+ can be used in place of vListInsert. */\r
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
\r
/* We must remove this task from the ready list before adding it to the\r
blocked list as the same list item is used for both lists. This\r
- function is called form a critical section. */\r
- if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )\r
+ function is called with the scheduler locked so interrupts will not\r
+ access the lists at the same time. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
/* The current task must be in a ready list, so there is no need to\r
check, and the port reset macro can be called directly. */\r
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* Calculate the time at which the task should be woken if the event does\r
not occur. This may overflow but this doesn't matter. */\r
xTimeToWake = xTickCount + xTicksToWait;\r
- \r
+\r
traceTASK_DELAY_UNTIL();\r
prvAddCurrentTaskToDelayedList( xTimeToWake );\r
}\r
#endif /* configUSE_TIMERS */\r
/*-----------------------------------------------------------*/\r
\r
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )\r
+BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )\r
{\r
-tskTCB *pxUnblockedTCB;\r
-portBASE_TYPE xReturn;\r
+TCB_t *pxUnblockedTCB;\r
+BaseType_t xReturn;\r
\r
- /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
- SCHEDULER SUSPENDED. It can also be called from within an ISR. */\r
+ /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be\r
+ called from a critical section within an ISR. */\r
\r
- /* The event list is sorted in priority order, so we can remove the\r
- first in the list, remove the TCB from the delayed list, and add\r
- it to the ready list.\r
+ /* The event list is sorted in priority order, so the first in the list can\r
+ be removed as it is known to be the highest priority. Remove the TCB from\r
+ the delayed list, and add it to the ready list.\r
\r
If an event is for a queue that is locked then this function will never\r
get called - the lock count on the queue will get modified instead. This\r
- means we can always expect exclusive access to the event list here.\r
+ means exclusive access to the event list is guaranteed here.\r
\r
This function assumes that a check has already been made to ensure that\r
pxEventList is not empty. */\r
- pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
+ pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
configASSERT( pxUnblockedTCB );\r
- uxListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
\r
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
- uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
- prvAddTaskToReadyQueue( pxUnblockedTCB );\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxUnblockedTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold this task\r
+ pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Return true if the task removed from the event list has a higher\r
+ priority than the calling task. This allows the calling task to know if\r
+ it should force a context switch now. */\r
+ xReturn = pdTRUE;\r
+\r
+ /* Mark that a yield is pending in case the user is not using the\r
+ "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
+ xYieldPending = pdTRUE;\r
}\r
else\r
{\r
- /* We cannot access the delayed or ready lists, so will hold this\r
- task pending until the scheduler is resumed. */\r
- vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ #if( configUSE_TICKLESS_IDLE == 1 )\r
+ {\r
+ /* If a task is blocked on a kernel object then xNextTaskUnblockTime\r
+ might be set to the blocked task's time out time. If the task is\r
+ unblocked for a reason other than a timeout xNextTaskUnblockTime is\r
+ normally left unchanged, because it is automatically get reset to a new\r
+ value when the tick count equals xNextTaskUnblockTime. However if\r
+ tickless idling is used it might be more important to enter sleep mode\r
+ at the earliest possible time - so reset xNextTaskUnblockTime here to\r
+ ensure it is updated at the earliest possible time. */\r
+ prvResetNextTaskUnblockTime();\r
}\r
+ #endif\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )\r
+{\r
+TCB_t *pxUnblockedTCB;\r
+BaseType_t xReturn;\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by\r
+ the event flags implementation. */\r
+ configASSERT( uxSchedulerSuspended != pdFALSE );\r
+\r
+ /* Store the new item value in the event list. */\r
+ listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
+\r
+ /* Remove the event list form the event flag. Interrupts do not access\r
+ event flags. */\r
+ pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );\r
+ configASSERT( pxUnblockedTCB );\r
+ ( void ) uxListRemove( pxEventListItem );\r
+\r
+ /* Remove the task from the delayed list and add it to the ready list. The\r
+ scheduler is suspended so interrupts will not be accessing the ready\r
+ lists. */\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxUnblockedTCB );\r
\r
- if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
{\r
/* Return true if the task removed from the event list has\r
a higher priority than the calling task. This allows\r
the calling task to know if it should force a context\r
switch now. */\r
xReturn = pdTRUE;\r
+\r
+ /* Mark that a yield is pending in case the user is not using the\r
+ "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
+ xYieldPending = pdTRUE;\r
}\r
else\r
{\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )\r
+void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )\r
{\r
configASSERT( pxTimeOut );\r
pxTimeOut->xOverflowCount = xNumOfOverflows;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )\r
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )\r
{\r
-portBASE_TYPE xReturn;\r
+BaseType_t xReturn;\r
\r
configASSERT( pxTimeOut );\r
configASSERT( pxTicksToWait );\r
\r
taskENTER_CRITICAL();\r
{\r
+ /* Minor optimisation. The tick count cannot change in this block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
the maximum block time then the task should block indefinitely, and\r
else /* We are not blocking indefinitely, perform the checks below. */\r
#endif\r
\r
- if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )\r
+ if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */\r
{\r
/* The tick count is greater than the time at which vTaskSetTimeout()\r
was called, but has also overflowed since vTaskSetTimeOut() was called.\r
passed since vTaskSetTimeout() was called. */\r
xReturn = pdTRUE;\r
}\r
- else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )\r
+ else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
{\r
/* Not a genuine timeout. Adjust parameters for time remaining. */\r
- *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );\r
+ *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );\r
vTaskSetTimeOutState( pxTimeOut );\r
xReturn = pdFALSE;\r
}\r
\r
void vTaskMissedYield( void )\r
{\r
- xMissedYield = pdTRUE;\r
+ xYieldPending = pdTRUE;\r
}\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
- unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )\r
+\r
+ UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )\r
{\r
- unsigned portBASE_TYPE uxReturn;\r
- tskTCB *pxTCB;\r
+ UBaseType_t uxReturn;\r
+ TCB_t *pxTCB;\r
\r
if( xTask != NULL )\r
{\r
- pxTCB = ( tskTCB * ) xTask;\r
+ pxTCB = ( TCB_t * ) xTask;\r
uxReturn = pxTCB->uxTaskNumber;\r
}\r
else\r
\r
return uxReturn;\r
}\r
-#endif\r
+\r
+#endif /* configUSE_TRACE_FACILITY */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
- void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )\r
+\r
+ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t *pxTCB;\r
\r
if( xTask != NULL )\r
{\r
- pxTCB = ( tskTCB * ) xTask;\r
+ pxTCB = ( TCB_t * ) xTask;\r
pxTCB->uxTaskNumber = uxHandle;\r
}\r
}\r
-#endif\r
\r
+#endif /* configUSE_TRACE_FACILITY */\r
\r
/*\r
* -----------------------------------------------------------\r
will automatically get the processor anyway. */\r
taskYIELD();\r
}\r
- #endif\r
+ #endif /* configUSE_PREEMPTION */\r
\r
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
{\r
the list, and an occasional incorrect value will not matter. If\r
the ready list at the idle priority contains more than one task\r
then a task other than the idle task is ready to execute. */\r
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )\r
{\r
taskYIELD();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
- #endif\r
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */\r
\r
#if ( configUSE_IDLE_HOOK == 1 )\r
{\r
CALL A FUNCTION THAT MIGHT BLOCK. */\r
vApplicationIdleHook();\r
}\r
- #endif\r
+ #endif /* configUSE_IDLE_HOOK */\r
\r
- #if ( configUSE_TICKLESS_IDLE == 1 )\r
+ /* This conditional compilation should use inequality to 0, not equality\r
+ to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when\r
+ user defined low power mode implementations require\r
+ configUSE_TICKLESS_IDLE to be set to a value other than 1. */\r
+ #if ( configUSE_TICKLESS_IDLE != 0 )\r
{\r
- portTickType xExpectedIdleTime;\r
- /* If the expected idle time is 1 then the idle time would end at\r
- the end of the current time slice. The idle time must be at least\r
- 2 to ensure any pended ticks between this point and the tick being\r
- stopped can be legitimately stepped over when the tick suppression\r
- routines returns. */\r
- const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;\r
+ TickType_t xExpectedIdleTime;\r
\r
- /* Don't enter low power if there are still tasks waiting\r
- deletion. */\r
- if( uxTasksDeleted == 0 )\r
- {\r
- /* It is not desirable to suspend then resume the scheduler on\r
- each iteration of the idle task. Therefore, a preliminary\r
- test of the expected idle time is performed without the\r
- scheduler suspended. The result here is not necessarily\r
- valid. */\r
- xExpectedIdleTime = prvGetExpectedIdleTime();\r
+ /* It is not desirable to suspend then resume the scheduler on\r
+ each iteration of the idle task. Therefore, a preliminary\r
+ test of the expected idle time is performed without the\r
+ scheduler suspended. The result here is not necessarily\r
+ valid. */\r
+ xExpectedIdleTime = prvGetExpectedIdleTime();\r
\r
- if( xExpectedIdleTime >= xMinimumExpectedIdleTime )\r
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
+ {\r
+ vTaskSuspendAll();\r
{\r
- vTaskSuspendAll();\r
- {\r
- /* Now the scheduler is suspended, the expected idle\r
- time can be sampled again, and this time its value can\r
- be used. */\r
- configASSERT( xNextTaskUnblockTime >= xTickCount );\r
- xExpectedIdleTime = prvGetExpectedIdleTime();\r
+ /* Now the scheduler is suspended, the expected idle\r
+ time can be sampled again, and this time its value can\r
+ be used. */\r
+ configASSERT( xNextTaskUnblockTime >= xTickCount );\r
+ xExpectedIdleTime = prvGetExpectedIdleTime();\r
\r
- if( xExpectedIdleTime >= xMinimumExpectedIdleTime )\r
- {\r
- portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );\r
- }\r
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
+ {\r
+ traceLOW_POWER_IDLE_BEGIN();\r
+ portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );\r
+ traceLOW_POWER_IDLE_END();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
- xTaskResumeAll();\r
}\r
+ ( void ) xTaskResumeAll();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
- #endif\r
+ #endif /* configUSE_TICKLESS_IDLE */\r
}\r
-} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */\r
-\r
-\r
-\r
-\r
-\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
+#if configUSE_TICKLESS_IDLE != 0\r
\r
-/*-----------------------------------------------------------\r
- * File private functions documented at the top of the file.\r
- *----------------------------------------------------------*/\r
+ eSleepModeStatus eTaskConfirmSleepModeStatus( void )\r
+ {\r
+ eSleepModeStatus eReturn = eStandardSleep;\r
\r
+ if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )\r
+ {\r
+ /* A task was made ready while the scheduler was suspended. */\r
+ eReturn = eAbortSleep;\r
+ }\r
+ else if( xYieldPending != pdFALSE )\r
+ {\r
+ /* A yield was pended while the scheduler was suspended. */\r
+ eReturn = eAbortSleep;\r
+ }\r
+ else\r
+ {\r
+ #if configUSE_TIMERS == 0\r
+ {\r
+ /* The idle task exists in addition to the application tasks. */\r
+ const UBaseType_t uxNonApplicationTasks = 1;\r
+\r
+ /* If timers are not being used and all the tasks are in the\r
+ suspended list (which might mean they have an infinite block\r
+ time rather than actually being suspended) then it is safe to\r
+ turn all clocks off and just wait for external interrupts. */\r
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )\r
+ {\r
+ eReturn = eNoTasksWaitingTimeout;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_TIMERS */\r
+ }\r
\r
+ return eReturn;\r
+ }\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+/*-----------------------------------------------------------*/\r
\r
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )\r
+static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
{\r
- /* Store the function name in the TCB. */\r
- #if configMAX_TASK_NAME_LEN > 1\r
+UBaseType_t x;\r
+\r
+ /* Store the task name in the TCB. */\r
+ for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
{\r
- /* Don't bring strncpy into the build unnecessarily. */\r
- strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );\r
+ pxTCB->pcTaskName[ x ] = pcName[ x ];\r
+\r
+ /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than\r
+ configMAX_TASK_NAME_LEN characters just in case the memory after the\r
+ string is not accessible (extremely unlikely). */\r
+ if( pcName[ x ] == 0x00 )\r
+ {\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
- #endif\r
- pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';\r
+\r
+ /* Ensure the name string is terminated in the case that the string length\r
+ was greater or equal to configMAX_TASK_NAME_LEN. */\r
+ pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';\r
\r
/* This is used as an array index so must ensure it's not too large. First\r
remove the privilege bit if one is present. */\r
- if( uxPriority >= configMAX_PRIORITIES )\r
+ if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
{\r
- uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;\r
+ uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
\r
pxTCB->uxPriority = uxPriority;\r
#if ( configUSE_MUTEXES == 1 )\r
{\r
pxTCB->uxBasePriority = uxPriority;\r
+ pxTCB->uxMutexesHeld = 0;\r
}\r
- #endif\r
+ #endif /* configUSE_MUTEXES */\r
\r
vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
\r
- /* Set the pxTCB as a link back from the xListItem. This is so we can get\r
+ /* Set the pxTCB as a link back from the ListItem_t. This is so we can get\r
back to the containing TCB from a generic item in a list. */\r
listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
\r
/* Event lists are always in priority order. */\r
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
\r
#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
{\r
- pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;\r
+ pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;\r
}\r
- #endif\r
+ #endif /* portCRITICAL_NESTING_IN_TCB */\r
\r
#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
{\r
pxTCB->pxTaskTag = NULL;\r
}\r
- #endif\r
+ #endif /* configUSE_APPLICATION_TASK_TAG */\r
\r
#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
{\r
pxTCB->ulRunTimeCounter = 0UL;\r
}\r
- #endif\r
+ #endif /* configGENERATE_RUN_TIME_STATS */\r
\r
#if ( portUSING_MPU_WRAPPERS == 1 )\r
{\r
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );\r
}\r
- #else\r
+ #else /* portUSING_MPU_WRAPPERS */\r
{\r
( void ) xRegions;\r
( void ) usStackDepth;\r
}\r
+ #endif /* portUSING_MPU_WRAPPERS */\r
+\r
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
+ {\r
+ for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )\r
+ {\r
+ pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;\r
+ }\r
+ }\r
+ #endif\r
+\r
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
+ {\r
+ pxTCB->ulNotifiedValue = 0;\r
+ pxTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
#endif\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Initialise this task's Newlib reent structure. */\r
+ _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-#if ( portUSING_MPU_WRAPPERS == 1 )\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
+\r
+ void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
+ {\r
+ pxTCB = prvGetTCBFromHandle( xTaskToSet );\r
+ pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;\r
+ }\r
+ }\r
+\r
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
\r
- void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )\r
+ void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )\r
{\r
- tskTCB *pxTCB;\r
+ void *pvReturn = NULL;\r
+ TCB_t *pxTCB;\r
\r
- if( xTaskToModify == pxCurrentTCB )\r
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
+ {\r
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
+ pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];\r
+ }\r
+ else\r
{\r
- xTaskToModify = NULL;\r
+ pvReturn = NULL;\r
}\r
\r
+ return pvReturn;\r
+ }\r
+\r
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( portUSING_MPU_WRAPPERS == 1 )\r
+\r
+ void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
/* If null is passed in here then we are deleting ourselves. */\r
pxTCB = prvGetTCBFromHandle( xTaskToModify );\r
\r
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
}\r
- /*-----------------------------------------------------------*/\r
-#endif\r
+\r
+#endif /* portUSING_MPU_WRAPPERS */\r
+/*-----------------------------------------------------------*/\r
\r
static void prvInitialiseTaskLists( void )\r
{\r
-unsigned portBASE_TYPE uxPriority;\r
+UBaseType_t uxPriority;\r
\r
- for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )\r
+ for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )\r
{\r
- vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );\r
+ vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );\r
}\r
\r
- vListInitialise( ( xList * ) &xDelayedTaskList1 );\r
- vListInitialise( ( xList * ) &xDelayedTaskList2 );\r
- vListInitialise( ( xList * ) &xPendingReadyList );\r
+ vListInitialise( &xDelayedTaskList1 );\r
+ vListInitialise( &xDelayedTaskList2 );\r
+ vListInitialise( &xPendingReadyList );\r
\r
#if ( INCLUDE_vTaskDelete == 1 )\r
{\r
- vListInitialise( ( xList * ) &xTasksWaitingTermination );\r
+ vListInitialise( &xTasksWaitingTermination );\r
}\r
- #endif\r
+ #endif /* INCLUDE_vTaskDelete */\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
{\r
- vListInitialise( ( xList * ) &xSuspendedTaskList );\r
+ vListInitialise( &xSuspendedTaskList );\r
}\r
- #endif\r
+ #endif /* INCLUDE_vTaskSuspend */\r
\r
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
using list2. */\r
{\r
#if ( INCLUDE_vTaskDelete == 1 )\r
{\r
- portBASE_TYPE xListIsEmpty;\r
+ BaseType_t xListIsEmpty;\r
\r
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
too often in the idle task. */\r
- if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )\r
+ while( uxTasksDeleted > ( UBaseType_t ) 0U )\r
{\r
vTaskSuspendAll();\r
+ {\r
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );\r
- xTaskResumeAll();\r
+ }\r
+ ( void ) xTaskResumeAll();\r
\r
if( xListIsEmpty == pdFALSE )\r
{\r
- tskTCB *pxTCB;\r
+ TCB_t *pxTCB;\r
\r
taskENTER_CRITICAL();\r
{\r
- pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );\r
- uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
--uxCurrentNumberOfTasks;\r
--uxTasksDeleted;\r
}\r
\r
prvDeleteTCB( pxTCB );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
}\r
- #endif\r
+ #endif /* vTaskDelete */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )\r
+static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )\r
{\r
/* The list item will be inserted in wake time order. */\r
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
if( xTimeToWake < xTickCount )\r
{\r
/* Wake time has overflowed. Place this item in the overflow list. */\r
- vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
}\r
else\r
{\r
- /* The wake time has not overflowed, so we can use the current block list. */\r
- vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
+ /* The wake time has not overflowed, so the current block list is used. */\r
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
\r
/* If the task entering the blocked state was placed at the head of the\r
list of blocked tasks then xNextTaskUnblockTime needs to be updated\r
{\r
xNextTaskUnblockTime = xTimeToWake;\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )\r
+static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )\r
{\r
-tskTCB *pxNewTCB;\r
+TCB_t *pxNewTCB;\r
\r
- /* Allocate space for the TCB. Where the memory comes from depends on\r
- the implementation of the port malloc function. */\r
- pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );\r
+ /* If the stack grows down then allocate the stack then the TCB so the stack\r
+ does not grow into the TCB. Likewise if the stack grows up then allocate\r
+ the TCB then the stack. */\r
+ #if( portSTACK_GROWTH > 0 )\r
+ {\r
+ /* Allocate space for the TCB. Where the memory comes from depends on\r
+ the implementation of the port malloc function. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
\r
- if( pxNewTCB != NULL )\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Allocate space for the stack used by the task being created.\r
+ The base of the stack memory stored in the TCB so the task can\r
+ be deleted later if required. */\r
+ pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ if( pxNewTCB->pxStack == NULL )\r
+ {\r
+ /* Could not allocate the stack. Delete the allocated TCB. */\r
+ vPortFree( pxNewTCB );\r
+ pxNewTCB = NULL;\r
+ }\r
+ }\r
+ }\r
+ #else /* portSTACK_GROWTH */\r
{\r
- /* Allocate space for the stack used by the task being created.\r
- The base of the stack memory stored in the TCB so the task can\r
- be deleted later if required. */\r
- pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );\r
+ StackType_t *pxStack;\r
\r
- if( pxNewTCB->pxStack == NULL )\r
+ /* Allocate space for the stack used by the task being created. */\r
+ pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ if( pxStack != NULL )\r
{\r
- /* Could not allocate the stack. Delete the allocated TCB. */\r
- vPortFree( pxNewTCB );\r
- pxNewTCB = NULL;\r
+ /* Allocate space for the TCB. Where the memory comes from depends\r
+ on the implementation of the port malloc function. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Store the stack location in the TCB. */\r
+ pxNewTCB->pxStack = pxStack;\r
+ }\r
+ else\r
+ {\r
+ /* The stack cannot be used as the TCB was not created. Free it\r
+ again. */\r
+ vPortFree( pxStack );\r
+ }\r
}\r
else\r
+ {\r
+ pxNewTCB = NULL;\r
+ }\r
+ }\r
+ #endif /* portSTACK_GROWTH */\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Avoid dependency on memset() if it is not required. */\r
+ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
{\r
/* Just to help debugging. */\r
- memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );\r
+ ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );\r
}\r
+ #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */\r
}\r
\r
return pxNewTCB;\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
\r
- static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )\r
+ static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )\r
{\r
- volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
- unsigned short usStackRemaining;\r
- PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];\r
+ volatile TCB_t *pxNextTCB, *pxFirstTCB;\r
+ UBaseType_t uxTask = 0;\r
\r
- /* Write the details of all the TCB's in pxList into the buffer. */\r
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
- do\r
+ if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )\r
{\r
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
- #if ( portSTACK_GROWTH > 0 )\r
- {\r
- usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );\r
- }\r
- #else\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
+\r
+ /* Populate an TaskStatus_t structure within the\r
+ pxTaskStatusArray array for each task that is referenced from\r
+ pxList. See the definition of TaskStatus_t in task.h for the\r
+ meaning of each TaskStatus_t structure member. */\r
+ do\r
{\r
- usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );\r
- }\r
- #endif\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
+\r
+ pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;\r
+ pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );\r
+ pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;\r
+ pxTaskStatusArray[ uxTask ].eCurrentState = eState;\r
+ pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ /* If the task is in the suspended list then there is a chance\r
+ it is actually just blocked indefinitely - so really it should\r
+ be reported as being in the Blocked state. */\r
+ if( eState == eSuspended )\r
+ {\r
+ if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;\r
+ }\r
+ }\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].uxBasePriority = 0;\r
+ }\r
+ #endif\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;\r
+ }\r
+ #endif\r
+\r
+ #if ( portSTACK_GROWTH > 0 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );\r
+ }\r
+ #endif\r
\r
- sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );\r
- strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );\r
+ uxTask++;\r
\r
- } while( pxNextTCB != pxFirstTCB );\r
+ } while( pxNextTCB != pxFirstTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ return uxTask;\r
}\r
\r
-#endif\r
+#endif /* configUSE_TRACE_FACILITY */\r
/*-----------------------------------------------------------*/\r
\r
-#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
\r
- static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )\r
+ static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )\r
{\r
- volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
- unsigned long ulStatsAsPercentage;\r
+ uint32_t ulCount = 0U;\r
\r
- /* Write the run time stats of all the TCB's in pxList into the buffer. */\r
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
- do\r
+ while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )\r
{\r
- /* Get next TCB in from the list. */\r
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
+ pucStackByte -= portSTACK_GROWTH;\r
+ ulCount++;\r
+ }\r
\r
- /* Divide by zero check. */\r
- if( ulTotalRunTime > 0UL )\r
- {\r
- /* Has the task run at all? */\r
- if( pxNextTCB->ulRunTimeCounter == 0UL )\r
- {\r
- /* The task has used no CPU time at all. */\r
- sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );\r
- }\r
- else\r
- {\r
- /* What percentage of the total run time has the task used?\r
- This will always be rounded down to the nearest integer.\r
- ulTotalRunTime has already been divided by 100. */\r
- ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;\r
-\r
- if( ulStatsAsPercentage > 0UL )\r
- {\r
- #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
- {\r
- sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );\r
- }\r
- #else\r
- {\r
- /* sizeof( int ) == sizeof( long ) so a smaller\r
- printf() library can be used. */\r
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
- }\r
- #endif\r
- }\r
- else\r
- {\r
- /* If the percentage is zero here then the task has\r
- consumed less than 1% of the total run time. */\r
- #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
- {\r
- sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );\r
- }\r
- #else\r
- {\r
- /* sizeof( int ) == sizeof( long ) so a smaller\r
- printf() library can be used. */\r
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );\r
- }\r
- #endif\r
- }\r
- }\r
+ ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */\r
\r
- strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );\r
- }\r
-\r
- } while( pxNextTCB != pxFirstTCB );\r
+ return ( uint16_t ) ulCount;\r
}\r
\r
-#endif\r
-/*-----------------------------------------------------------*/\r
-\r
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
-\r
- static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )\r
- {\r
- register unsigned short usCount = 0U;\r
-\r
- while( *pucStackByte == tskSTACK_FILL_BYTE )\r
- {\r
- pucStackByte -= portSTACK_GROWTH;\r
- usCount++;\r
- }\r
-\r
- usCount /= sizeof( portSTACK_TYPE );\r
-\r
- return usCount;\r
- }\r
-\r
-#endif\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
\r
- unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )\r
+ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )\r
{\r
- tskTCB *pxTCB;\r
- unsigned char *pcEndOfStack;\r
- unsigned portBASE_TYPE uxReturn;\r
+ TCB_t *pxTCB;\r
+ uint8_t *pucEndOfStack;\r
+ UBaseType_t uxReturn;\r
\r
pxTCB = prvGetTCBFromHandle( xTask );\r
\r
#if portSTACK_GROWTH < 0\r
{\r
- pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;\r
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;\r
}\r
#else\r
{\r
- pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;\r
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;\r
}\r
#endif\r
\r
- uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );\r
+ uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );\r
\r
return uxReturn;\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */\r
/*-----------------------------------------------------------*/\r
\r
#if ( INCLUDE_vTaskDelete == 1 )\r
\r
- static void prvDeleteTCB( tskTCB *pxTCB )\r
+ static void prvDeleteTCB( TCB_t *pxTCB )\r
{\r
/* This call is required specifically for the TriCore port. It must be\r
above the vPortFree() calls. The call is also used by ports/demos that\r
want to allocate and clean RAM statically. */\r
portCLEAN_UP_TCB( pxTCB );\r
\r
- /* Free up the memory allocated by the scheduler for the task. It is up to\r
- the task to free any memory allocated at the application level. */\r
- vPortFreeAligned( pxTCB->pxStack );\r
+ /* Free up the memory allocated by the scheduler for the task. It is up\r
+ to the task to free any memory allocated at the application level. */\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ _reclaim_reent( &( pxTCB->xNewLib_reent ) );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ /* Only free the stack if it was allocated dynamically in the first\r
+ place. */\r
+ if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )\r
+ {\r
+ vPortFreeAligned( pxTCB->pxStack );\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ vPortFreeAligned( pxTCB->pxStack );\r
+ }\r
+ #endif\r
+\r
vPortFree( pxTCB );\r
}\r
\r
-#endif\r
+#endif /* INCLUDE_vTaskDelete */\r
+/*-----------------------------------------------------------*/\r
\r
+static void prvResetNextTaskUnblockTime( void )\r
+{\r
+TCB_t *pxTCB;\r
\r
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
+ {\r
+ /* The new current delayed list is empty. Set xNextTaskUnblockTime to\r
+ the maximum possible value so it is extremely unlikely that the\r
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass until\r
+ there is an item in the delayed list. */\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
+ }\r
+ else\r
+ {\r
+ /* The new current delayed list is not empty, get the value of\r
+ the item at the head of the delayed list. This is the time at\r
+ which the task at the head of the delayed list should be removed\r
+ from the Blocked state. */\r
+ ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
+ xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );\r
+ }\r
+}\r
/*-----------------------------------------------------------*/\r
\r
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )\r
\r
- xTaskHandle xTaskGetCurrentTaskHandle( void )\r
+ TaskHandle_t xTaskGetCurrentTaskHandle( void )\r
{\r
- xTaskHandle xReturn;\r
+ TaskHandle_t xReturn;\r
\r
/* A critical section is not required as this is not called from\r
an interrupt and the current TCB will always be the same for any\r
return xReturn;\r
}\r
\r
-#endif\r
-\r
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */\r
/*-----------------------------------------------------------*/\r
\r
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )\r
\r
- portBASE_TYPE xTaskGetSchedulerState( void )\r
+ BaseType_t xTaskGetSchedulerState( void )\r
{\r
- portBASE_TYPE xReturn;\r
+ BaseType_t xReturn;\r
\r
if( xSchedulerRunning == pdFALSE )\r
{\r
}\r
else\r
{\r
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
xReturn = taskSCHEDULER_RUNNING;\r
}\r
return xReturn;\r
}\r
\r
-#endif\r
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_MUTEXES == 1 )\r
\r
- void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )\r
+ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )\r
{\r
- tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
+ TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
\r
/* If the mutex was given back by an interrupt while the queue was\r
locked then the mutex holder might now be NULL. */\r
if( pxMutexHolder != NULL )\r
{\r
+ /* If the holder of the mutex has a priority below the priority of\r
+ the task attempting to obtain the mutex then it will temporarily\r
+ inherit the priority of the task attempting to obtain the mutex. */\r
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
{\r
- /* Adjust the mutex holder state to account for its new priority. */\r
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );\r
+ /* Adjust the mutex holder state to account for its new\r
+ priority. Only reset the event list item value if the value is\r
+ not being used for anything else. */\r
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
+ {\r
+ 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
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- /* If the task being modified is in the ready state it will need to\r
- be moved into a new list. */\r
+ /* If the task being modified is in the ready state it will need\r
+ to be moved into a new list. */\r
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
{\r
- if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
/* Inherit the priority before being moved into the new list. */\r
pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ prvAddTaskToReadyList( pxTCB );\r
}\r
else\r
{\r
\r
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
\r
-#endif\r
+#endif /* configUSE_MUTEXES */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_MUTEXES == 1 )\r
\r
- void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )\r
+ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )\r
{\r
- tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
+ TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
+ BaseType_t xReturn = pdFALSE;\r
\r
if( pxMutexHolder != NULL )\r
{\r
+ /* A task can only have an inherited priority if it holds the mutex.\r
+ If the mutex is held by a task then it cannot be given from an\r
+ interrupt, and if a mutex is given by the holding task then it must\r
+ be the running state task. */\r
+ configASSERT( pxTCB == pxCurrentTCB );\r
+\r
+ configASSERT( pxTCB->uxMutexesHeld );\r
+ ( pxTCB->uxMutexesHeld )--;\r
+\r
+ /* Has the holder of the mutex inherited the priority of another\r
+ task? */\r
if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
{\r
- /* We must be the running task to be able to give the mutex back.\r
- Remove ourselves from the ready list we currently appear in. */\r
- if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )\r
+ /* Only disinherit if no other mutexes are held. */\r
+ if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )\r
{\r
- taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
- }\r
+ /* A task can only have an inherited priority if it holds\r
+ the mutex. If the mutex is held by a task then it cannot be\r
+ given from an interrupt, and if a mutex is given by the\r
+ holding task then it must be the running state task. Remove\r
+ the holding task from the ready list. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- /* Disinherit the priority before adding the task into the new\r
- ready list. */\r
- traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );\r
- pxTCB->uxPriority = pxTCB->uxBasePriority;\r
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );\r
- prvAddTaskToReadyQueue( pxTCB );\r
+ /* Disinherit the priority before adding the task into the\r
+ new ready list. */\r
+ traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );\r
+ pxTCB->uxPriority = pxTCB->uxBasePriority;\r
+\r
+ /* Reset the event list item value. It cannot be in use for\r
+ any other purpose if this task is running, and it must be\r
+ running to give back the mutex. */\r
+ 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
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* Return true to indicate that a context switch is required.\r
+ This is only actually required in the corner case whereby\r
+ multiple mutexes were held and the mutexes were given back\r
+ in an order different to that in which they were taken.\r
+ If a context switch did not occur when the first mutex was\r
+ returned, even if a task was waiting on it, then a context\r
+ switch should occur when the last mutex is returned whether\r
+ a task is waiting on it or not. */\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
+\r
+ return xReturn;\r
}\r
\r
-#endif\r
+#endif /* configUSE_MUTEXES */\r
/*-----------------------------------------------------------*/\r
\r
#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
if( xSchedulerRunning != pdFALSE )\r
{\r
( pxCurrentTCB->uxCriticalNesting )++;\r
+\r
+ /* This is not the interrupt safe version of the enter critical\r
+ function so assert() if it is being called from an interrupt\r
+ context. Only API functions that end in "FromISR" can be used in an\r
+ interrupt. Only assert if the critical nesting count is 1 to\r
+ protect against recursive calls if the assert function also uses a\r
+ critical section. */\r
+ if( pxCurrentTCB->uxCriticalNesting == 1 )\r
+ {\r
+ portASSERT_IF_IN_ISR();\r
+ }\r
+\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
\r
-#endif\r
+#endif /* portCRITICAL_NESTING_IN_TCB */\r
/*-----------------------------------------------------------*/\r
\r
#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
{\r
portENABLE_INTERRUPTS();\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
\r
-#endif\r
+#endif /* portCRITICAL_NESTING_IN_TCB */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )\r
+ {\r
+ BaseType_t x;\r
+\r
+ /* Start by copying the entire string. */\r
+ strcpy( pcBuffer, pcTaskName );\r
+\r
+ /* Pad the end of the string with spaces to ensure columns line up when\r
+ printed out. */\r
+ for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )\r
+ {\r
+ pcBuffer[ x ] = ' ';\r
+ }\r
+\r
+ /* Terminate. */\r
+ pcBuffer[ x ] = 0x00;\r
+\r
+ /* Return the new end of string. */\r
+ return &( pcBuffer[ x ] );\r
+ }\r
+\r
+#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */\r
/*-----------------------------------------------------------*/\r
\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ void vTaskList( char * pcWriteBuffer )\r
+ {\r
+ TaskStatus_t *pxTaskStatusArray;\r
+ volatile UBaseType_t uxArraySize, x;\r
+ char cStatus;\r
+\r
+ /*\r
+ * PLEASE NOTE:\r
+ *\r
+ * This function is provided for convenience only, and is used by many\r
+ * of the demo applications. Do not consider it to be part of the\r
+ * scheduler.\r
+ *\r
+ * vTaskList() calls uxTaskGetSystemState(), then formats part of the\r
+ * uxTaskGetSystemState() output into a human readable table that\r
+ * displays task names, states and stack usage.\r
+ *\r
+ * vTaskList() has a dependency on the sprintf() C library function that\r
+ * might bloat the code size, use a lot of stack, and provide different\r
+ * results on different platforms. An alternative, tiny, third party,\r
+ * and limited functionality implementation of sprintf() is provided in\r
+ * many of the FreeRTOS/Demo sub-directories in a file called\r
+ * printf-stdarg.c (note printf-stdarg.c does not provide a full\r
+ * snprintf() implementation!).\r
+ *\r
+ * It is recommended that production systems call uxTaskGetSystemState()\r
+ * directly to get access to raw stats data, rather than indirectly\r
+ * through a call to vTaskList().\r
+ */\r
+\r
+\r
+ /* Make sure the write buffer does not contain a string. */\r
+ *pcWriteBuffer = 0x00;\r
+\r
+ /* Take a snapshot of the number of tasks in case it changes while this\r
+ function is executing. */\r
+ uxArraySize = uxCurrentNumberOfTasks;\r
+\r
+ /* Allocate an array index for each task. */\r
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
+\r
+ if( pxTaskStatusArray != NULL )\r
+ {\r
+ /* Generate the (binary) data. */\r
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );\r
+\r
+ /* Create a human readable table from the binary data. */\r
+ for( x = 0; x < uxArraySize; x++ )\r
+ {\r
+ switch( pxTaskStatusArray[ x ].eCurrentState )\r
+ {\r
+ case eReady: cStatus = tskREADY_CHAR;\r
+ break;\r
+\r
+ case eBlocked: cStatus = tskBLOCKED_CHAR;\r
+ break;\r
\r
+ case eSuspended: cStatus = tskSUSPENDED_CHAR;\r
+ break;\r
+\r
+ case eDeleted: cStatus = tskDELETED_CHAR;\r
+ break;\r
+\r
+ default: /* Should not get here, but it is included\r
+ to prevent static checking errors. */\r
+ cStatus = 0x00;\r
+ break;\r
+ }\r
+\r
+ /* Write the task name to the string, padding with spaces so it\r
+ can be printed in tabular form more easily. */\r
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
+\r
+ /* Write the rest of the string. */\r
+ 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
+ pcWriteBuffer += strlen( pcWriteBuffer );\r
+ }\r
+\r
+ /* Free the array again. */\r
+ vPortFree( pxTaskStatusArray );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ void vTaskGetRunTimeStats( char *pcWriteBuffer )\r
+ {\r
+ TaskStatus_t *pxTaskStatusArray;\r
+ volatile UBaseType_t uxArraySize, x;\r
+ uint32_t ulTotalTime, ulStatsAsPercentage;\r
+\r
+ #if( configUSE_TRACE_FACILITY != 1 )\r
+ {\r
+ #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().\r
+ }\r
+ #endif\r
+\r
+ /*\r
+ * PLEASE NOTE:\r
+ *\r
+ * This function is provided for convenience only, and is used by many\r
+ * of the demo applications. Do not consider it to be part of the\r
+ * scheduler.\r
+ *\r
+ * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part\r
+ * of the uxTaskGetSystemState() output into a human readable table that\r
+ * displays the amount of time each task has spent in the Running state\r
+ * in both absolute and percentage terms.\r
+ *\r
+ * vTaskGetRunTimeStats() has a dependency on the sprintf() C library\r
+ * function that might bloat the code size, use a lot of stack, and\r
+ * provide different results on different platforms. An alternative,\r
+ * tiny, third party, and limited functionality implementation of\r
+ * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in\r
+ * a file called printf-stdarg.c (note printf-stdarg.c does not provide\r
+ * a full snprintf() implementation!).\r
+ *\r
+ * It is recommended that production systems call uxTaskGetSystemState()\r
+ * directly to get access to raw stats data, rather than indirectly\r
+ * through a call to vTaskGetRunTimeStats().\r
+ */\r
+\r
+ /* Make sure the write buffer does not contain a string. */\r
+ *pcWriteBuffer = 0x00;\r
+\r
+ /* Take a snapshot of the number of tasks in case it changes while this\r
+ function is executing. */\r
+ uxArraySize = uxCurrentNumberOfTasks;\r
+\r
+ /* Allocate an array index for each task. */\r
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
+\r
+ if( pxTaskStatusArray != NULL )\r
+ {\r
+ /* Generate the (binary) data. */\r
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );\r
+\r
+ /* For percentage calculations. */\r
+ ulTotalTime /= 100UL;\r
+\r
+ /* Avoid divide by zero errors. */\r
+ if( ulTotalTime > 0 )\r
+ {\r
+ /* Create a human readable table from the binary data. */\r
+ for( x = 0; x < uxArraySize; x++ )\r
+ {\r
+ /* What percentage of the total run time has the task used?\r
+ This will always be rounded down to the nearest integer.\r
+ ulTotalRunTimeDiv100 has already been divided by 100. */\r
+ ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;\r
\r
+ /* Write the task name to the string, padding with\r
+ spaces so it can be printed in tabular form more\r
+ easily. */\r
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
+\r
+ if( ulStatsAsPercentage > 0UL )\r
+ {\r
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
+ {\r
+ sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );\r
+ }\r
+ #else\r
+ {\r
+ /* sizeof( int ) == sizeof( long ) so a smaller\r
+ printf() library can be used. */\r
+ sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
+ }\r
+ #endif\r
+ }\r
+ else\r
+ {\r
+ /* If the percentage is zero here then the task has\r
+ consumed less than 1% of the total run time. */\r
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
+ {\r
+ sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );\r
+ }\r
+ #else\r
+ {\r
+ /* sizeof( int ) == sizeof( long ) so a smaller\r
+ printf() library can be used. */\r
+ sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );\r
+ }\r
+ #endif\r
+ }\r
+\r
+ pcWriteBuffer += strlen( pcWriteBuffer );\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Free the array again. */\r
+ vPortFree( pxTaskStatusArray );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+TickType_t uxTaskResetEventItemValue( void )\r
+{\r
+TickType_t uxReturn;\r
+\r
+ uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* Reset the event list item to its normal value - so it can be used with\r
+ queues and semaphores. */\r
+ 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
+\r
+ return uxReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+\r
+ void *pvTaskIncrementMutexHeldCount( void )\r
+ {\r
+ /* If xSemaphoreCreateMutex() is called before any tasks have been created\r
+ then pxCurrentTCB will be NULL. */\r
+ if( pxCurrentTCB != NULL )\r
+ {\r
+ ( pxCurrentTCB->uxMutexesHeld )++;\r
+ }\r
+\r
+ return pxCurrentTCB;\r
+ }\r
+\r
+#endif /* configUSE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ uint32_t ulReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Only block if the notification count is not already non-zero. */\r
+ if( pxCurrentTCB->ulNotifiedValue == 0UL )\r
+ {\r
+ /* Mark this task as waiting for a notification. */\r
+ pxCurrentTCB->eNotifyState = eWaitingNotification;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ /* The task is going to block. First it must be removed\r
+ from the ready list. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead\r
+ of a delayed task list to ensure the task is not\r
+ woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if no notification events occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if the event does not occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ /* All ports are written to allow a yield in a critical\r
+ section (some will yield immediately, others wait until the\r
+ critical section exits) - but it is not something that\r
+ application code should ever do. */\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ ulReturn = pxCurrentTCB->ulNotifiedValue;\r
+\r
+ if( ulReturn != 0UL )\r
+ {\r
+ if( xClearCountOnExit != pdFALSE )\r
+ {\r
+ pxCurrentTCB->ulNotifiedValue = 0UL;\r
+ }\r
+ else\r
+ {\r
+ ( pxCurrentTCB->ulNotifiedValue )--;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ pxCurrentTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return ulReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Only block if a notification is not already pending. */\r
+ if( pxCurrentTCB->eNotifyState != eNotified )\r
+ {\r
+ /* Clear bits in the task's notification value as bits may get\r
+ set by the notifying task or interrupt. This can be used to\r
+ clear the value to zero. */\r
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;\r
+\r
+ /* Mark this task as waiting for a notification. */\r
+ pxCurrentTCB->eNotifyState = eWaitingNotification;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ /* The task is going to block. First it must be removed\r
+ from the ready list. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead\r
+ of a delayed task list to ensure the task is not\r
+ woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if no notification events occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if the event does not occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ /* All ports are written to allow a yield in a critical\r
+ section (some will yield immediately, others wait until the\r
+ critical section exits) - but it is not something that\r
+ application code should ever do. */\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pulNotificationValue != NULL )\r
+ {\r
+ /* Output the current notification value, which may or may not\r
+ have changed. */\r
+ *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;\r
+ }\r
+\r
+ /* If eNotifyValue is set then either the task never entered the\r
+ blocked state (because a notification was already pending) or the\r
+ task unblocked because of a notification. Otherwise the task\r
+ unblocked because of a timeout. */\r
+ if( pxCurrentTCB->eNotifyState == eWaitingNotification )\r
+ {\r
+ /* A notification was not received. */\r
+ xReturn = pdFALSE;\r
+ }\r
+ else\r
+ {\r
+ /* A notification was already pending or a notification was\r
+ received while the task was waiting. */\r
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;\r
+ xReturn = pdTRUE;\r
+ }\r
+\r
+ pxCurrentTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ BaseType_t xReturn = pdPASS;\r
+\r
+ configASSERT( xTaskToNotify );\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pulPreviousNotificationValue != NULL )\r
+ {\r
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
+ }\r
+\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ switch( eAction )\r
+ {\r
+ case eSetBits :\r
+ pxTCB->ulNotifiedValue |= ulValue;\r
+ break;\r
+\r
+ case eIncrement :\r
+ ( pxTCB->ulNotifiedValue )++;\r
+ break;\r
+\r
+ case eSetValueWithOverwrite :\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ break;\r
+\r
+ case eSetValueWithoutOverwrite :\r
+ if( eOriginalNotifyState != eNotified )\r
+ {\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ }\r
+ else\r
+ {\r
+ /* The value could not be written to the task. */\r
+ xReturn = pdFAIL;\r
+ }\r
+ break;\r
+\r
+ case eNoAction:\r
+ /* The task is being notified without its notify value being\r
+ updated. */\r
+ break;\r
+ }\r
+\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ BaseType_t xReturn = pdPASS;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToNotify );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ switch( eAction )\r
+ {\r
+ case eSetBits :\r
+ pxTCB->ulNotifiedValue |= ulValue;\r
+ break;\r
+\r
+ case eIncrement :\r
+ ( pxTCB->ulNotifiedValue )++;\r
+ break;\r
+\r
+ case eSetValueWithOverwrite :\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ break;\r
+\r
+ case eSetValueWithoutOverwrite :\r
+ if( eOriginalNotifyState != eNotified )\r
+ {\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ }\r
+ else\r
+ {\r
+ /* The value could not be written to the task. */\r
+ xReturn = pdFAIL;\r
+ }\r
+ break;\r
+\r
+ case eNoAction :\r
+ /* The task is being notified without its notify value being\r
+ updated. */\r
+ break;\r
+ }\r
+\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold\r
+ this task pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToNotify );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ /* 'Giving' is equivalent to incrementing a count in a counting\r
+ semaphore. */\r
+ ( pxTCB->ulNotifiedValue )++;\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold\r
+ this task pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+#ifdef FREERTOS_MODULE_TEST\r
+ #include "tasks_test_access_functions.h"\r
+#endif\r
\r
projects / freertos / blobdiff