/*\r
- FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\r
- * *\r
- ***************************************************************************\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
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
\r
- >>! NOTE: The modification to the GPL is included to allow you to distribute\r
- >>! a combined work that includes FreeRTOS without being obliged to provide\r
- >>! the source code for proprietary components outside of the FreeRTOS\r
- >>! kernel.\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 from the following\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
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\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, a DOS\r
compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\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
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
#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() portYIELD_WITHIN_API()\r
#endif\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
- * (the task's run time environment, including register values)\r
- */\r
-typedef struct tskTaskControlBlock\r
-{\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
- #endif\r
-\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
- 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
- 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
- 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
- UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
- #endif\r
-\r
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
- TaskHookFunction_t pxTaskTag;\r
- #endif\r
-\r
- #if ( configGENERATE_RUN_TIME_STATS == 1 )\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
-} TCB_t;\r
-\r
-/*\r
- * Some kernel aware debuggers require the data the debugger needs access to to\r
- * be global, rather than file scope.\r
- */\r
-#ifdef portREMOVE_STATIC_QUALIFIER\r
- #define static\r
-#endif\r
-\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 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 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 List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
-\r
-#endif\r
-\r
-#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
-\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
-/* 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 uxSchedulerSuspended = ( UBaseType_t ) 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
-#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
-\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
+/* Values that can be assigned to the ucNotifyState member of the TCB. */\r
+#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )\r
+#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )\r
+#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )\r
\r
/*\r
* The value used to fill the stack of a task when the task is created. This\r
#define tskDELETED_CHAR ( 'D' )\r
#define tskSUSPENDED_CHAR ( 'S' )\r
\r
-/*-----------------------------------------------------------*/\r
+/*\r
+ * Some kernel aware debuggers require the data the debugger needs access to be\r
+ * global, rather than file scope.\r
+ */\r
+#ifdef portREMOVE_STATIC_QUALIFIER\r
+ #define static\r
+#endif\r
\r
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
\r
\r
#define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
{ \\r
+ UBaseType_t uxTopPriority = uxTopReadyPriority; \\r
+ \\r
/* Find the highest priority queue that contains ready tasks. */ \\r
- while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \\r
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \\r
{ \\r
- configASSERT( uxTopReadyPriority ); \\r
- --uxTopReadyPriority; \\r
+ configASSERT( uxTopPriority ); \\r
+ --uxTopPriority; \\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
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \\r
+ uxTopReadyPriority = uxTopPriority; \\r
} /* taskSELECT_HIGHEST_PRIORITY_TASK */\r
\r
/*-----------------------------------------------------------*/\r
{ \\r
UBaseType_t uxTopPriority; \\r
\\r
- /* Find the highest priority queue that contains ready tasks. */ \\r
+ /* Find the highest priority list that contains ready tasks. */ \\r
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \\r
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \\r
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \\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
* the task. It is inserted at the end of the list.\r
*/\r
#define prvAddTaskToReadyList( pxTCB ) \\r
- traceMOVED_TASK_TO_READY_STATE( pxTCB ) \\r
+ traceMOVED_TASK_TO_READY_STATE( pxTCB ); \\r
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \\r
- vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )\r
+ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \\r
+ tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )\r
/*-----------------------------------------------------------*/\r
\r
/*\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
+#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
+/*\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
+ * (the task's run time environment, including register values)\r
+ */\r
+typedef struct tskTaskControlBlock\r
+{\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
+ #endif\r
+\r
+ ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */\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
+ 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
+ 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
+ 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
+ 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
+ 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
+ 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 uint8_t ucNotifyState;\r
+ #endif\r
+\r
+ #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )\r
+ uint8_t ucStaticallyAllocated; /* Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */\r
+ #endif\r
+\r
+ #if( INCLUDE_xTaskAbortDelay == 1 )\r
+ uint8_t ucDelayAborted;\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
+/*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 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 List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */\r
+ PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;\r
+\r
+#endif\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
+\r
+#endif\r
+\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 = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */\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
+/* Context switches are held pending while the scheduler is suspended. Also,\r
+interrupts must not manipulate the xStateListItem of a TCB, or any of the\r
+lists the xStateListItem 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 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
+/*-----------------------------------------------------------*/\r
+\r
/* Callback function prototypes. --------------------------*/\r
-#if configCHECK_FOR_STACK_OVERFLOW > 0\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
+#if( configUSE_TICK_HOOK > 0 )\r
extern void vApplicationTickHook( void );\r
#endif\r
\r
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
+ extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );\r
+#endif\r
+\r
/* File private functions. --------------------------------*/\r
\r
-/*\r
- * Utility to ready a TCB for a given task. Mainly just copies the parameters\r
- * into the TCB structure.\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
-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
+#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
* 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( 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 TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;\r
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;\r
\r
/*\r
* Fills an TaskStatus_t structure with information on each task that is\r
*/\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
\r
- static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;\r
+ static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;\r
\r
#endif\r
\r
/*\r
- * When a task is created, the stack of the task is filled with a known value.\r
+ * Searches pxList for a task with name pcNameToQuery - returning a handle to\r
+ * the task if it is found, or NULL if the task is not found.\r
+ */\r
+#if ( INCLUDE_xTaskGetTaskHandle == 1 )\r
+\r
+ static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * When a task is created, the stack of the task is filled with a known value.\r
* This function determines the 'high water mark' of the task stack by\r
* determining how much of the stack remains at the original preset value.\r
*/\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 ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * Called after a Task_t structure has been allocated either statically or\r
+ * dynamically to fill in the structure's members.\r
+ */\r
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+\r
+/*\r
+ * Called after a new task has been created and initialised to place the task\r
+ * under the control of the scheduler.\r
+ */\r
+static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;\r
+\r
/*-----------------------------------------------------------*/\r
\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
-BaseType_t xReturn;\r
-TCB_t * pxNewTCB;\r
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
+\r
+ BaseType_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+ {\r
+ TCB_t *pxNewTCB;\r
+ BaseType_t xReturn;\r
+\r
+ configASSERT( puxStackBuffer != NULL );\r
+ configASSERT( pxTaskBuffer != NULL );\r
+\r
+ if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )\r
+ {\r
+ /* The memory used for the task's TCB and stack are passed into this\r
+ function - use them. */\r
+ pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */\r
+ pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;\r
+\r
+ #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )\r
+ {\r
+ /* Tasks can be created statically or dynamically, so note this\r
+ task was created statically in case the task is later deleted. */\r
+ pxNewTCB->ucStaticallyAllocated = pdTRUE;\r
+ }\r
+ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
+\r
+ prvInitialiseNewTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );\r
+ prvAddNewTaskToReadyList( pxNewTCB );\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
\r
- configASSERT( pxTaskCode );\r
- configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );\r
+#endif /* SUPPORT_STATIC_ALLOCATION */\r
+/*-----------------------------------------------------------*/\r
\r
- /* Allocate the memory required by the TCB and stack for the new task,\r
- checking that the allocation was successful. */\r
- pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );\r
+#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )\r
\r
- if( pxNewTCB != NULL )\r
+ BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
{\r
- StackType_t *pxTopOfStack;\r
+ TCB_t *pxNewTCB;\r
+ BaseType_t xReturn;\r
+\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 and whether or not static\r
+ allocation is being used. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
+\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 * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*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
+ StackType_t *pxStack;\r
\r
- #if( portUSING_MPU_WRAPPERS == 1 )\r
- /* Should the task be created in privileged mode? */\r
- BaseType_t xRunPrivileged;\r
- if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )\r
+ /* Allocate space for the stack used by the task being created. */\r
+ pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ if( pxStack != NULL )\r
{\r
- xRunPrivileged = pdTRUE;\r
+ /* Allocate space for the TCB. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */\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\r
+ it again. */\r
+ vPortFree( pxStack );\r
+ }\r
}\r
else\r
{\r
- xRunPrivileged = pdFALSE;\r
+ pxNewTCB = NULL;\r
}\r
- uxPriority &= ~portPRIVILEGE_BIT;\r
- #endif /* portUSING_MPU_WRAPPERS == 1 */\r
+ }\r
+ #endif /* portSTACK_GROWTH */\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 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
+ if( pxNewTCB != NULL )\r
{\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
+ #if( configSUPPORT_STATIC_ALLOCATION == 1 )\r
+ {\r
+ /* Tasks can be created statically or dynamically, so note this\r
+ task was created dynamically in case it is later deleted. */\r
+ pxNewTCB->ucStaticallyAllocated = pdFALSE;\r
+ }\r
+ #endif /* configSUPPORT_STATIC_ALLOCATION */\r
\r
- /* Check the alignment of the calculated top of stack is correct. */\r
- configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ prvInitialiseNewTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB );\r
+ prvAddNewTaskToReadyList( pxNewTCB );\r
+ xReturn = pdPASS;\r
}\r
- #else /* portSTACK_GROWTH */\r
+ else\r
{\r
- pxTopOfStack = pxNewTCB->pxStack;\r
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+ }\r
\r
- /* Check the alignment of the stack buffer is correct. */\r
- configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ return xReturn;\r
+ }\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 /* portSTACK_GROWTH */\r
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
+/*-----------------------------------------------------------*/\r
\r
- /* Setup the newly allocated TCB with the initial state of the task. */\r
- prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );\r
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t *pxNewTCB ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+{\r
+StackType_t *pxTopOfStack;\r
+UBaseType_t x;\r
\r
- /* Initialize the TCB stack to look as if the task was already running,\r
- but had been interrupted by the scheduler. The return address is set\r
- to the start of the task function. Once the stack has been initialised\r
- the top of stack variable is updated. */\r
- #if( portUSING_MPU_WRAPPERS == 1 )\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ /* Should the task be created in privileged mode? */\r
+ BaseType_t xRunPrivileged;\r
+ if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )\r
{\r
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
+ xRunPrivileged = pdTRUE;\r
}\r
- #else /* portUSING_MPU_WRAPPERS */\r
+ else\r
{\r
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
+ xRunPrivileged = pdFALSE;\r
}\r
- #endif /* portUSING_MPU_WRAPPERS */\r
+ uxPriority &= ~portPRIVILEGE_BIT;\r
+ #endif /* portUSING_MPU_WRAPPERS == 1 */\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
+ /* Fill the stack with a known value to assist debugging. */\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
+ /* Calculate the top of stack address. This depends on whether the stack\r
+ 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 required\r
+ by the port. */\r
+ #if( portSTACK_GROWTH < 0 )\r
+ {\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( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ }\r
+ #else /* portSTACK_GROWTH */\r
+ {\r
+ pxTopOfStack = pxNewTCB->pxStack;\r
+\r
+ /* Check the alignment of the stack buffer is correct. */\r
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+\r
+ /* The other extreme of the stack space is required if stack checking is\r
+ performed. */\r
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );\r
+ }\r
+ #endif /* portSTACK_GROWTH */\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
+ pxNewTCB->pcTaskName[ x ] = pcName[ x ];\r
\r
- if( ( void * ) pxCreatedTask != NULL )\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
- /* 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 = ( TaskHandle_t ) pxNewTCB;\r
+ break;\r
}\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
+ }\r
\r
- /* Ensure interrupts don't access the task lists while they are being\r
- updated. */\r
- taskENTER_CRITICAL();\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
+ pxNewTCB->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 >= ( UBaseType_t ) configMAX_PRIORITIES )\r
+ {\r
+ uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ pxNewTCB->uxPriority = uxPriority;\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ pxNewTCB->uxBasePriority = uxPriority;\r
+ pxNewTCB->uxMutexesHeld = 0;\r
+ }\r
+ #endif /* configUSE_MUTEXES */\r
+\r
+ vListInitialiseItem( &( pxNewTCB->xStateListItem ) );\r
+ vListInitialiseItem( &( pxNewTCB->xEventListItem ) );\r
+\r
+ /* Set the pxNewTCB 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( &( pxNewTCB->xStateListItem ), pxNewTCB );\r
+\r
+ /* Event lists are always in priority order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+ listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );\r
+\r
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
+ {\r
+ pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;\r
+ }\r
+ #endif /* portCRITICAL_NESTING_IN_TCB */\r
+\r
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+ {\r
+ pxNewTCB->pxTaskTag = NULL;\r
+ }\r
+ #endif /* configUSE_APPLICATION_TASK_TAG */\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ pxNewTCB->ulRunTimeCounter = 0UL;\r
+ }\r
+ #endif /* configGENERATE_RUN_TIME_STATS */\r
+\r
+ #if ( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, usStackDepth );\r
+ }\r
+ #endif\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
- uxCurrentNumberOfTasks++;\r
- if( pxCurrentTCB == NULL )\r
- {\r
- /* There are no other tasks, or all the other tasks are in\r
- the suspended state - make this the current task. */\r
- pxCurrentTCB = pxNewTCB;\r
+ pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;\r
+ }\r
+ }\r
+ #endif\r
\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
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
+ {\r
+ pxNewTCB->ulNotifiedValue = 0;\r
+ pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
+ }\r
+ #endif\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Initialise this task's Newlib reent structure. */\r
+ _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );\r
+ }\r
+ #endif\r
+\r
+ #if( INCLUDE_xTaskAbortDelay == 1 )\r
+ {\r
+ pxNewTCB->ucDelayAborted = pdFALSE;\r
+ }\r
+ #endif\r
+\r
+ /* Initialize the TCB stack to look as if the task was already running,\r
+ but had been interrupted by the scheduler. The return address is set\r
+ to the start of the task function. Once the stack has been initialised\r
+ the top of stack variable is updated. */\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
+ }\r
+ #else /* portUSING_MPU_WRAPPERS */\r
+ {\r
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
+ }\r
+ #endif /* portUSING_MPU_WRAPPERS */\r
+\r
+ if( ( void * ) pxCreatedTask != NULL )\r
+ {\r
+ /* Pass the handle out in an anonymous way. The handle can be used to\r
+ change the created task's priority, delete the created task, etc.*/\r
+ *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )\r
+{\r
+ /* Ensure interrupts don't access the task lists while the lists are being\r
+ updated. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ uxCurrentNumberOfTasks++;\r
+ if( pxCurrentTCB == NULL )\r
+ {\r
+ /* There are no other tasks, or all the other tasks are in\r
+ the suspended state - make this the current task. */\r
+ pxCurrentTCB = pxNewTCB;\r
+\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
- /* If the scheduler is not already running, make this task the\r
- current task if it is the highest priority task to be created\r
- so far. */\r
- if( xSchedulerRunning == pdFALSE )\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* If the scheduler is not already running, make this task the\r
+ current task if it is the highest priority task to be created\r
+ so far. */\r
+ if( xSchedulerRunning == pdFALSE )\r
+ {\r
+ if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )\r
{\r
- if( pxCurrentTCB->uxPriority <= uxPriority )\r
- {\r
- pxCurrentTCB = pxNewTCB;\r
- }\r
- else\r
- {\r
- mtCOVERAGE_TEST_MARKER();\r
- }\r
+ pxCurrentTCB = pxNewTCB;\r
}\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
-\r
- uxTaskNumber++;\r
-\r
- #if ( configUSE_TRACE_FACILITY == 1 )\r
+ else\r
{\r
- /* Add a counter into the TCB for tracing only. */\r
- pxNewTCB->uxTCBNumber = uxTaskNumber;\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
- #endif /* configUSE_TRACE_FACILITY */\r
- traceTASK_CREATE( pxNewTCB );\r
+ }\r
\r
- prvAddTaskToReadyList( pxNewTCB );\r
+ uxTaskNumber++;\r
\r
- xReturn = pdPASS;\r
- portSETUP_TCB( pxNewTCB );\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ {\r
+ /* Add a counter into the TCB for tracing only. */\r
+ pxNewTCB->uxTCBNumber = uxTaskNumber;\r
}\r
- taskEXIT_CRITICAL();\r
- }\r
- else\r
- {\r
- xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
- traceTASK_CREATE_FAILED();\r
+ #endif /* configUSE_TRACE_FACILITY */\r
+ traceTASK_CREATE( pxNewTCB );\r
+\r
+ prvAddTaskToReadyList( pxNewTCB );\r
+\r
+ portSETUP_TCB( pxNewTCB );\r
}\r
+ taskEXIT_CRITICAL();\r
\r
- if( xReturn == pdPASS )\r
+ if( xSchedulerRunning != pdFALSE )\r
{\r
- if( xSchedulerRunning != pdFALSE )\r
+ /* If the created task is of a higher priority than the current task\r
+ then it should run now. */\r
+ if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )\r
{\r
- /* If the created task is of a higher priority than the current task\r
- then it should run now. */\r
- if( pxCurrentTCB->uxPriority < uxPriority )\r
- {\r
- taskYIELD_IF_USING_PREEMPTION();\r
- }\r
- else\r
- {\r
- mtCOVERAGE_TEST_MARKER();\r
- }\r
+ taskYIELD_IF_USING_PREEMPTION();\r
}\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
-\r
- return xReturn;\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
}\r
/*-----------------------------------------------------------*/\r
\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( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ /* Remove task from the ready list. */\r
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
mtCOVERAGE_TEST_MARKER();\r
}\r
\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
- check the xTasksWaitingTermination list. */\r
- ++uxTasksDeleted;\r
+ if( pxTCB == pxCurrentTCB )\r
+ {\r
+ /* A task is deleting itself. This cannot complete within the\r
+ task itself, as a context switch to another task is required.\r
+ Place the task in the termination list. The idle task will\r
+ check the termination list and free up any memory allocated by\r
+ the scheduler for the TCB and stack of the deleted task. */\r
+ vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );\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
+ check the xTasksWaitingTermination list. */\r
+ ++uxDeletedTasksWaitingCleanUp;\r
+ }\r
+ else\r
+ {\r
+ --uxCurrentNumberOfTasks;\r
+ prvDeleteTCB( pxTCB );\r
+ }\r
\r
- /* Increment the uxTaskNumberVariable also so kernel aware debuggers\r
- can detect that the task lists need re-generating. */\r
+ /* Increment the uxTaskNumber also so kernel aware debuggers can\r
+ detect that the task lists need re-generating. */\r
uxTaskNumber++;\r
\r
traceTASK_DELETE( pxTCB );\r
{\r
/* Reset the next expected unblock time in case it referred to\r
the task that has just been deleted. */\r
- prvResetNextTaskUnblockTime();\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ taskEXIT_CRITICAL();\r
}\r
}\r
}\r
\r
if( xShouldDelay != pdFALSE )\r
{\r
- traceTASK_DELAY_UNTIL();\r
+ traceTASK_DELAY_UNTIL( xTimeToWake );\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( &( 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
+ /* prvAddCurrentTaskToDelayedList() needs the block time, not\r
+ the time to wake, so subtract the current tick count. */\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );\r
}\r
else\r
{\r
\r
void vTaskDelay( const TickType_t xTicksToDelay )\r
{\r
- TickType_t xTimeToWake;\r
BaseType_t xAlreadyYielded = pdFALSE;\r
\r
-\r
/* A delay time of zero just forces a reschedule. */\r
if( xTicksToDelay > ( TickType_t ) 0U )\r
{\r
\r
This task cannot be in an event list as it is the currently\r
executing task. */\r
-\r
- /* Calculate the time to wake - this may overflow but this is\r
- not a problem. */\r
- xTimeToWake = xTickCount + xTicksToDelay;\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( &( 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
+ prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );\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
#endif /* INCLUDE_vTaskDelay */\r
/*-----------------------------------------------------------*/\r
\r
-#if ( INCLUDE_eTaskGetState == 1 )\r
+#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )\r
\r
eTaskState eTaskGetState( TaskHandle_t xTask )\r
{\r
{\r
taskENTER_CRITICAL();\r
{\r
- pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );\r
+ pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );\r
}\r
taskEXIT_CRITICAL();\r
\r
#endif\r
\r
#if ( INCLUDE_vTaskDelete == 1 )\r
- else if( pxStateList == &xTasksWaitingTermination )\r
+ else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )\r
{\r
/* The task being queried is referenced from the deleted\r
- tasks list. */\r
+ tasks list, or it is not referenced from any lists at\r
+ all. */\r
eReturn = eDeleted;\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 /* INCLUDE_eTaskGetState */\r
/*-----------------------------------------------------------*/\r
\r
taskENTER_CRITICAL();\r
{\r
- /* If null is passed in here then we are changing the\r
- priority of the calling function. */\r
+ /* If null is passed in here then it is the priority of the that\r
+ called uxTaskPriorityGet() that is being queried. */\r
pxTCB = prvGetTCBFromHandle( xTask );\r
uxReturn = pxTCB->uxPriority;\r
}\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( TaskHandle_t xTask, UBaseType_t uxNewPriority )\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 list appropriate to its new priority. */\r
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != 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( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
{\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
mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- if( xYieldRequired == pdTRUE )\r
+ if( xYieldRequired != pdFALSE )\r
{\r
taskYIELD_IF_USING_PREEMPTION();\r
}\r
\r
/* Remove task from the ready/delayed list and place in the\r
suspended list. */\r
- if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );\r
}\r
taskEXIT_CRITICAL();\r
\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\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
if( pxTCB == pxCurrentTCB )\r
{\r
if( xSchedulerRunning != pdFALSE )\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
- prvResetNextTaskUnblockTime();\r
- }\r
- else\r
- {\r
- mtCOVERAGE_TEST_MARKER();\r
- }\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
}\r
\r
\r
#if ( INCLUDE_vTaskSuspend == 1 )\r
\r
- BaseType_t xTaskIsTaskSuspended( const TaskHandle_t xTask )\r
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )\r
{\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
- if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ /* Is the task being resumed actually in the suspended list? */\r
+ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )\r
{\r
/* Has the task already been resumed from within an ISR? */\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
+ /* 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
taskENTER_CRITICAL();\r
{\r
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )\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
- ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
prvAddTaskToReadyList( pxTCB );\r
\r
/* We may have just resumed a higher priority task. */\r
\r
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
{\r
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )\r
{\r
traceTASK_RESUME_FROM_ISR( pxTCB );\r
\r
+ /* Check the ready lists can be accessed. */\r
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\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
mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\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
+ /* 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
void vTaskStartScheduler( void )\r
{\r
BaseType_t xReturn;\r
+uint16_t usIdleTaskStackSize = configMINIMAL_STACK_SIZE;\r
\r
/* Add the idle task at the lowest priority. */\r
- #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
+ #if( configSUPPORT_STATIC_ALLOCATION == 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, "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
+ StaticTask_t *pxIdleTaskTCBBuffer = NULL;\r
+ StackType_t *pxIdleTaskStackBuffer = NULL;\r
+\r
+ /* The Idle task is created using user provided RAM - obtain the\r
+ address of the RAM then create the idle task. */\r
+ vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &usIdleTaskStackSize );\r
+ xReturn = xTaskCreateStatic( prvIdleTask, "IDLE", usIdleTaskStackSize, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle, pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*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, "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
+ /* The Idle task is being created using dynamically allocated RAM. */\r
+ xReturn = xTaskCreate( prvIdleTask, "IDLE", usIdleTaskStackSize, ( 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
- #endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
+ #endif /* configSUPPORT_STATIC_ALLOCATION */\r
\r
#if ( configUSE_TIMERS == 1 )\r
{\r
}\r
#endif /* configUSE_NEWLIB_REENTRANT */\r
\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
xSchedulerRunning = pdTRUE;\r
xTickCount = ( TickType_t ) 0U;\r
\r
or the timer task. */\r
configASSERT( xReturn );\r
}\r
+\r
+ /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,\r
+ meaning xIdleTaskHandle is not used anywhere else. */\r
+ ( void ) xIdleTaskHandle;\r
}\r
/*-----------------------------------------------------------*/\r
\r
static TickType_t prvGetExpectedIdleTime( void )\r
{\r
TickType_t xReturn;\r
+ UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;\r
+\r
+ /* uxHigherPriorityReadyTasks takes care of the case where\r
+ configUSE_PREEMPTION is 0, so there may be tasks above the idle priority\r
+ task that are in the Ready state, even though the idle task is\r
+ running. */\r
+ #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
+ {\r
+ if( uxTopReadyPriority > tskIDLE_PRIORITY )\r
+ {\r
+ uxHigherPriorityReadyTasks = pdTRUE;\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;\r
+\r
+ /* When port optimised task selection is used the uxTopReadyPriority\r
+ variable is used as a bit map. If bits other than the least\r
+ significant bit are set then there are tasks that have a priority\r
+ above the idle priority that are in the Ready state. This takes\r
+ care of the case where the co-operative scheduler is in use. */\r
+ if( uxTopReadyPriority > uxLeastSignificantBit )\r
+ {\r
+ uxHigherPriorityReadyTasks = pdTRUE;\r
+ }\r
+ }\r
+ #endif\r
\r
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )\r
{\r
processed. */\r
xReturn = 0;\r
}\r
+ else if( uxHigherPriorityReadyTasks != pdFALSE )\r
+ {\r
+ /* There are tasks in the Ready state that have a priority above the\r
+ idle priority. This path can only be reached if\r
+ configUSE_PREEMPTION is 0. */\r
+ xReturn = 0;\r
+ }\r
else\r
{\r
xReturn = xNextTaskUnblockTime - xTickCount;\r
\r
BaseType_t xTaskResumeAll( void )\r
{\r
-TCB_t *pxTCB;\r
+TCB_t *pxTCB = NULL;\r
BaseType_t xAlreadyYielded = pdFALSE;\r
\r
/* If uxSchedulerSuspended is zero then this function does not match a\r
{\r
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );\r
( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
- ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\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
xYieldPending = pdTRUE;\r
}\r
}\r
\r
+ if( pxTCB != NULL )\r
+ {\r
+ /* A task was unblocked while the scheduler was suspended,\r
+ which may have prevented the next unblock time from being\r
+ re-calculated, in which case re-calculate it now. Mainly\r
+ important for low power tickless implementations, where\r
+ this can prevent an unnecessary exit from low power\r
+ state. */\r
+ prvResetNextTaskUnblockTime();\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\r
not slip, and that any delayed tasks are resumed at the correct\r
time. */\r
- if( uxPendedTicks > ( UBaseType_t ) 0U )\r
{\r
- while( uxPendedTicks > ( UBaseType_t ) 0U )\r
+ UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */\r
+\r
+ if( uxPendedCounts > ( UBaseType_t ) 0U )\r
{\r
- if( xTaskIncrementTick() != pdFALSE )\r
- {\r
- xYieldPending = pdTRUE;\r
- }\r
- else\r
+ do\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
- }\r
- --uxPendedTicks;\r
+ if( xTaskIncrementTick() != pdFALSE )\r
+ {\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ --uxPendedCounts;\r
+ } while( uxPendedCounts > ( UBaseType_t ) 0U );\r
+\r
+ uxPendedTicks = 0;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
- }\r
- else\r
- {\r
- mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- if( xYieldPending == pdTRUE )\r
+ if( xYieldPending != pdFALSE )\r
{\r
#if( configUSE_PREEMPTION != 0 )\r
{\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
link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
\r
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
- xReturn = xTickCount;\r
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\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
\r
-#if ( INCLUDE_pcTaskGetTaskName == 1 )\r
+char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+{\r
+TCB_t *pxTCB;\r
+\r
+ /* If null is passed in here then the name of the calling task is being\r
+ queried. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
+ configASSERT( pxTCB );\r
+ return &( pxTCB->pcTaskName[ 0 ] );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_xTaskGetTaskHandle == 1 )\r
\r
- char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )\r
+ static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )\r
{\r
- TCB_t *pxTCB;\r
+ TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;\r
+ UBaseType_t x;\r
+ char cNextChar;\r
\r
- /* If null is passed in here then the name of the calling task is being queried. */\r
- pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
- configASSERT( pxTCB );\r
- return &( pxTCB->pcTaskName[ 0 ] );\r
+ /* This function is called with the scheduler suspended. */\r
+\r
+ if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
+\r
+ do\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
+\r
+ /* Check each character in the name looking for a match or\r
+ mismatch. */\r
+ for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
+ {\r
+ cNextChar = pxNextTCB->pcTaskName[ x ];\r
+\r
+ if( cNextChar != pcNameToQuery[ x ] )\r
+ {\r
+ /* Characters didn't match. */\r
+ break;\r
+ }\r
+ else if( cNextChar == 0x00 )\r
+ {\r
+ /* Both strings terminated, a match must have been\r
+ found. */\r
+ pxReturn = pxNextTCB;\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ if( pxReturn != NULL )\r
+ {\r
+ /* The handle has been found. */\r
+ break;\r
+ }\r
+\r
+ } while( pxNextTCB != pxFirstTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ return pxReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_xTaskGetTaskHandle */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_xTaskGetTaskHandle == 1 )\r
+\r
+ TaskHandle_t xTaskGetTaskHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+ {\r
+ UBaseType_t uxQueue = configMAX_PRIORITIES;\r
+ TCB_t* pxTCB;\r
+\r
+ /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */\r
+ configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Search the ready lists. */\r
+ do\r
+ {\r
+ uxQueue--;\r
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );\r
+\r
+ if( pxTCB != NULL )\r
+ {\r
+ /* Found the handle. */\r
+ break;\r
+ }\r
+\r
+ } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ /* Search the delayed lists. */\r
+ if( pxTCB == NULL )\r
+ {\r
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );\r
+ }\r
+\r
+ if( pxTCB == NULL )\r
+ {\r
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( pxTCB == NULL )\r
+ {\r
+ /* Search the suspended list. */\r
+ pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );\r
+ }\r
+ }\r
+ #endif\r
+\r
+ #if( INCLUDE_vTaskDelete == 1 )\r
+ {\r
+ if( pxTCB == NULL )\r
+ {\r
+ /* Search the deleted list. */\r
+ pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );\r
+ }\r
+ }\r
+ #endif\r
+ }\r
+ ( void ) xTaskResumeAll();\r
+\r
+ return ( TaskHandle_t ) pxTCB;\r
}\r
\r
-#endif /* INCLUDE_pcTaskGetTaskName */\r
+#endif /* INCLUDE_xTaskGetTaskHandle */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
do\r
{\r
uxQueue--;\r
- uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );\r
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );\r
\r
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\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
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );\r
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );\r
\r
#if( INCLUDE_vTaskDelete == 1 )\r
{\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
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );\r
}\r
#endif\r
\r
{\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
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );\r
}\r
#endif\r
\r
#endif /* configUSE_TICKLESS_IDLE */\r
/*----------------------------------------------------------*/\r
\r
+#if ( INCLUDE_xTaskAbortDelay == 1 )\r
+\r
+ BaseType_t xTaskAbortDelay( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB = ( TCB_t * ) xTask;\r
+ BaseType_t xReturn = pdFALSE;\r
+\r
+ configASSERT( pxTCB );\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* A task can only be prematurely removed from the Blocked state if\r
+ it is actually in the Blocked state. */\r
+ if( eTaskGetState( xTask ) == eBlocked )\r
+ {\r
+ /* Remove the reference to the task from the blocked list. An\r
+ interrupt won't touch the xStateListItem because the\r
+ scheduler is suspended. */\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
+\r
+ /* Is the task waiting on an event also? If so remove it from\r
+ the event list too. Interrupts can touch the event list item,\r
+ even though the scheduler is suspended, so a critical section\r
+ is used. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ pxTCB->ucDelayAborted = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Place the unblocked task into the appropriate ready list. */\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* A task being unblocked cannot cause an immediate context\r
+ switch if preemption is turned off. */\r
+ #if ( configUSE_PREEMPTION == 1 )\r
+ {\r
+ /* Preemption is on, but a context switch should only be\r
+ performed if the unblocked task has a priority that is\r
+ equal to or higher than the currently executing task. */\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Pend the yield to be performed when the scheduler\r
+ is unsuspended. */\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_PREEMPTION */\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_xTaskAbortDelay */\r
+/*----------------------------------------------------------*/\r
+\r
BaseType_t xTaskIncrementTick( void )\r
{\r
TCB_t * pxTCB;\r
traceTASK_INCREMENT_TICK( xTickCount );\r
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
+ /* Minor optimisation. The tick count cannot change in this\r
+ block. */\r
+ const TickType_t xConstTickCount = xTickCount + 1;\r
+\r
/* Increment the RTOS tick, switching the delayed and overflowed\r
delayed lists if it wraps to 0. */\r
- ++xTickCount;\r
+ xTickCount = xConstTickCount;\r
\r
+ if( xConstTickCount == ( TickType_t ) 0U )\r
{\r
- /* Minor optimisation. The tick count cannot change in this\r
- block. */\r
- const TickType_t xConstTickCount = xTickCount;\r
+ taskSWITCH_DELAYED_LISTS();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- if( xConstTickCount == ( TickType_t ) 0U )\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
- 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
+ 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; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+ break;\r
+ }\r
+ else\r
{\r
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\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->xStateListItem ) );\r
+\r
+ if( xConstTickCount < xItemValue )\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
+ /* 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
- /* 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
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
\r
- /* It is time to remove the item from the Blocked state. */\r
- ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ /* It is time to remove the item from the Blocked state. */\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\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
+ /* 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
+ /* Place the unblocked task into the appropriate ready\r
+ list. */\r
+ prvAddTaskToReadyList( pxTCB );\r
+\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
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ xSwitchRequired = pdTRUE;\r
}\r
else\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
-\r
- /* Place the unblocked task into the appropriate ready\r
- list. */\r
- prvAddTaskToReadyList( pxTCB );\r
-\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
+ #endif /* configUSE_PREEMPTION */\r
}\r
}\r
}\r
#endif\r
\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
+ 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
+ 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
}\r
#endif /* configGENERATE_RUN_TIME_STATS */\r
\r
- taskFIRST_CHECK_FOR_STACK_OVERFLOW();\r
- taskSECOND_CHECK_FOR_STACK_OVERFLOW();\r
+ /* Check for stack overflow, if configured. */\r
+ taskCHECK_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
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )\r
{\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
+ 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
- /* 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( &( 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( &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
- 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. */\r
- xTimeToWake = xTickCount + xTicksToWait;\r
- prvAddCurrentTaskToDelayedList( xTimeToWake );\r
- }\r
- #endif /* INCLUDE_vTaskSuspend */\r
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
}\r
/*-----------------------------------------------------------*/\r
\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
- /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
- SCHEDULER SUSPENDED. */\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. */\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. */\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 does\r
- not occur. This may overflow but this doesn't matter. */\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. */\r
- xTimeToWake = xTickCount + xTicksToWait;\r
- prvAddCurrentTaskToDelayedList( xTimeToWake );\r
- }\r
- #endif /* INCLUDE_vTaskSuspend */\r
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-#if configUSE_TIMERS == 1\r
+#if( configUSE_TIMERS == 1 )\r
\r
- void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )\r
+ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )\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 from a critical section. */\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
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( &( 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
+ /* If the task should block indefinitely then set the block time to a\r
+ value that will be recognised as an indefinite delay inside the\r
+ prvAddCurrentTaskToDelayedList() function. */\r
+ if( xWaitIndefinitely != pdFALSE )\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
+ xTicksToWait = portMAX_DELAY;\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
- traceTASK_DELAY_UNTIL();\r
- prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );\r
+ prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );\r
}\r
\r
#endif /* configUSE_TIMERS */\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
\r
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
{\r
- ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );\r
prvAddTaskToReadyList( pxUnblockedTCB );\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
+ /* 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
+ 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
+ /* 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
xReturn = pdFALSE;\r
}\r
\r
+ #if( configUSE_TICKLESS_IDLE != 0 )\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 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
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 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 TCB from the delayed list, and add it to the ready list. */\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
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
- {\r
- ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
- prvAddTaskToReadyList( pxUnblockedTCB );\r
- }\r
- else\r
- {\r
- /* Cannot access the delayed or ready lists, so will hold this task\r
- pending until the scheduler is resumed. */\r
- vListInsertEnd( &( xPendingReadyList ), 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->xStateListItem ) );\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
/* Minor optimisation. The tick count cannot change in this block. */\r
const TickType_t xConstTickCount = xTickCount;\r
\r
+ #if( INCLUDE_xTaskAbortDelay == 1 )\r
+ if( pxCurrentTCB->ucDelayAborted != pdFALSE )\r
+ {\r
+ /* The delay was aborted, which is not the same as a time out,\r
+ but has the same result. */\r
+ pxCurrentTCB->ucDelayAborted = pdFALSE;\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ #endif\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
- therefore never time out. */\r
if( *pxTicksToWait == portMAX_DELAY )\r
{\r
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time\r
+ specified is the maximum block time then the task should block\r
+ indefinitely, and therefore never time out. */\r
xReturn = pdFALSE;\r
}\r
- else /* We are not blocking indefinitely, perform the checks below. */\r
+ else\r
#endif\r
\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
- It must have wrapped all the way around and gone past us again. This\r
- passed since vTaskSetTimeout() was called. */\r
+ /* The tick count is greater than the time at which\r
+ vTaskSetTimeout() was called, but has also overflowed since\r
+ vTaskSetTimeOut() was called. It must have wrapped all the way\r
+ around and gone past again. This passed since vTaskSetTimeout()\r
+ was called. */\r
xReturn = pdTRUE;\r
}\r
- else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
+ else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */\r
{\r
/* Not a genuine timeout. Adjust parameters for time remaining. */\r
- *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );\r
+ *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );\r
vTaskSetTimeOutState( pxTimeOut );\r
xReturn = pdFALSE;\r
}\r
/* Stop warnings. */\r
( void ) pvParameters;\r
\r
+ /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE\r
+ SCHEDULER IS STARTED. **/\r
+\r
for( ;; )\r
{\r
- /* See if any tasks have been deleted. */\r
+ /* See if any tasks have deleted themselves - if so then the idle task\r
+ is responsible for freeing the deleted task's TCB and stack. */\r
prvCheckTasksWaitingTermination();\r
\r
#if ( configUSE_PREEMPTION == 0 )\r
}\r
/*-----------------------------------------------------------*/\r
\r
-#if configUSE_TICKLESS_IDLE != 0\r
+#if( configUSE_TICKLESS_IDLE != 0 )\r
\r
eSleepModeStatus eTaskConfirmSleepModeStatus( void )\r
{\r
+ /* The idle task exists in addition to the application tasks. */\r
+ const UBaseType_t uxNonApplicationTasks = 1;\r
eSleepModeStatus eReturn = eStandardSleep;\r
\r
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )\r
}\r
else\r
{\r
- #if configUSE_TIMERS == 0\r
+ /* If all the tasks are in the suspended list (which might mean they\r
+ have an infinite block time rather than actually being suspended)\r
+ then it is safe to turn all clocks off and just wait for external\r
+ interrupts. */\r
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )\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
+ eReturn = eNoTasksWaitingTimeout;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
}\r
- #endif /* configUSE_TIMERS */\r
}\r
\r
return eReturn;\r
}\r
+\r
#endif /* configUSE_TICKLESS_IDLE */\r
/*-----------------------------------------------------------*/\r
\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
-UBaseType_t x;\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
\r
- /* Store the task name in the TCB. */\r
- for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
+ void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )\r
{\r
- pxTCB->pcTaskName[ x ] = pcName[ x ];\r
+ TCB_t *pxTCB;\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
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
+ pxTCB = prvGetTCBFromHandle( xTaskToSet );\r
+ pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;\r
}\r
}\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 >= ( UBaseType_t ) configMAX_PRIORITIES )\r
- {\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
- }\r
- #endif /* configUSE_MUTEXES */\r
-\r
- vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
- vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
-\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 ), ( 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
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
+/*-----------------------------------------------------------*/\r
\r
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
- {\r
- pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;\r
- }\r
- #endif /* portCRITICAL_NESTING_IN_TCB */\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
\r
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+ void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )\r
{\r
- pxTCB->pxTaskTag = NULL;\r
- }\r
- #endif /* configUSE_APPLICATION_TASK_TAG */\r
+ void *pvReturn = NULL;\r
+ TCB_t *pxTCB;\r
\r
- #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
- {\r
- pxTCB->ulRunTimeCounter = 0UL;\r
- }\r
- #endif /* configGENERATE_RUN_TIME_STATS */\r
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
+ {\r
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
+ pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];\r
+ }\r
+ else\r
+ {\r
+ pvReturn = NULL;\r
+ }\r
\r
- #if ( portUSING_MPU_WRAPPERS == 1 )\r
- {\r
- vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );\r
- }\r
- #else /* portUSING_MPU_WRAPPERS */\r
- {\r
- ( void ) xRegions;\r
- ( void ) usStackDepth;\r
+ return pvReturn;\r
}\r
- #endif /* portUSING_MPU_WRAPPERS */\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
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
/*-----------------------------------------------------------*/\r
\r
#if ( portUSING_MPU_WRAPPERS == 1 )\r
{\r
TCB_t *pxTCB;\r
\r
- /* If null is passed in here then we are deleting ourselves. */\r
+ /* If null is passed in here then we are modifying the MPU settings of\r
+ the calling task. */\r
pxTCB = prvGetTCBFromHandle( xTaskToModify );\r
\r
- vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
}\r
\r
#endif /* portUSING_MPU_WRAPPERS */\r
\r
static void prvCheckTasksWaitingTermination( void )\r
{\r
+\r
+ /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/\r
+\r
#if ( INCLUDE_vTaskDelete == 1 )\r
{\r
BaseType_t xListIsEmpty;\r
\r
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
too often in the idle task. */\r
- while( uxTasksDeleted > ( UBaseType_t ) 0U )\r
+ while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )\r
{\r
vTaskSuspendAll();\r
+ {\r
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );\r
+ }\r
( void ) xTaskResumeAll();\r
\r
if( xListIsEmpty == pdFALSE )\r
taskENTER_CRITICAL();\r
{\r
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );\r
- ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\r
--uxCurrentNumberOfTasks;\r
- --uxTasksDeleted;\r
+ --uxDeletedTasksWaitingCleanUp;\r
}\r
taskEXIT_CRITICAL();\r
\r
}\r
}\r
}\r
- #endif /* vTaskDelete */\r
+ #endif /* INCLUDE_vTaskDelete */\r
}\r
/*-----------------------------------------------------------*/\r
\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( configUSE_TRACE_FACILITY == 1 )\r
\r
- if( xTimeToWake < xTickCount )\r
- {\r
- /* Wake time has overflowed. Place this item in the overflow list. */\r
- vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
- }\r
- else\r
+ void vTaskGetTaskInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )\r
{\r
- /* The wake time has not overflowed, so the current block list is used. */\r
- vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ TCB_t *pxTCB;\r
+\r
+ /* xTask is NULL then get the state of the calling task. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+\r
+ pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;\r
+ pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );\r
+ pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;\r
+ pxTaskStatus->pxStackBase = pxTCB->pxStack;\r
+ pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;\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
- too. */\r
- if( xTimeToWake < xNextTaskUnblockTime )\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
{\r
- xNextTaskUnblockTime = xTimeToWake;\r
+ /* If the task is in the suspended list then there is a chance it is\r
+ actually just blocked indefinitely - so really it should be reported as\r
+ being in the Blocked state. */\r
+ if( pxTaskStatus->eCurrentState == eSuspended )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ pxTaskStatus->eCurrentState = eBlocked;\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+ }\r
}\r
- else\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
{\r
- mtCOVERAGE_TEST_MARKER();\r
+ pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;\r
}\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )\r
-{\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 = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
+ #else\r
+ {\r
+ pxTaskStatus->uxBasePriority = 0;\r
+ }\r
+ #endif\r
\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
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatus->ulRunTimeCounter = 0;\r
+ }\r
+ #endif\r
\r
- if( pxNewTCB->pxStack == NULL )\r
+ /* Obtaining the task state is a little fiddly, so is only done if the value\r
+ of eState passed into this function is eInvalid - otherwise the state is\r
+ just set to whatever is passed in. */\r
+ if( eState != eInvalid )\r
{\r
- /* Could not allocate the stack. Delete the allocated TCB. */\r
- vPortFree( pxNewTCB );\r
- pxNewTCB = NULL;\r
+ pxTaskStatus->eCurrentState = eState;\r
}\r
else\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
+ pxTaskStatus->eCurrentState = eTaskGetState( xTask );\r
+ }\r
+\r
+ /* Obtaining the stack space takes some time, so the xGetFreeStackSpace\r
+ parameter is provided to allow it to be skipped. */\r
+ if( xGetFreeStackSpace != pdFALSE )\r
+ {\r
+ #if ( portSTACK_GROWTH > 0 )\r
{\r
- /* Just to help debugging. */\r
- ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );\r
+ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );\r
}\r
- #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */\r
+ #else\r
+ {\r
+ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );\r
+ }\r
+ #endif\r
+ }\r
+ else\r
+ {\r
+ pxTaskStatus->usStackHighWaterMark = 0;\r
}\r
}\r
\r
- return pxNewTCB;\r
-}\r
+#endif /* configUSE_TRACE_FACILITY */\r
/*-----------------------------------------------------------*/\r
\r
#if ( configUSE_TRACE_FACILITY == 1 )\r
\r
- static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )\r
+ static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )\r
{\r
volatile TCB_t *pxNextTCB, *pxFirstTCB;\r
UBaseType_t uxTask = 0;\r
do\r
{\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 ( 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
+ vTaskGetTaskInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );\r
uxTask++;\r
-\r
} while( pxNextTCB != pxFirstTCB );\r
}\r
else\r
{\r
uint32_t ulCount = 0U;\r
\r
- while( *pucStackByte == tskSTACK_FILL_BYTE )\r
+ while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )\r
{\r
pucStackByte -= portSTACK_GROWTH;\r
ulCount++;\r
}\r
\r
- ulCount /= ( uint32_t ) sizeof( StackType_t );\r
+ ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */\r
\r
return ( uint16_t ) ulCount;\r
}\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
- vPortFree( pxTCB );\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( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )\r
+ {\r
+ /* The task can only have been allocated dynamically - free it\r
+ again. */\r
+ vPortFree( pxTCB->pxStack );\r
+ vPortFree( pxTCB );\r
+ }\r
+ #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )\r
+ {\r
+ /* The task could have been allocated statically or dynamically, so\r
+ check before attempting to free the memory. */\r
+ if( pxTCB->ucStaticallyAllocated == ( uint8_t ) pdFALSE )\r
+ {\r
+ vPortFree( pxTCB->pxStack );\r
+ vPortFree( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */\r
}\r
\r
#endif /* INCLUDE_vTaskDelete */\r
\r
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\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
+ /* 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
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
+ xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );\r
}\r
}\r
/*-----------------------------------------------------------*/\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\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( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\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->xStateListItem ) ) != pdFALSE )\r
{\r
- if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )\r
{\r
taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
}\r
\r
#if ( configUSE_MUTEXES == 1 )\r
\r
- void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )\r
+ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )\r
{\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( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
- {\r
- taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
- }\r
- else\r
+ /* Only disinherit if no other mutexes are held. */\r
+ if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )\r
{\r
- mtCOVERAGE_TEST_MARKER();\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->xStateListItem ) ) == ( 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
+ /* 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
- /* 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
+ /* 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
- prvAddTaskToReadyList( pxTCB );\r
}\r
else\r
{\r
{\r
mtCOVERAGE_TEST_MARKER();\r
}\r
+\r
+ return xReturn;\r
}\r
\r
#endif /* configUSE_MUTEXES */\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
else\r
{\r
#endif /* portCRITICAL_NESTING_IN_TCB */\r
/*-----------------------------------------------------------*/\r
\r
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )\r
+ {\r
+ size_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 < ( size_t ) ( 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
function is executing. */\r
uxArraySize = uxCurrentNumberOfTasks;\r
\r
- /* Allocate an array index for each task. */\r
+ /* Allocate an array index for each task. NOTE! if\r
+ configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will\r
+ equate to NULL. */\r
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
\r
if( pxTaskStatusArray != NULL )\r
{\r
switch( pxTaskStatusArray[ x ].eCurrentState )\r
{\r
- case eReady: cStatus = tskREADY_CHAR;\r
- break;\r
+ case eReady: cStatus = tskREADY_CHAR;\r
+ break;\r
\r
- case eBlocked: cStatus = tskBLOCKED_CHAR;\r
- break;\r
+ case eBlocked: cStatus = tskBLOCKED_CHAR;\r
+ break;\r
\r
- case eSuspended: cStatus = tskSUSPENDED_CHAR;\r
- break;\r
+ case eSuspended: cStatus = tskSUSPENDED_CHAR;\r
+ break;\r
\r
- case eDeleted: cStatus = tskDELETED_CHAR;\r
- break;\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
+ default: /* Should not get here, but it is included\r
+ to prevent static checking errors. */\r
+ cStatus = 0x00;\r
+ break;\r
}\r
\r
- sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );\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
+ /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION\r
+ is 0 then vPortFree() will be #defined to nothing. */\r
vPortFree( pxTaskStatusArray );\r
}\r
else\r
}\r
}\r
\r
-#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
/*----------------------------------------------------------*/\r
\r
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )\r
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
\r
void vTaskGetRunTimeStats( char *pcWriteBuffer )\r
{\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
function is executing. */\r
uxArraySize = uxCurrentNumberOfTasks;\r
\r
- /* Allocate an array index for each task. */\r
+ /* Allocate an array index for each task. NOTE! If\r
+ configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will\r
+ equate to NULL. */\r
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
\r
if( pxTaskStatusArray != NULL )\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, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );\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, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
+ sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
}\r
#endif\r
}\r
consumed less than 1% of the total run time. */\r
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
{\r
- sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );\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, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );\r
+ sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );\r
}\r
#endif\r
}\r
mtCOVERAGE_TEST_MARKER();\r
}\r
\r
- /* Free the array again. */\r
+ /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION\r
+ is 0 then vPortFree() will be #defined to nothing. */\r
vPortFree( pxTaskStatusArray );\r
}\r
else\r
}\r
}\r
\r
-#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */\r
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
/*-----------------------------------------------------------*/\r
\r
TickType_t uxTaskResetEventItemValue( void )\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
+ 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->ucNotifyState = taskWAITING_NOTIFICATION;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
+ traceTASK_NOTIFY_TAKE_BLOCK();\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
+ traceTASK_NOTIFY_TAKE();\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 = ulReturn - 1;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\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
+ BaseType_t xReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Only block if a notification is not already pending. */\r
+ if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )\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->ucNotifyState = taskWAITING_NOTIFICATION;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );\r
+ traceTASK_NOTIFY_WAIT_BLOCK();\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
+ traceTASK_NOTIFY_WAIT();\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 ucNotifyValue 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->ucNotifyState == taskWAITING_NOTIFICATION )\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->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\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
+ BaseType_t xReturn = pdPASS;\r
+ uint8_t ucOriginalNotifyState;\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
+ ucOriginalNotifyState = pxTCB->ucNotifyState;\r
+\r
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\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( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )\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
+ traceTASK_NOTIFY();\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );\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( configUSE_TICKLESS_IDLE != 0 )\r
+ {\r
+ /* If a task is blocked waiting for a notification then\r
+ xNextTaskUnblockTime might be set to the blocked task's time\r
+ out time. If the task is unblocked for a reason other than\r
+ a timeout xNextTaskUnblockTime is normally left unchanged,\r
+ because it will automatically get reset to a new value when\r
+ the tick count equals xNextTaskUnblockTime. However if\r
+ tickless idling is used it might be more important to enter\r
+ sleep mode at the earliest possible time - so reset\r
+ xNextTaskUnblockTime here to ensure it is updated at the\r
+ earliest possible time. */\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ #endif\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 xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )\r
+ {\r
+ TCB_t * pxTCB;\r
+ uint8_t ucOriginalNotifyState;\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
+ if( pulPreviousNotificationValue != NULL )\r
+ {\r
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
+ }\r
+\r
+ ucOriginalNotifyState = pxTCB->ucNotifyState;\r
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\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( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )\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
+ traceTASK_NOTIFY_FROM_ISR();\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\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->xStateListItem ) );\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
+ else\r
+ {\r
+ /* Mark that a yield is pending in case the user is not\r
+ using the "xHigherPriorityTaskWoken" parameter to an ISR\r
+ safe FreeRTOS function. */\r
+ xYieldPending = 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
+ uint8_t ucOriginalNotifyState;\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
+ ucOriginalNotifyState = pxTCB->ucNotifyState;\r
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;\r
+\r
+ /* 'Giving' is equivalent to incrementing a count in a counting\r
+ semaphore. */\r
+ ( pxTCB->ulNotifiedValue )++;\r
+\r
+ traceTASK_NOTIFY_GIVE_FROM_ISR();\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )\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->xStateListItem ) );\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
+ else\r
+ {\r
+ /* Mark that a yield is pending in case the user is not\r
+ using the "xHigherPriorityTaskWoken" parameter in an ISR\r
+ safe FreeRTOS function. */\r
+ xYieldPending = 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
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB;\r
+ BaseType_t xReturn;\r
+\r
+ /* If null is passed in here then it is the calling task that is having\r
+ its notification state cleared. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )\r
+ {\r
+ pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;\r
+ xReturn = pdPASS;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )\r
+{\r
+TickType_t xTimeToWake;\r
+const TickType_t xConstTickCount = xTickCount;\r
+\r
+ #if( INCLUDE_xTaskAbortDelay == 1 )\r
+ {\r
+ /* About to enter a delayed list, so ensure the ucDelayAborted flag is\r
+ reset to pdFALSE so it can be detected as having been set to pdTRUE\r
+ when the task leaves the Blocked state. */\r
+ pxCurrentTCB->ucDelayAborted = pdFALSE;\r
+ }\r
+ #endif\r
+\r
+ /* Remove the task from the ready list before adding it to the blocked list\r
+ as the same list item is used for both lists. */\r
+ if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( 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 ) && ( xCanBlockIndefinitely != pdFALSE ) )\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->xStateListItem ) );\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 = xConstTickCount + xTicksToWait;\r
+\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xConstTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the overflow\r
+ list. */\r
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so the current block list\r
+ is used. */\r
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
+\r
+ /* If the task entering the blocked state was placed at the\r
+ head of the list of blocked tasks then xNextTaskUnblockTime\r
+ needs to be updated too. */\r
+ if( xTimeToWake < xNextTaskUnblockTime )\r
+ {\r
+ xNextTaskUnblockTime = xTimeToWake;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\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 kernel\r
+ will manage it correctly. */\r
+ xTimeToWake = xConstTickCount + xTicksToWait;\r
+\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xConstTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the overflow list. */\r
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so the current block list is used. */\r
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );\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
+ too. */\r
+ if( xTimeToWake < xNextTaskUnblockTime )\r
+ {\r
+ xNextTaskUnblockTime = xTimeToWake;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */\r
+ ( void ) xCanBlockIndefinitely;\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+}\r
+\r
+\r
#ifdef FREERTOS_MODULE_TEST\r
#include "tasks_test_access_functions.h"\r
#endif\r
projects / freertos / blobdiff