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1 /*

4

5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

6

7 This file is part of the FreeRTOS distribution.

8

9 FreeRTOS is free software; you can redistribute it and/or modify it under

10 the terms of the GNU General Public License (version 2) as published by the

11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

12

13 ***************************************************************************

14 >>! NOTE: The modification to the GPL is included to allow you to !<<

15 >>! distribute a combined work that includes FreeRTOS without being !<<

16 >>! obliged to provide the source code for proprietary components !<<

17 >>! outside of the FreeRTOS kernel. !<<

18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

23 link: http://www.freertos.org/a00114.html

24

25 ***************************************************************************

26 * *

27 * FreeRTOS provides completely free yet professionally developed, *

28 * robust, strictly quality controlled, supported, and cross *

29 * platform software that is more than just the market leader, it *

30 * is the industry's de facto standard. *

31 * *

32 * Help yourself get started quickly while simultaneously helping *

33 * to support the FreeRTOS project by purchasing a FreeRTOS *

34 * tutorial book, reference manual, or both: *

35 * http://www.FreeRTOS.org/Documentation *

36 * *

37 ***************************************************************************

38

39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading

40 the FAQ page "My application does not run, what could be wrong?". Have you

41 defined configASSERT()?

42

43 http://www.FreeRTOS.org/support - In return for receiving this top quality

44 embedded software for free we request you assist our global community by

45 participating in the support forum.

46

47 http://www.FreeRTOS.org/training - Investing in training allows your team to

48 be as productive as possible as early as possible. Now you can receive

49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers

50 Ltd, and the world's leading authority on the world's leading RTOS.

51

52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,

53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS

54 compatible FAT file system, and our tiny thread aware UDP/IP stack.

55

56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.

57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

58

59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High

60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS

61 licenses offer ticketed support, indemnification and commercial middleware.

62

63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety

64 engineered and independently SIL3 certified version for use in safety and

65 mission critical applications that require provable dependability.

66

67 1 tab == 4 spaces!

68 */

69

70 /* Standard includes. */

71 #include <stdlib.h>

72 #include <string.h>

73

74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining

75 all the API functions to use the MPU wrappers. That should only be done when

76 task.h is included from an application file. */

77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

78

79 /* FreeRTOS includes. */

80 #include "FreeRTOS.h"

81 #include "task.h"

82 #include "timers.h"

83 #include "StackMacros.h"

84

85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the

86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the

87 header files above, but not in this file, in order to generate the correct

88 privileged Vs unprivileged linkage and placement. */

89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */

90

91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting

92 functions but without including stdio.h here. */

93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )

94 /* At the bottom of this file are two optional functions that can be used

95 to generate human readable text from the raw data generated by the

96 uxTaskGetSystemState() function. Note the formatting functions are provided

97 for convenience only, and are NOT considered part of the kernel. */

98 #include <stdio.h>

99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */

100

101 #if( configUSE_PREEMPTION == 0 )

102 /* If the cooperative scheduler is being used then a yield should not be

103 performed just because a higher priority task has been woken. */

104 #define taskYIELD_IF_USING_PREEMPTION()

105 #else

106 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()

107 #endif

108

109 /* Values that can be assigned to the ucNotifyState member of the TCB. */

110 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )

111 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )

112 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )

113

114 /*

115 * The value used to fill the stack of a task when the task is created. This

116 * is used purely for checking the high water mark for tasks.

117 */

118 #define tskSTACK_FILL_BYTE ( 0xa5U )

119

120 /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using

121 dynamically allocated RAM, in which case when any task is deleted it is known

122 that both the task's stack and TCB need to be freed. Sometimes the

123 FreeRTOSConfig.h settings only allow a task to be created using statically

124 allocated RAM, in which case when any task is deleted it is known that neither

125 the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h

126 settings allow a task to be created using either statically or dynamically

127 allocated RAM, in which case a member of the TCB is used to record whether the

128 stack and/or TCB were allocated statically or dynamically, so when a task is

129 deleted the RAM that was allocated dynamically is freed again and no attempt is

130 made to free the RAM that was allocated statically.

131 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a

132 task to be created using either statically or dynamically allocated RAM. Note

133 that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with

134 a statically allocated stack and a dynamically allocated TCB. */

135 #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) )

136 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )

137 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )

138 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )

139

140 /*

141 * Macros used by vListTask to indicate which state a task is in.

142 */

143 #define tskBLOCKED_CHAR ( 'B' )

144 #define tskREADY_CHAR ( 'R' )

145 #define tskDELETED_CHAR ( 'D' )

146 #define tskSUSPENDED_CHAR ( 'S' )

147

148 /*

149 * Some kernel aware debuggers require the data the debugger needs access to be

150 * global, rather than file scope.

151 */

152 #ifdef portREMOVE_STATIC_QUALIFIER

153 #define static

154 #endif

155

156 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )

157

158 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is

159 performed in a generic way that is not optimised to any particular

160 microcontroller architecture. */

161

162 /* uxTopReadyPriority holds the priority of the highest priority ready

163 state task. */

164 #define taskRECORD_READY_PRIORITY( uxPriority ) \

165 { \

166 if( ( uxPriority ) > uxTopReadyPriority ) \

167 { \

168 uxTopReadyPriority = ( uxPriority ); \

169 } \

170 } /* taskRECORD_READY_PRIORITY */

171

172 /*-----------------------------------------------------------*/

173

174 #define taskSELECT_HIGHEST_PRIORITY_TASK() \

175 { \

176 UBaseType_t uxTopPriority = uxTopReadyPriority; \

177 \

178 /* Find the highest priority queue that contains ready tasks. */ \

179 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \

180 { \

181 configASSERT( uxTopPriority ); \

182 --uxTopPriority; \

183 } \

184 \

185 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \

186 the same priority get an equal share of the processor time. */ \

187 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \

188 uxTopReadyPriority = uxTopPriority; \

189 } /* taskSELECT_HIGHEST_PRIORITY_TASK */

190

191 /*-----------------------------------------------------------*/

192

193 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as

194 they are only required when a port optimised method of task selection is

195 being used. */

196 #define taskRESET_READY_PRIORITY( uxPriority )

197 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )

198

199 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

200

201 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is

202 performed in a way that is tailored to the particular microcontroller

203 architecture being used. */

204

205 /* A port optimised version is provided. Call the port defined macros. */

206 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )

207

208 /*-----------------------------------------------------------*/

209

210 #define taskSELECT_HIGHEST_PRIORITY_TASK() \

211 { \

212 UBaseType_t uxTopPriority; \

213 \

214 /* Find the highest priority list that contains ready tasks. */ \

215 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \

216 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \

217 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \

218 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */

219

220 /*-----------------------------------------------------------*/

221

222 /* A port optimised version is provided, call it only if the TCB being reset

223 is being referenced from a ready list. If it is referenced from a delayed

224 or suspended list then it won't be in a ready list. */

225 #define taskRESET_READY_PRIORITY( uxPriority ) \

226 { \

227 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \

228 { \

229 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \

230 } \

231 }

232

233 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

234

235 /*-----------------------------------------------------------*/

236

237 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick

238 count overflows. */

239 #define taskSWITCH_DELAYED_LISTS() \

240 { \

241 List_t *pxTemp; \

242 \

243 /* The delayed tasks list should be empty when the lists are switched. */ \

244 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \

245 \

246 pxTemp = pxDelayedTaskList; \

247 pxDelayedTaskList = pxOverflowDelayedTaskList; \

248 pxOverflowDelayedTaskList = pxTemp; \

249 xNumOfOverflows++; \

250 prvResetNextTaskUnblockTime(); \

251 }

252

253 /*-----------------------------------------------------------*/

254

255 /*

256 * Place the task represented by pxTCB into the appropriate ready list for

257 * the task. It is inserted at the end of the list.

258 */

259 #define prvAddTaskToReadyList( pxTCB ) \

260 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \

261 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \

262 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \

263 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )

264 /*-----------------------------------------------------------*/

265

266 /*

267 * Several functions take an TaskHandle_t parameter that can optionally be NULL,

268 * where NULL is used to indicate that the handle of the currently executing

269 * task should be used in place of the parameter. This macro simply checks to

270 * see if the parameter is NULL and returns a pointer to the appropriate TCB.

271 */

272 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )

273

274 /* The item value of the event list item is normally used to hold the priority

275 of the task to which it belongs (coded to allow it to be held in reverse

276 priority order). However, it is occasionally borrowed for other purposes. It

277 is important its value is not updated due to a task priority change while it is

278 being used for another purpose. The following bit definition is used to inform

279 the scheduler that the value should not be changed - in which case it is the

280 responsibility of whichever module is using the value to ensure it gets set back

281 to its original value when it is released. */

282 #if( configUSE_16_BIT_TICKS == 1 )

283 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U

284 #else

285 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL

286 #endif

287

288 /*

289 * Task control block. A task control block (TCB) is allocated for each task,

290 * and stores task state information, including a pointer to the task's context

291 * (the task's run time environment, including register values)

292 */

293 typedef struct tskTaskControlBlock

294 {

295 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. */

296

297 #if ( portUSING_MPU_WRAPPERS == 1 )

298 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */

299 #endif

300

301 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 ). */

302 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */

303 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */

304 StackType_t *pxStack; /*< Points to the start of the stack. */

305 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. */

306

307 #if ( portSTACK_GROWTH > 0 )

308 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */

309 #endif

310

311 #if ( portCRITICAL_NESTING_IN_TCB == 1 )

312 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */

313 #endif

314

315 #if ( configUSE_TRACE_FACILITY == 1 )

316 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. */

317 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */

318 #endif

319

320 #if ( configUSE_MUTEXES == 1 )

321 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */

322 UBaseType_t uxMutexesHeld;

323 #endif

324

325 #if ( configUSE_APPLICATION_TASK_TAG == 1 )

326 TaskHookFunction_t pxTaskTag;

327 #endif

328

329 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )

330 void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];

331 #endif

332

333 #if( configGENERATE_RUN_TIME_STATS == 1 )

334 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */

335 #endif

336

337 #if ( configUSE_NEWLIB_REENTRANT == 1 )

338 /* Allocate a Newlib reent structure that is specific to this task.

339 Note Newlib support has been included by popular demand, but is not

340 used by the FreeRTOS maintainers themselves. FreeRTOS is not

341 responsible for resulting newlib operation. User must be familiar with

342 newlib and must provide system-wide implementations of the necessary

343 stubs. Be warned that (at the time of writing) the current newlib design

344 implements a system-wide malloc() that must be provided with locks. */

345 struct _reent xNewLib_reent;

346 #endif

347

348 #if( configUSE_TASK_NOTIFICATIONS == 1 )

349 volatile uint32_t ulNotifiedValue;

350 volatile uint8_t ucNotifyState;

351 #endif

352

353 /* See the comments above the definition of

354 tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */

355 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )

356 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */

357 #endif

358

359 #if( INCLUDE_xTaskAbortDelay == 1 )

360 uint8_t ucDelayAborted;

361 #endif

362

363 } tskTCB;

364

365 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name

366 below to enable the use of older kernel aware debuggers. */

367 typedef tskTCB TCB_t;

368

369 /*lint -e956 A manual analysis and inspection has been used to determine which

370 static variables must be declared volatile. */

371

372 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;

373

374 /* Lists for ready and blocked tasks. --------------------*/

375 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */

376 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */

377 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */

378 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */

379 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. */

380 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. */

381

382 #if( INCLUDE_vTaskDelete == 1 )

383

384 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */

385 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;

386

387 #endif

388

389 #if ( INCLUDE_vTaskSuspend == 1 )

390

391 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */

392

393 #endif

394

395 /* Other file private variables. --------------------------------*/

396 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;

397 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;

398 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;

399 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;

400 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;

401 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;

402 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;

403 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;

404 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */

405 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. */

406

407 /* Context switches are held pending while the scheduler is suspended. Also,

408 interrupts must not manipulate the xStateListItem of a TCB, or any of the

409 lists the xStateListItem can be referenced from, if the scheduler is suspended.

410 If an interrupt needs to unblock a task while the scheduler is suspended then it

411 moves the task's event list item into the xPendingReadyList, ready for the

412 kernel to move the task from the pending ready list into the real ready list

413 when the scheduler is unsuspended. The pending ready list itself can only be

414 accessed from a critical section. */

415 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;

416

417 #if ( configGENERATE_RUN_TIME_STATS == 1 )

418

419 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */

420 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */

421

422 #endif

423

424 /*lint +e956 */

425

426 /*-----------------------------------------------------------*/

427

428 /* Callback function prototypes. --------------------------*/

429 #if( configCHECK_FOR_STACK_OVERFLOW > 0 )

430 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );

431 #endif

432

433 #if( configUSE_TICK_HOOK > 0 )

434 extern void vApplicationTickHook( void );

435 #endif

436

437 #if( configSUPPORT_STATIC_ALLOCATION == 1 )

438 extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

439 #endif

440

441 /* File private functions. --------------------------------*/

442

443 /**

444 * Utility task that simply returns pdTRUE if the task referenced by xTask is

445 * currently in the Suspended state, or pdFALSE if the task referenced by xTask

446 * is in any other state.

447 */

448 #if ( INCLUDE_vTaskSuspend == 1 )

449 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;

450 #endif /* INCLUDE_vTaskSuspend */

451

452 /*

453 * Utility to ready all the lists used by the scheduler. This is called

454 * automatically upon the creation of the first task.

455 */

456 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;

457

458 /*

459 * The idle task, which as all tasks is implemented as a never ending loop.

460 * The idle task is automatically created and added to the ready lists upon

461 * creation of the first user task.

462 *

463 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific

464 * language extensions. The equivalent prototype for this function is:

465 *

466 * void prvIdleTask( void *pvParameters );

467 *

468 */

469 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );

470

471 /*

472 * Utility to free all memory allocated by the scheduler to hold a TCB,

473 * including the stack pointed to by the TCB.

474 *

475 * This does not free memory allocated by the task itself (i.e. memory

476 * allocated by calls to pvPortMalloc from within the tasks application code).

477 */

478 #if ( INCLUDE_vTaskDelete == 1 )

479

480 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;

481

482 #endif

483

484 /*

485 * Used only by the idle task. This checks to see if anything has been placed

486 * in the list of tasks waiting to be deleted. If so the task is cleaned up

487 * and its TCB deleted.

488 */

489 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;

490

491 /*

492 * The currently executing task is entering the Blocked state. Add the task to

493 * either the current or the overflow delayed task list.

494 */

495 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;

496

497 /*

498 * Fills an TaskStatus_t structure with information on each task that is

499 * referenced from the pxList list (which may be a ready list, a delayed list,

500 * a suspended list, etc.).

501 *

502 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM

503 * NORMAL APPLICATION CODE.

504 */

505 #if ( configUSE_TRACE_FACILITY == 1 )

506

507 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;

508

509 #endif

510

511 /*

512 * Searches pxList for a task with name pcNameToQuery - returning a handle to

513 * the task if it is found, or NULL if the task is not found.

514 */

515 #if ( INCLUDE_xTaskGetHandle == 1 )

516

517 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;

518

519 #endif

520

521 /*

522 * When a task is created, the stack of the task is filled with a known value.

523 * This function determines the 'high water mark' of the task stack by

524 * determining how much of the stack remains at the original preset value.

525 */

526 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )

527

528 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;

529

530 #endif

531

532 /*

533 * Return the amount of time, in ticks, that will pass before the kernel will

534 * next move a task from the Blocked state to the Running state.

535 *

536 * This conditional compilation should use inequality to 0, not equality to 1.

537 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user

538 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be

539 * set to a value other than 1.

540 */

541 #if ( configUSE_TICKLESS_IDLE != 0 )

542

543 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;

544

545 #endif

546

547 /*

548 * Set xNextTaskUnblockTime to the time at which the next Blocked state task

549 * will exit the Blocked state.

550 */

551 static void prvResetNextTaskUnblockTime( void );

552

553 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

554

555 /*

556 * Helper function used to pad task names with spaces when printing out

557 * human readable tables of task information.

558 */

559 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;

560

561 #endif

562

563 /*

564 * Called after a Task_t structure has been allocated either statically or

565 * dynamically to fill in the structure's members.

566 */

567 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,

568 const char * const pcName,

569 const uint32_t ulStackDepth,

570 void * const pvParameters,

571 UBaseType_t uxPriority,

572 TaskHandle_t * const pxCreatedTask,

573 TCB_t *pxNewTCB,

574 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

575

576 /*

577 * Called after a new task has been created and initialised to place the task

578 * under the control of the scheduler.

579 */

580 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;

581

582 /*-----------------------------------------------------------*/

583

584 #if( configSUPPORT_STATIC_ALLOCATION == 1 )

585

586 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,

587 const char * const pcName,

588 const uint32_t ulStackDepth,

589 void * const pvParameters,

590 UBaseType_t uxPriority,

591 StackType_t * const puxStackBuffer,

592 StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

593 {

594 TCB_t *pxNewTCB;

595 TaskHandle_t xReturn;

596

597 configASSERT( puxStackBuffer != NULL );

598 configASSERT( pxTaskBuffer != NULL );

599

600 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )

601 {

602 /* The memory used for the task's TCB and stack are passed into this

603 function - use them. */

604 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. */

605 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;

606

607 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )

608 {

609 /* Tasks can be created statically or dynamically, so note this

610 task was created statically in case the task is later deleted. */

611 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;

612 }

613 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */

614

615 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );

616 prvAddNewTaskToReadyList( pxNewTCB );

617 }

618 else

619 {

620 xReturn = NULL;

621 }

622

623 return xReturn;

624 }

625

626 #endif /* SUPPORT_STATIC_ALLOCATION */

627 /*-----------------------------------------------------------*/

628

629 #if( portUSING_MPU_WRAPPERS == 1 )

630

631 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )

632 {

633 TCB_t *pxNewTCB;

634 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

635

636 configASSERT( pxTaskDefinition->puxStackBuffer );

637

638 if( pxTaskDefinition->puxStackBuffer != NULL )

639 {

640 /* Allocate space for the TCB. Where the memory comes from depends

641 on the implementation of the port malloc function and whether or

642 not static allocation is being used. */

643 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

644

645 if( pxNewTCB != NULL )

646 {

647 /* Store the stack location in the TCB. */

648 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;

649

650 /* Tasks can be created statically or dynamically, so note

651 this task had a statically allocated stack in case it is

652 later deleted. The TCB was allocated dynamically. */

653 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;

654

655 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,

656 pxTaskDefinition->pcName,

657 ( uint32_t ) pxTaskDefinition->usStackDepth,

658 pxTaskDefinition->pvParameters,

659 pxTaskDefinition->uxPriority,

660 pxCreatedTask, pxNewTCB,

661 pxTaskDefinition->xRegions );

662

663 prvAddNewTaskToReadyList( pxNewTCB );

664 xReturn = pdPASS;

665 }

666 }

667

668 return xReturn;

669 }

670

671 #endif /* portUSING_MPU_WRAPPERS */

672 /*-----------------------------------------------------------*/

673

674 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

675

676 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,

677 const char * const pcName,

678 const uint16_t usStackDepth,

679 void * const pvParameters,

680 UBaseType_t uxPriority,

681 TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

682 {

683 TCB_t *pxNewTCB;

684 BaseType_t xReturn;

685

686 /* If the stack grows down then allocate the stack then the TCB so the stack

687 does not grow into the TCB. Likewise if the stack grows up then allocate

688 the TCB then the stack. */

689 #if( portSTACK_GROWTH > 0 )

690 {

691 /* Allocate space for the TCB. Where the memory comes from depends on

692 the implementation of the port malloc function and whether or not static

693 allocation is being used. */

694 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

695

696 if( pxNewTCB != NULL )

697 {

698 /* Allocate space for the stack used by the task being created.

699 The base of the stack memory stored in the TCB so the task can

700 be deleted later if required. */

701 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

702

703 if( pxNewTCB->pxStack == NULL )

704 {

705 /* Could not allocate the stack. Delete the allocated TCB. */

706 vPortFree( pxNewTCB );

707 pxNewTCB = NULL;

708 }

709 }

710 }

711 #else /* portSTACK_GROWTH */

712 {

713 StackType_t *pxStack;

714

715 /* Allocate space for the stack used by the task being created. */

716 pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

717

718 if( pxStack != NULL )

719 {

720 /* Allocate space for the TCB. */

721 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */

722

723 if( pxNewTCB != NULL )

724 {

725 /* Store the stack location in the TCB. */

726 pxNewTCB->pxStack = pxStack;

727 }

728 else

729 {

730 /* The stack cannot be used as the TCB was not created. Free

731 it again. */

732 vPortFree( pxStack );

733 }

734 }

735 else

736 {

737 pxNewTCB = NULL;

738 }

739 }

740 #endif /* portSTACK_GROWTH */

741

742 if( pxNewTCB != NULL )

743 {

744 #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )

745 {

746 /* Tasks can be created statically or dynamically, so note this

747 task was created dynamically in case it is later deleted. */

748 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;

749 }

750 #endif /* configSUPPORT_STATIC_ALLOCATION */

751

752 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );

753 prvAddNewTaskToReadyList( pxNewTCB );

754 xReturn = pdPASS;

755 }

756 else

757 {

758 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

759 }

760

761 return xReturn;

762 }

763

764 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */

765 /*-----------------------------------------------------------*/

766

767 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,

768 const char * const pcName,

769 const uint32_t ulStackDepth,

770 void * const pvParameters,

771 UBaseType_t uxPriority,

772 TaskHandle_t * const pxCreatedTask,

773 TCB_t *pxNewTCB,

774 const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

775 {

776 StackType_t *pxTopOfStack;

777 UBaseType_t x;

778

779 #if( portUSING_MPU_WRAPPERS == 1 )

780 /* Should the task be created in privileged mode? */

781 BaseType_t xRunPrivileged;

782 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )

783 {

784 xRunPrivileged = pdTRUE;

785 }

786 else

787 {

788 xRunPrivileged = pdFALSE;

789 }

790 uxPriority &= ~portPRIVILEGE_BIT;

791 #endif /* portUSING_MPU_WRAPPERS == 1 */

792

793 /* Avoid dependency on memset() if it is not required. */

794 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )

795 {

796 /* Fill the stack with a known value to assist debugging. */

797 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );

798 }

799 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */

800

801 /* Calculate the top of stack address. This depends on whether the stack

802 grows from high memory to low (as per the 80x86) or vice versa.

803 portSTACK_GROWTH is used to make the result positive or negative as required

804 by the port. */

805 #if( portSTACK_GROWTH < 0 )

806 {

807 pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );

808 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. */

809

810 /* Check the alignment of the calculated top of stack is correct. */

811 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

812 }

813 #else /* portSTACK_GROWTH */

814 {

815 pxTopOfStack = pxNewTCB->pxStack;

816

817 /* Check the alignment of the stack buffer is correct. */

818 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

819

820 /* The other extreme of the stack space is required if stack checking is

821 performed. */

822 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );

823 }

824 #endif /* portSTACK_GROWTH */

825

826 /* Store the task name in the TCB. */

827 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )

828 {

829 pxNewTCB->pcTaskName[ x ] = pcName[ x ];

830

831 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than

832 configMAX_TASK_NAME_LEN characters just in case the memory after the

833 string is not accessible (extremely unlikely). */

834 if( pcName[ x ] == 0x00 )

835 {

836 break;

837 }

838 else

839 {

840 mtCOVERAGE_TEST_MARKER();

841 }

842 }

843

844 /* Ensure the name string is terminated in the case that the string length

845 was greater or equal to configMAX_TASK_NAME_LEN. */

846 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';

847

848 /* This is used as an array index so must ensure it's not too large. First

849 remove the privilege bit if one is present. */

850 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )

851 {

852 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;

853 }

854 else

855 {

856 mtCOVERAGE_TEST_MARKER();

857 }

858

859 pxNewTCB->uxPriority = uxPriority;

860 #if ( configUSE_MUTEXES == 1 )

861 {

862 pxNewTCB->uxBasePriority = uxPriority;

863 pxNewTCB->uxMutexesHeld = 0;

864 }

865 #endif /* configUSE_MUTEXES */

866

867 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );

868 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );

869

870 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get

871 back to the containing TCB from a generic item in a list. */

872 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );

873

874 /* Event lists are always in priority order. */

875 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. */

876 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );

877

878 #if ( portCRITICAL_NESTING_IN_TCB == 1 )

879 {

880 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;

881 }

882 #endif /* portCRITICAL_NESTING_IN_TCB */

883

884 #if ( configUSE_APPLICATION_TASK_TAG == 1 )

885 {

886 pxNewTCB->pxTaskTag = NULL;

887 }

888 #endif /* configUSE_APPLICATION_TASK_TAG */

889

890 #if ( configGENERATE_RUN_TIME_STATS == 1 )

891 {

892 pxNewTCB->ulRunTimeCounter = 0UL;

893 }

894 #endif /* configGENERATE_RUN_TIME_STATS */

895

896 #if ( portUSING_MPU_WRAPPERS == 1 )

897 {

898 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );

899 }

900 #else

901 {

902 /* Avoid compiler warning about unreferenced parameter. */

903 ( void ) xRegions;

904 }

905 #endif

906

907 #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

908 {

909 for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )

910 {

911 pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;

912 }

913 }

914 #endif

915

916 #if ( configUSE_TASK_NOTIFICATIONS == 1 )

917 {

918 pxNewTCB->ulNotifiedValue = 0;

919 pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;

920 }

921 #endif

922

923 #if ( configUSE_NEWLIB_REENTRANT == 1 )

924 {

925 /* Initialise this task's Newlib reent structure. */

926 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );

927 }

928 #endif

929

930 #if( INCLUDE_xTaskAbortDelay == 1 )

931 {

932 pxNewTCB->ucDelayAborted = pdFALSE;

933 }

934 #endif

935

936 /* Initialize the TCB stack to look as if the task was already running,

937 but had been interrupted by the scheduler. The return address is set

938 to the start of the task function. Once the stack has been initialised

939 the top of stack variable is updated. */

940 #if( portUSING_MPU_WRAPPERS == 1 )

941 {

942 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );

943 }

944 #else /* portUSING_MPU_WRAPPERS */

945 {

946 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );

947 }

948 #endif /* portUSING_MPU_WRAPPERS */

949

950 if( ( void * ) pxCreatedTask != NULL )

951 {

952 /* Pass the handle out in an anonymous way. The handle can be used to

953 change the created task's priority, delete the created task, etc.*/

954 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;

955 }

956 else

957 {

958 mtCOVERAGE_TEST_MARKER();

959 }

960 }

961 /*-----------------------------------------------------------*/

962

963 static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )

964 {

965 /* Ensure interrupts don't access the task lists while the lists are being

966 updated. */

967 taskENTER_CRITICAL();

968 {

969 uxCurrentNumberOfTasks++;

970 if( pxCurrentTCB == NULL )

971 {

972 /* There are no other tasks, or all the other tasks are in

973 the suspended state - make this the current task. */

974 pxCurrentTCB = pxNewTCB;

975

976 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )

977 {

978 /* This is the first task to be created so do the preliminary

979 initialisation required. We will not recover if this call

980 fails, but we will report the failure. */

981 prvInitialiseTaskLists();

982 }

983 else

984 {

985 mtCOVERAGE_TEST_MARKER();

986 }

987 }

988 else

989 {

990 /* If the scheduler is not already running, make this task the

991 current task if it is the highest priority task to be created

992 so far. */

993 if( xSchedulerRunning == pdFALSE )

994 {

995 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )

996 {

997 pxCurrentTCB = pxNewTCB;

998 }

999 else

1000 {

1001 mtCOVERAGE_TEST_MARKER();

1002 }

1003 }

1004 else

1005 {

1006 mtCOVERAGE_TEST_MARKER();

1007 }

1008 }

1009

1010 uxTaskNumber++;

1011

1012 #if ( configUSE_TRACE_FACILITY == 1 )

1013 {

1014 /* Add a counter into the TCB for tracing only. */

1015 pxNewTCB->uxTCBNumber = uxTaskNumber;

1016 }

1017 #endif /* configUSE_TRACE_FACILITY */

1018 traceTASK_CREATE( pxNewTCB );

1019

1020 prvAddTaskToReadyList( pxNewTCB );

1021

1022 portSETUP_TCB( pxNewTCB );

1023 }

1024 taskEXIT_CRITICAL();

1025

1026 if( xSchedulerRunning != pdFALSE )

1027 {

1028 /* If the created task is of a higher priority than the current task

1029 then it should run now. */

1030 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )

1031 {

1032 taskYIELD_IF_USING_PREEMPTION();

1033 }

1034 else

1035 {

1036 mtCOVERAGE_TEST_MARKER();

1037 }

1038 }

1039 else

1040 {

1041 mtCOVERAGE_TEST_MARKER();

1042 }

1043 }

1044 /*-----------------------------------------------------------*/

1045

1046 #if ( INCLUDE_vTaskDelete == 1 )

1047

1048 void vTaskDelete( TaskHandle_t xTaskToDelete )

1049 {

1050 TCB_t *pxTCB;

1051

1052 taskENTER_CRITICAL();

1053 {

1054 /* If null is passed in here then it is the calling task that is

1055 being deleted. */

1056 pxTCB = prvGetTCBFromHandle( xTaskToDelete );

1057

1058 /* Remove task from the ready list. */

1059 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

1060 {

1061 taskRESET_READY_PRIORITY( pxTCB->uxPriority );

1062 }

1063 else

1064 {

1065 mtCOVERAGE_TEST_MARKER();

1066 }

1067

1068 /* Is the task waiting on an event also? */

1069 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )

1070 {

1071 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

1072 }

1073 else

1074 {

1075 mtCOVERAGE_TEST_MARKER();

1076 }

1077

1078 /* Increment the uxTaskNumber also so kernel aware debuggers can

1079 detect that the task lists need re-generating. This is done before

1080 portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will

1081 not return. */

1082 uxTaskNumber++;

1083

1084 if( pxTCB == pxCurrentTCB )

1085 {

1086 /* A task is deleting itself. This cannot complete within the

1087 task itself, as a context switch to another task is required.

1088 Place the task in the termination list. The idle task will

1089 check the termination list and free up any memory allocated by

1090 the scheduler for the TCB and stack of the deleted task. */

1091 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );

1092

1093 /* Increment the ucTasksDeleted variable so the idle task knows

1094 there is a task that has been deleted and that it should therefore

1095 check the xTasksWaitingTermination list. */

1096 ++uxDeletedTasksWaitingCleanUp;

1097

1098 /* The pre-delete hook is primarily for the Windows simulator,

1099 in which Windows specific clean up operations are performed,

1100 after which it is not possible to yield away from this task -

1101 hence xYieldPending is used to latch that a context switch is

1102 required. */

1103 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );

1104 }

1105 else

1106 {

1107 --uxCurrentNumberOfTasks;

1108 prvDeleteTCB( pxTCB );

1109

1110 /* Reset the next expected unblock time in case it referred to

1111 the task that has just been deleted. */

1112 prvResetNextTaskUnblockTime();

1113 }

1114

1115 traceTASK_DELETE( pxTCB );

1116 }

1117 taskEXIT_CRITICAL();

1118

1119 /* Force a reschedule if it is the currently running task that has just

1120 been deleted. */

1121 if( xSchedulerRunning != pdFALSE )

1122 {

1123 if( pxTCB == pxCurrentTCB )

1124 {

1125 configASSERT( uxSchedulerSuspended == 0 );

1126 portYIELD_WITHIN_API();

1127 }

1128 else

1129 {

1130 mtCOVERAGE_TEST_MARKER();

1131 }

1132 }

1133 }

1134

1135 #endif /* INCLUDE_vTaskDelete */

1136 /*-----------------------------------------------------------*/

1137

1138 #if ( INCLUDE_vTaskDelayUntil == 1 )

1139

1140 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )

1141 {

1142 TickType_t xTimeToWake;

1143 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;

1144

1145 configASSERT( pxPreviousWakeTime );

1146 configASSERT( ( xTimeIncrement > 0U ) );

1147 configASSERT( uxSchedulerSuspended == 0 );

1148

1149 vTaskSuspendAll();

1150 {

1151 /* Minor optimisation. The tick count cannot change in this

1152 block. */

1153 const TickType_t xConstTickCount = xTickCount;

1154

1155 /* Generate the tick time at which the task wants to wake. */

1156 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;

1157

1158 if( xConstTickCount < *pxPreviousWakeTime )

1159 {

1160 /* The tick count has overflowed since this function was

1161 lasted called. In this case the only time we should ever

1162 actually delay is if the wake time has also overflowed,

1163 and the wake time is greater than the tick time. When this

1164 is the case it is as if neither time had overflowed. */

1165 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )

1166 {

1167 xShouldDelay = pdTRUE;

1168 }

1169 else

1170 {

1171 mtCOVERAGE_TEST_MARKER();

1172 }

1173 }

1174 else

1175 {

1176 /* The tick time has not overflowed. In this case we will

1177 delay if either the wake time has overflowed, and/or the

1178 tick time is less than the wake time. */

1179 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )

1180 {

1181 xShouldDelay = pdTRUE;

1182 }

1183 else

1184 {

1185 mtCOVERAGE_TEST_MARKER();

1186 }

1187 }

1188

1189 /* Update the wake time ready for the next call. */

1190 *pxPreviousWakeTime = xTimeToWake;

1191

1192 if( xShouldDelay != pdFALSE )

1193 {

1194 traceTASK_DELAY_UNTIL( xTimeToWake );

1195

1196 /* prvAddCurrentTaskToDelayedList() needs the block time, not

1197 the time to wake, so subtract the current tick count. */

1198 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );

1199 }

1200 else

1201 {

1202 mtCOVERAGE_TEST_MARKER();

1203 }

1204 }

1205 xAlreadyYielded = xTaskResumeAll();

1206

1207 /* Force a reschedule if xTaskResumeAll has not already done so, we may

1208 have put ourselves to sleep. */

1209 if( xAlreadyYielded == pdFALSE )

1210 {

1211 portYIELD_WITHIN_API();

1212 }

1213 else

1214 {

1215 mtCOVERAGE_TEST_MARKER();

1216 }

1217 }

1218

1219 #endif /* INCLUDE_vTaskDelayUntil */

1220 /*-----------------------------------------------------------*/

1221

1222 #if ( INCLUDE_vTaskDelay == 1 )

1223

1224 void vTaskDelay( const TickType_t xTicksToDelay )

1225 {

1226 BaseType_t xAlreadyYielded = pdFALSE;

1227

1228 /* A delay time of zero just forces a reschedule. */

1229 if( xTicksToDelay > ( TickType_t ) 0U )

1230 {

1231 configASSERT( uxSchedulerSuspended == 0 );

1232 vTaskSuspendAll();

1233 {

1234 traceTASK_DELAY();

1235

1236 /* A task that is removed from the event list while the

1237 scheduler is suspended will not get placed in the ready

1238 list or removed from the blocked list until the scheduler

1239 is resumed.

1240

1241 This task cannot be in an event list as it is the currently

1242 executing task. */

1243 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );

1244 }

1245 xAlreadyYielded = xTaskResumeAll();

1246 }

1247 else

1248 {

1249 mtCOVERAGE_TEST_MARKER();

1250 }

1251

1252 /* Force a reschedule if xTaskResumeAll has not already done so, we may

1253 have put ourselves to sleep. */

1254 if( xAlreadyYielded == pdFALSE )

1255 {

1256 portYIELD_WITHIN_API();

1257 }

1258 else

1259 {

1260 mtCOVERAGE_TEST_MARKER();

1261 }

1262 }

1263

1264 #endif /* INCLUDE_vTaskDelay */

1265 /*-----------------------------------------------------------*/

1266

1267 #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )

1268

1269 eTaskState eTaskGetState( TaskHandle_t xTask )

1270 {

1271 eTaskState eReturn;

1272 List_t *pxStateList;

1273 const TCB_t * const pxTCB = ( TCB_t * ) xTask;

1274

1275 configASSERT( pxTCB );

1276

1277 if( pxTCB == pxCurrentTCB )

1278 {

1279 /* The task calling this function is querying its own state. */

1280 eReturn = eRunning;

1281 }

1282 else

1283 {

1284 taskENTER_CRITICAL();

1285 {

1286 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );

1287 }

1288 taskEXIT_CRITICAL();

1289

1290 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )

1291 {

1292 /* The task being queried is referenced from one of the Blocked

1293 lists. */

1294 eReturn = eBlocked;

1295 }

1296

1297 #if ( INCLUDE_vTaskSuspend == 1 )

1298 else if( pxStateList == &xSuspendedTaskList )

1299 {

1300 /* The task being queried is referenced from the suspended

1301 list. Is it genuinely suspended or is it block

1302 indefinitely? */

1303 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )

1304 {

1305 eReturn = eSuspended;

1306 }

1307 else

1308 {

1309 eReturn = eBlocked;

1310 }

1311 }

1312 #endif

1313

1314 #if ( INCLUDE_vTaskDelete == 1 )

1315 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )

1316 {

1317 /* The task being queried is referenced from the deleted

1318 tasks list, or it is not referenced from any lists at

1319 all. */

1320 eReturn = eDeleted;

1321 }

1322 #endif

1323

1324 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */

1325 {

1326 /* If the task is not in any other state, it must be in the

1327 Ready (including pending ready) state. */

1328 eReturn = eReady;

1329 }

1330 }

1331

1332 return eReturn;

1333 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

1334

1335 #endif /* INCLUDE_eTaskGetState */

1336 /*-----------------------------------------------------------*/

1337

1338 #if ( INCLUDE_uxTaskPriorityGet == 1 )

1339

1340 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )

1341 {

1342 TCB_t *pxTCB;

1343 UBaseType_t uxReturn;

1344

1345 taskENTER_CRITICAL();

1346 {

1347 /* If null is passed in here then it is the priority of the that

1348 called uxTaskPriorityGet() that is being queried. */

1349 pxTCB = prvGetTCBFromHandle( xTask );

1350 uxReturn = pxTCB->uxPriority;

1351 }

1352 taskEXIT_CRITICAL();

1353

1354 return uxReturn;

1355 }

1356

1357 #endif /* INCLUDE_uxTaskPriorityGet */

1358 /*-----------------------------------------------------------*/

1359

1360 #if ( INCLUDE_uxTaskPriorityGet == 1 )

1361

1362 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )

1363 {

1364 TCB_t *pxTCB;

1365 UBaseType_t uxReturn, uxSavedInterruptState;

1366

1367 /* RTOS ports that support interrupt nesting have the concept of a

1368 maximum system call (or maximum API call) interrupt priority.

1369 Interrupts that are above the maximum system call priority are keep

1370 permanently enabled, even when the RTOS kernel is in a critical section,

1371 but cannot make any calls to FreeRTOS API functions. If configASSERT()

1372 is defined in FreeRTOSConfig.h then

1373 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion

1374 failure if a FreeRTOS API function is called from an interrupt that has

1375 been assigned a priority above the configured maximum system call

1376 priority. Only FreeRTOS functions that end in FromISR can be called

1377 from interrupts that have been assigned a priority at or (logically)

1378 below the maximum system call interrupt priority. FreeRTOS maintains a

1379 separate interrupt safe API to ensure interrupt entry is as fast and as

1380 simple as possible. More information (albeit Cortex-M specific) is

1381 provided on the following link:

1382 http://www.freertos.org/RTOS-Cortex-M3-M4.html */

1383 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

1384

1385 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();

1386 {

1387 /* If null is passed in here then it is the priority of the calling

1388 task that is being queried. */

1389 pxTCB = prvGetTCBFromHandle( xTask );

1390 uxReturn = pxTCB->uxPriority;

1391 }

1392 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );

1393

1394 return uxReturn;

1395 }

1396

1397 #endif /* INCLUDE_uxTaskPriorityGet */

1398 /*-----------------------------------------------------------*/

1399

1400 #if ( INCLUDE_vTaskPrioritySet == 1 )

1401

1402 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )

1403 {

1404 TCB_t *pxTCB;

1405 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;

1406 BaseType_t xYieldRequired = pdFALSE;

1407

1408 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );

1409

1410 /* Ensure the new priority is valid. */

1411 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )

1412 {

1413 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;

1414 }

1415 else

1416 {

1417 mtCOVERAGE_TEST_MARKER();

1418 }

1419

1420 taskENTER_CRITICAL();

1421 {

1422 /* If null is passed in here then it is the priority of the calling

1423 task that is being changed. */

1424 pxTCB = prvGetTCBFromHandle( xTask );

1425

1426 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );

1427

1428 #if ( configUSE_MUTEXES == 1 )

1429 {

1430 uxCurrentBasePriority = pxTCB->uxBasePriority;

1431 }

1432 #else

1433 {

1434 uxCurrentBasePriority = pxTCB->uxPriority;

1435 }

1436 #endif

1437

1438 if( uxCurrentBasePriority != uxNewPriority )

1439 {

1440 /* The priority change may have readied a task of higher

1441 priority than the calling task. */

1442 if( uxNewPriority > uxCurrentBasePriority )

1443 {

1444 if( pxTCB != pxCurrentTCB )

1445 {

1446 /* The priority of a task other than the currently

1447 running task is being raised. Is the priority being

1448 raised above that of the running task? */

1449 if( uxNewPriority >= pxCurrentTCB->uxPriority )

1450 {

1451 xYieldRequired = pdTRUE;

1452 }

1453 else

1454 {

1455 mtCOVERAGE_TEST_MARKER();

1456 }

1457 }

1458 else

1459 {

1460 /* The priority of the running task is being raised,

1461 but the running task must already be the highest

1462 priority task able to run so no yield is required. */

1463 }

1464 }

1465 else if( pxTCB == pxCurrentTCB )

1466 {

1467 /* Setting the priority of the running task down means

1468 there may now be another task of higher priority that

1469 is ready to execute. */

1470 xYieldRequired = pdTRUE;

1471 }

1472 else

1473 {

1474 /* Setting the priority of any other task down does not

1475 require a yield as the running task must be above the

1476 new priority of the task being modified. */

1477 }

1478

1479 /* Remember the ready list the task might be referenced from

1480 before its uxPriority member is changed so the

1481 taskRESET_READY_PRIORITY() macro can function correctly. */

1482 uxPriorityUsedOnEntry = pxTCB->uxPriority;

1483

1484 #if ( configUSE_MUTEXES == 1 )

1485 {

1486 /* Only change the priority being used if the task is not

1487 currently using an inherited priority. */

1488 if( pxTCB->uxBasePriority == pxTCB->uxPriority )

1489 {

1490 pxTCB->uxPriority = uxNewPriority;

1491 }

1492 else

1493 {

1494 mtCOVERAGE_TEST_MARKER();

1495 }

1496

1497 /* The base priority gets set whatever. */

1498 pxTCB->uxBasePriority = uxNewPriority;

1499 }

1500 #else

1501 {

1502 pxTCB->uxPriority = uxNewPriority;

1503 }

1504 #endif

1505

1506 /* Only reset the event list item value if the value is not

1507 being used for anything else. */

1508 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )

1509 {

1510 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

1511 }

1512 else

1513 {

1514 mtCOVERAGE_TEST_MARKER();

1515 }

1516

1517 /* If the task is in the blocked or suspended list we need do

1518 nothing more than change it's priority variable. However, if

1519 the task is in a ready list it needs to be removed and placed

1520 in the list appropriate to its new priority. */

1521 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )

1522 {

1523 /* The task is currently in its ready list - remove before adding

1524 it to it's new ready list. As we are in a critical section we

1525 can do this even if the scheduler is suspended. */

1526 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

1527 {

1528 /* It is known that the task is in its ready list so

1529 there is no need to check again and the port level

1530 reset macro can be called directly. */

1531 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );

1532 }

1533 else

1534 {

1535 mtCOVERAGE_TEST_MARKER();

1536 }

1537 prvAddTaskToReadyList( pxTCB );

1538 }

1539 else

1540 {

1541 mtCOVERAGE_TEST_MARKER();

1542 }

1543

1544 if( xYieldRequired != pdFALSE )

1545 {

1546 taskYIELD_IF_USING_PREEMPTION();

1547 }

1548 else

1549 {

1550 mtCOVERAGE_TEST_MARKER();

1551 }

1552

1553 /* Remove compiler warning about unused variables when the port

1554 optimised task selection is not being used. */

1555 ( void ) uxPriorityUsedOnEntry;

1556 }

1557 }

1558 taskEXIT_CRITICAL();

1559 }

1560

1561 #endif /* INCLUDE_vTaskPrioritySet */

1562 /*-----------------------------------------------------------*/

1563

1564 #if ( INCLUDE_vTaskSuspend == 1 )

1565

1566 void vTaskSuspend( TaskHandle_t xTaskToSuspend )

1567 {

1568 TCB_t *pxTCB;

1569

1570 taskENTER_CRITICAL();

1571 {

1572 /* If null is passed in here then it is the running task that is

1573 being suspended. */

1574 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );

1575

1576 traceTASK_SUSPEND( pxTCB );

1577

1578 /* Remove task from the ready/delayed list and place in the

1579 suspended list. */

1580 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

1581 {

1582 taskRESET_READY_PRIORITY( pxTCB->uxPriority );

1583 }

1584 else

1585 {

1586 mtCOVERAGE_TEST_MARKER();

1587 }

1588

1589 /* Is the task waiting on an event also? */

1590 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )

1591 {

1592 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

1593 }

1594 else

1595 {

1596 mtCOVERAGE_TEST_MARKER();

1597 }

1598

1599 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );

1600 }

1601 taskEXIT_CRITICAL();

1602

1603 if( xSchedulerRunning != pdFALSE )

1604 {

1605 /* Reset the next expected unblock time in case it referred to the

1606 task that is now in the Suspended state. */

1607 taskENTER_CRITICAL();

1608 {

1609 prvResetNextTaskUnblockTime();

1610 }

1611 taskEXIT_CRITICAL();

1612 }

1613 else

1614 {

1615 mtCOVERAGE_TEST_MARKER();

1616 }

1617

1618 if( pxTCB == pxCurrentTCB )

1619 {

1620 if( xSchedulerRunning != pdFALSE )

1621 {

1622 /* The current task has just been suspended. */

1623 configASSERT( uxSchedulerSuspended == 0 );

1624 portYIELD_WITHIN_API();

1625 }

1626 else

1627 {

1628 /* The scheduler is not running, but the task that was pointed

1629 to by pxCurrentTCB has just been suspended and pxCurrentTCB

1630 must be adjusted to point to a different task. */

1631 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )

1632 {

1633 /* No other tasks are ready, so set pxCurrentTCB back to

1634 NULL so when the next task is created pxCurrentTCB will

1635 be set to point to it no matter what its relative priority

1636 is. */

1637 pxCurrentTCB = NULL;

1638 }

1639 else

1640 {

1641 vTaskSwitchContext();

1642 }

1643 }

1644 }

1645 else

1646 {

1647 mtCOVERAGE_TEST_MARKER();

1648 }

1649 }

1650

1651 #endif /* INCLUDE_vTaskSuspend */

1652 /*-----------------------------------------------------------*/

1653

1654 #if ( INCLUDE_vTaskSuspend == 1 )

1655

1656 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )

1657 {

1658 BaseType_t xReturn = pdFALSE;

1659 const TCB_t * const pxTCB = ( TCB_t * ) xTask;

1660

1661 /* Accesses xPendingReadyList so must be called from a critical

1662 section. */

1663

1664 /* It does not make sense to check if the calling task is suspended. */

1665 configASSERT( xTask );

1666

1667 /* Is the task being resumed actually in the suspended list? */

1668 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )

1669 {

1670 /* Has the task already been resumed from within an ISR? */

1671 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )

1672 {

1673 /* Is it in the suspended list because it is in the Suspended

1674 state, or because is is blocked with no timeout? */

1675 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )

1676 {

1677 xReturn = pdTRUE;

1678 }

1679 else

1680 {

1681 mtCOVERAGE_TEST_MARKER();

1682 }

1683 }

1684 else

1685 {

1686 mtCOVERAGE_TEST_MARKER();

1687 }

1688 }

1689 else

1690 {

1691 mtCOVERAGE_TEST_MARKER();

1692 }

1693

1694 return xReturn;

1695 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

1696

1697 #endif /* INCLUDE_vTaskSuspend */

1698 /*-----------------------------------------------------------*/

1699

1700 #if ( INCLUDE_vTaskSuspend == 1 )

1701

1702 void vTaskResume( TaskHandle_t xTaskToResume )

1703 {

1704 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;

1705

1706 /* It does not make sense to resume the calling task. */

1707 configASSERT( xTaskToResume );

1708

1709 /* The parameter cannot be NULL as it is impossible to resume the

1710 currently executing task. */

1711 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )

1712 {

1713 taskENTER_CRITICAL();

1714 {

1715 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )

1716 {

1717 traceTASK_RESUME( pxTCB );

1718

1719 /* As we are in a critical section we can access the ready

1720 lists even if the scheduler is suspended. */

1721 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

1722 prvAddTaskToReadyList( pxTCB );

1723

1724 /* We may have just resumed a higher priority task. */

1725 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )

1726 {

1727 /* This yield may not cause the task just resumed to run,

1728 but will leave the lists in the correct state for the

1729 next yield. */

1730 taskYIELD_IF_USING_PREEMPTION();

1731 }

1732 else

1733 {

1734 mtCOVERAGE_TEST_MARKER();

1735 }

1736 }

1737 else

1738 {

1739 mtCOVERAGE_TEST_MARKER();

1740 }

1741 }

1742 taskEXIT_CRITICAL();

1743 }

1744 else

1745 {

1746 mtCOVERAGE_TEST_MARKER();

1747 }

1748 }

1749

1750 #endif /* INCLUDE_vTaskSuspend */

1751

1752 /*-----------------------------------------------------------*/

1753

1754 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )

1755

1756 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )

1757 {

1758 BaseType_t xYieldRequired = pdFALSE;

1759 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;

1760 UBaseType_t uxSavedInterruptStatus;

1761

1762 configASSERT( xTaskToResume );

1763

1764 /* RTOS ports that support interrupt nesting have the concept of a

1765 maximum system call (or maximum API call) interrupt priority.

1766 Interrupts that are above the maximum system call priority are keep

1767 permanently enabled, even when the RTOS kernel is in a critical section,

1768 but cannot make any calls to FreeRTOS API functions. If configASSERT()

1769 is defined in FreeRTOSConfig.h then

1770 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion

1771 failure if a FreeRTOS API function is called from an interrupt that has

1772 been assigned a priority above the configured maximum system call

1773 priority. Only FreeRTOS functions that end in FromISR can be called

1774 from interrupts that have been assigned a priority at or (logically)

1775 below the maximum system call interrupt priority. FreeRTOS maintains a

1776 separate interrupt safe API to ensure interrupt entry is as fast and as

1777 simple as possible. More information (albeit Cortex-M specific) is

1778 provided on the following link:

1779 http://www.freertos.org/RTOS-Cortex-M3-M4.html */

1780 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

1781

1782 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();

1783 {

1784 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )

1785 {

1786 traceTASK_RESUME_FROM_ISR( pxTCB );

1787

1788 /* Check the ready lists can be accessed. */

1789 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

1790 {

1791 /* Ready lists can be accessed so move the task from the

1792 suspended list to the ready list directly. */

1793 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )

1794 {

1795 xYieldRequired = pdTRUE;

1796 }

1797 else

1798 {

1799 mtCOVERAGE_TEST_MARKER();

1800 }

1801

1802 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

1803 prvAddTaskToReadyList( pxTCB );

1804 }

1805 else

1806 {

1807 /* The delayed or ready lists cannot be accessed so the task

1808 is held in the pending ready list until the scheduler is

1809 unsuspended. */

1810 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );

1811 }

1812 }

1813 else

1814 {

1815 mtCOVERAGE_TEST_MARKER();

1816 }

1817 }

1818 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

1819

1820 return xYieldRequired;

1821 }

1822

1823 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */

1824 /*-----------------------------------------------------------*/

1825

1826 void vTaskStartScheduler( void )

1827 {

1828 BaseType_t xReturn;

1829

1830 /* Add the idle task at the lowest priority. */

1831 #if( configSUPPORT_STATIC_ALLOCATION == 1 )

1832 {

1833 StaticTask_t *pxIdleTaskTCBBuffer = NULL;

1834 StackType_t *pxIdleTaskStackBuffer = NULL;

1835 uint32_t ulIdleTaskStackSize;

1836

1837 /* The Idle task is created using user provided RAM - obtain the

1838 address of the RAM then create the idle task. */

1839 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );

1840 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,

1841 "IDLE",

1842 ulIdleTaskStackSize,

1843 ( void * ) NULL,

1844 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),

1845 pxIdleTaskStackBuffer,

1846 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

1847

1848 if( xIdleTaskHandle != NULL )

1849 {

1850 xReturn = pdPASS;

1851 }

1852 else

1853 {

1854 xReturn = pdFAIL;

1855 }

1856 }

1857 #else

1858 {

1859 /* The Idle task is being created using dynamically allocated RAM. */

1860 xReturn = xTaskCreate( prvIdleTask,

1861 "IDLE", configMINIMAL_STACK_SIZE,

1862 ( void * ) NULL,

1863 ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),

1864 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

1865 }

1866 #endif /* configSUPPORT_STATIC_ALLOCATION */

1867

1868 #if ( configUSE_TIMERS == 1 )

1869 {

1870 if( xReturn == pdPASS )

1871 {

1872 xReturn = xTimerCreateTimerTask();

1873 }

1874 else

1875 {

1876 mtCOVERAGE_TEST_MARKER();

1877 }

1878 }

1879 #endif /* configUSE_TIMERS */

1880

1881 if( xReturn == pdPASS )

1882 {

1883 /* Interrupts are turned off here, to ensure a tick does not occur

1884 before or during the call to xPortStartScheduler(). The stacks of

1885 the created tasks contain a status word with interrupts switched on

1886 so interrupts will automatically get re-enabled when the first task

1887 starts to run. */

1888 portDISABLE_INTERRUPTS();

1889

1890 #if ( configUSE_NEWLIB_REENTRANT == 1 )

1891 {

1892 /* Switch Newlib's _impure_ptr variable to point to the _reent

1893 structure specific to the task that will run first. */

1894 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );

1895 }

1896 #endif /* configUSE_NEWLIB_REENTRANT */

1897

1898 xNextTaskUnblockTime = portMAX_DELAY;

1899 xSchedulerRunning = pdTRUE;

1900 xTickCount = ( TickType_t ) 0U;

1901

1902 /* If configGENERATE_RUN_TIME_STATS is defined then the following

1903 macro must be defined to configure the timer/counter used to generate

1904 the run time counter time base. */

1905 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

1906

1907 /* Setting up the timer tick is hardware specific and thus in the

1908 portable interface. */

1909 if( xPortStartScheduler() != pdFALSE )

1910 {

1911 /* Should not reach here as if the scheduler is running the

1912 function will not return. */

1913 }

1914 else

1915 {

1916 /* Should only reach here if a task calls xTaskEndScheduler(). */

1917 }

1918 }

1919 else

1920 {

1921 /* This line will only be reached if the kernel could not be started,

1922 because there was not enough FreeRTOS heap to create the idle task

1923 or the timer task. */

1924 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );

1925 }

1926

1927 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,

1928 meaning xIdleTaskHandle is not used anywhere else. */

1929 ( void ) xIdleTaskHandle;

1930 }

1931 /*-----------------------------------------------------------*/

1932

1933 void vTaskEndScheduler( void )

1934 {

1935 /* Stop the scheduler interrupts and call the portable scheduler end

1936 routine so the original ISRs can be restored if necessary. The port

1937 layer must ensure interrupts enable bit is left in the correct state. */

1938 portDISABLE_INTERRUPTS();

1939 xSchedulerRunning = pdFALSE;

1940 vPortEndScheduler();

1941 }

1942 /*----------------------------------------------------------*/

1943

1944 void vTaskSuspendAll( void )

1945 {

1946 /* A critical section is not required as the variable is of type

1947 BaseType_t. Please read Richard Barry's reply in the following link to a

1948 post in the FreeRTOS support forum before reporting this as a bug! -

1949 http://goo.gl/wu4acr */

1950 ++uxSchedulerSuspended;

1951 }

1952 /*----------------------------------------------------------*/

1953

1954 #if ( configUSE_TICKLESS_IDLE != 0 )

1955

1956 static TickType_t prvGetExpectedIdleTime( void )

1957 {

1958 TickType_t xReturn;

1959 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;

1960

1961 /* uxHigherPriorityReadyTasks takes care of the case where

1962 configUSE_PREEMPTION is 0, so there may be tasks above the idle priority

1963 task that are in the Ready state, even though the idle task is

1964 running. */

1965 #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )

1966 {

1967 if( uxTopReadyPriority > tskIDLE_PRIORITY )

1968 {

1969 uxHigherPriorityReadyTasks = pdTRUE;

1970 }

1971 }

1972 #else

1973 {

1974 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;

1975

1976 /* When port optimised task selection is used the uxTopReadyPriority

1977 variable is used as a bit map. If bits other than the least

1978 significant bit are set then there are tasks that have a priority

1979 above the idle priority that are in the Ready state. This takes

1980 care of the case where the co-operative scheduler is in use. */

1981 if( uxTopReadyPriority > uxLeastSignificantBit )

1982 {

1983 uxHigherPriorityReadyTasks = pdTRUE;

1984 }

1985 }

1986 #endif

1987

1988 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )

1989 {

1990 xReturn = 0;

1991 }

1992 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )

1993 {

1994 /* There are other idle priority tasks in the ready state. If

1995 time slicing is used then the very next tick interrupt must be

1996 processed. */

1997 xReturn = 0;

1998 }

1999 else if( uxHigherPriorityReadyTasks != pdFALSE )

2000 {

2001 /* There are tasks in the Ready state that have a priority above the

2002 idle priority. This path can only be reached if

2003 configUSE_PREEMPTION is 0. */

2004 xReturn = 0;

2005 }

2006 else

2007 {

2008 xReturn = xNextTaskUnblockTime - xTickCount;

2009 }

2010

2011 return xReturn;

2012 }

2013

2014 #endif /* configUSE_TICKLESS_IDLE */

2015 /*----------------------------------------------------------*/

2016

2017 BaseType_t xTaskResumeAll( void )

2018 {

2019 TCB_t *pxTCB = NULL;

2020 BaseType_t xAlreadyYielded = pdFALSE;

2021

2022 /* If uxSchedulerSuspended is zero then this function does not match a

2023 previous call to vTaskSuspendAll(). */

2024 configASSERT( uxSchedulerSuspended );

2025

2026 /* It is possible that an ISR caused a task to be removed from an event

2027 list while the scheduler was suspended. If this was the case then the

2028 removed task will have been added to the xPendingReadyList. Once the

2029 scheduler has been resumed it is safe to move all the pending ready

2030 tasks from this list into their appropriate ready list. */

2031 taskENTER_CRITICAL();

2032 {

2033 --uxSchedulerSuspended;

2034

2035 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

2036 {

2037 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )

2038 {

2039 /* Move any readied tasks from the pending list into the

2040 appropriate ready list. */

2041 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )

2042 {

2043 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );

2044 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

2045 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

2046 prvAddTaskToReadyList( pxTCB );

2047

2048 /* If the moved task has a priority higher than the current

2049 task then a yield must be performed. */

2050 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )

2051 {

2052 xYieldPending = pdTRUE;

2053 }

2054 else

2055 {

2056 mtCOVERAGE_TEST_MARKER();

2057 }

2058 }

2059

2060 if( pxTCB != NULL )

2061 {

2062 /* A task was unblocked while the scheduler was suspended,

2063 which may have prevented the next unblock time from being

2064 re-calculated, in which case re-calculate it now. Mainly

2065 important for low power tickless implementations, where

2066 this can prevent an unnecessary exit from low power

2067 state. */

2068 prvResetNextTaskUnblockTime();

2069 }

2070

2071 /* If any ticks occurred while the scheduler was suspended then

2072 they should be processed now. This ensures the tick count does

2073 not slip, and that any delayed tasks are resumed at the correct

2074 time. */

2075 {

2076 UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */

2077

2078 if( uxPendedCounts > ( UBaseType_t ) 0U )

2079 {

2080 do

2081 {

2082 if( xTaskIncrementTick() != pdFALSE )

2083 {

2084 xYieldPending = pdTRUE;

2085 }

2086 else

2087 {

2088 mtCOVERAGE_TEST_MARKER();

2089 }

2090 --uxPendedCounts;

2091 } while( uxPendedCounts > ( UBaseType_t ) 0U );

2092

2093 uxPendedTicks = 0;

2094 }

2095 else

2096 {

2097 mtCOVERAGE_TEST_MARKER();

2098 }

2099 }

2100

2101 if( xYieldPending != pdFALSE )

2102 {

2103 #if( configUSE_PREEMPTION != 0 )

2104 {

2105 xAlreadyYielded = pdTRUE;

2106 }

2107 #endif

2108 taskYIELD_IF_USING_PREEMPTION();

2109 }

2110 else

2111 {

2112 mtCOVERAGE_TEST_MARKER();

2113 }

2114 }

2115 }

2116 else

2117 {

2118 mtCOVERAGE_TEST_MARKER();

2119 }

2120 }

2121 taskEXIT_CRITICAL();

2122

2123 return xAlreadyYielded;

2124 }

2125 /*-----------------------------------------------------------*/

2126

2127 TickType_t xTaskGetTickCount( void )

2128 {

2129 TickType_t xTicks;

2130

2131 /* Critical section required if running on a 16 bit processor. */

2132 portTICK_TYPE_ENTER_CRITICAL();

2133 {

2134 xTicks = xTickCount;

2135 }

2136 portTICK_TYPE_EXIT_CRITICAL();

2137

2138 return xTicks;

2139 }

2140 /*-----------------------------------------------------------*/

2141

2142 TickType_t xTaskGetTickCountFromISR( void )

2143 {

2144 TickType_t xReturn;

2145 UBaseType_t uxSavedInterruptStatus;

2146

2147 /* RTOS ports that support interrupt nesting have the concept of a maximum

2148 system call (or maximum API call) interrupt priority. Interrupts that are

2149 above the maximum system call priority are kept permanently enabled, even

2150 when the RTOS kernel is in a critical section, but cannot make any calls to

2151 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h

2152 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion

2153 failure if a FreeRTOS API function is called from an interrupt that has been

2154 assigned a priority above the configured maximum system call priority.

2155 Only FreeRTOS functions that end in FromISR can be called from interrupts

2156 that have been assigned a priority at or (logically) below the maximum

2157 system call interrupt priority. FreeRTOS maintains a separate interrupt

2158 safe API to ensure interrupt entry is as fast and as simple as possible.

2159 More information (albeit Cortex-M specific) is provided on the following

2160 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */

2161 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

2162

2163 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();

2164 {

2165 xReturn = xTickCount;

2166 }

2167 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

2168

2169 return xReturn;

2170 }

2171 /*-----------------------------------------------------------*/

2172

2173 UBaseType_t uxTaskGetNumberOfTasks( void )

2174 {

2175 /* A critical section is not required because the variables are of type

2176 BaseType_t. */

2177 return uxCurrentNumberOfTasks;

2178 }

2179 /*-----------------------------------------------------------*/

2180

2181 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

2182 {

2183 TCB_t *pxTCB;

2184

2185 /* If null is passed in here then the name of the calling task is being

2186 queried. */

2187 pxTCB = prvGetTCBFromHandle( xTaskToQuery );

2188 configASSERT( pxTCB );

2189 return &( pxTCB->pcTaskName[ 0 ] );

2190 }

2191 /*-----------------------------------------------------------*/

2192

2193 #if ( INCLUDE_xTaskGetHandle == 1 )

2194

2195 static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )

2196 {

2197 TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;

2198 UBaseType_t x;

2199 char cNextChar;

2200

2201 /* This function is called with the scheduler suspended. */

2202

2203 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )

2204 {

2205 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );

2206

2207 do

2208 {

2209 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );

2210

2211 /* Check each character in the name looking for a match or

2212 mismatch. */

2213 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )

2214 {

2215 cNextChar = pxNextTCB->pcTaskName[ x ];

2216

2217 if( cNextChar != pcNameToQuery[ x ] )

2218 {

2219 /* Characters didn't match. */

2220 break;

2221 }

2222 else if( cNextChar == 0x00 )

2223 {

2224 /* Both strings terminated, a match must have been

2225 found. */

2226 pxReturn = pxNextTCB;

2227 break;

2228 }

2229 else

2230 {

2231 mtCOVERAGE_TEST_MARKER();

2232 }

2233 }

2234

2235 if( pxReturn != NULL )

2236 {

2237 /* The handle has been found. */

2238 break;

2239 }

2240

2241 } while( pxNextTCB != pxFirstTCB );

2242 }

2243 else

2244 {

2245 mtCOVERAGE_TEST_MARKER();

2246 }

2247

2248 return pxReturn;

2249 }

2250

2251 #endif /* INCLUDE_xTaskGetHandle */

2252 /*-----------------------------------------------------------*/

2253

2254 #if ( INCLUDE_xTaskGetHandle == 1 )

2255

2256 TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

2257 {

2258 UBaseType_t uxQueue = configMAX_PRIORITIES;

2259 TCB_t* pxTCB;

2260

2261 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */

2262 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );

2263

2264 vTaskSuspendAll();

2265 {

2266 /* Search the ready lists. */

2267 do

2268 {

2269 uxQueue--;

2270 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );

2271

2272 if( pxTCB != NULL )

2273 {

2274 /* Found the handle. */

2275 break;

2276 }

2277

2278 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

2279

2280 /* Search the delayed lists. */

2281 if( pxTCB == NULL )

2282 {

2283 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );

2284 }

2285

2286 if( pxTCB == NULL )

2287 {

2288 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );

2289 }

2290

2291 #if ( INCLUDE_vTaskSuspend == 1 )

2292 {

2293 if( pxTCB == NULL )

2294 {

2295 /* Search the suspended list. */

2296 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );

2297 }

2298 }

2299 #endif

2300

2301 #if( INCLUDE_vTaskDelete == 1 )

2302 {

2303 if( pxTCB == NULL )

2304 {

2305 /* Search the deleted list. */

2306 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );

2307 }

2308 }

2309 #endif

2310 }

2311 ( void ) xTaskResumeAll();

2312

2313 return ( TaskHandle_t ) pxTCB;

2314 }

2315

2316 #endif /* INCLUDE_xTaskGetHandle */

2317 /*-----------------------------------------------------------*/

2318

2319 #if ( configUSE_TRACE_FACILITY == 1 )

2320

2321 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )

2322 {

2323 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;

2324

2325 vTaskSuspendAll();

2326 {

2327 /* Is there a space in the array for each task in the system? */

2328 if( uxArraySize >= uxCurrentNumberOfTasks )

2329 {

2330 /* Fill in an TaskStatus_t structure with information on each

2331 task in the Ready state. */

2332 do

2333 {

2334 uxQueue--;

2335 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );

2336

2337 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

2338

2339 /* Fill in an TaskStatus_t structure with information on each

2340 task in the Blocked state. */

2341 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );

2342 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );

2343

2344 #if( INCLUDE_vTaskDelete == 1 )

2345 {

2346 /* Fill in an TaskStatus_t structure with information on

2347 each task that has been deleted but not yet cleaned up. */

2348 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );

2349 }

2350 #endif

2351

2352 #if ( INCLUDE_vTaskSuspend == 1 )

2353 {

2354 /* Fill in an TaskStatus_t structure with information on

2355 each task in the Suspended state. */

2356 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );

2357 }

2358 #endif

2359

2360 #if ( configGENERATE_RUN_TIME_STATS == 1)

2361 {

2362 if( pulTotalRunTime != NULL )

2363 {

2364 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE

2365 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );

2366 #else

2367 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();

2368 #endif

2369 }

2370 }

2371 #else

2372 {

2373 if( pulTotalRunTime != NULL )

2374 {

2375 *pulTotalRunTime = 0;

2376 }

2377 }

2378 #endif

2379 }

2380 else

2381 {

2382 mtCOVERAGE_TEST_MARKER();

2383 }

2384 }

2385 ( void ) xTaskResumeAll();

2386

2387 return uxTask;

2388 }

2389

2390 #endif /* configUSE_TRACE_FACILITY */

2391 /*----------------------------------------------------------*/

2392

2393 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )

2394

2395 TaskHandle_t xTaskGetIdleTaskHandle( void )

2396 {

2397 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been

2398 started, then xIdleTaskHandle will be NULL. */

2399 configASSERT( ( xIdleTaskHandle != NULL ) );

2400 return xIdleTaskHandle;

2401 }

2402

2403 #endif /* INCLUDE_xTaskGetIdleTaskHandle */

2404 /*----------------------------------------------------------*/

2405

2406 /* This conditional compilation should use inequality to 0, not equality to 1.

2407 This is to ensure vTaskStepTick() is available when user defined low power mode

2408 implementations require configUSE_TICKLESS_IDLE to be set to a value other than

2409 1. */

2410 #if ( configUSE_TICKLESS_IDLE != 0 )

2411

2412 void vTaskStepTick( const TickType_t xTicksToJump )

2413 {

2414 /* Correct the tick count value after a period during which the tick

2415 was suppressed. Note this does *not* call the tick hook function for

2416 each stepped tick. */

2417 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );

2418 xTickCount += xTicksToJump;

2419 traceINCREASE_TICK_COUNT( xTicksToJump );

2420 }

2421

2422 #endif /* configUSE_TICKLESS_IDLE */

2423 /*----------------------------------------------------------*/

2424

2425 #if ( INCLUDE_xTaskAbortDelay == 1 )

2426

2427 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )

2428 {

2429 TCB_t *pxTCB = ( TCB_t * ) xTask;

2430 BaseType_t xReturn = pdFALSE;

2431

2432 configASSERT( pxTCB );

2433

2434 vTaskSuspendAll();

2435 {

2436 /* A task can only be prematurely removed from the Blocked state if

2437 it is actually in the Blocked state. */

2438 if( eTaskGetState( xTask ) == eBlocked )

2439 {

2440 /* Remove the reference to the task from the blocked list. An

2441 interrupt won't touch the xStateListItem because the

2442 scheduler is suspended. */

2443 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

2444

2445 /* Is the task waiting on an event also? If so remove it from

2446 the event list too. Interrupts can touch the event list item,

2447 even though the scheduler is suspended, so a critical section

2448 is used. */

2449 taskENTER_CRITICAL();

2450 {

2451 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )

2452 {

2453 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

2454 pxTCB->ucDelayAborted = pdTRUE;

2455 }

2456 else

2457 {

2458 mtCOVERAGE_TEST_MARKER();

2459 }

2460 }

2461 taskEXIT_CRITICAL();

2462

2463 /* Place the unblocked task into the appropriate ready list. */

2464 prvAddTaskToReadyList( pxTCB );

2465

2466 /* A task being unblocked cannot cause an immediate context

2467 switch if preemption is turned off. */

2468 #if ( configUSE_PREEMPTION == 1 )

2469 {

2470 /* Preemption is on, but a context switch should only be

2471 performed if the unblocked task has a priority that is

2472 equal to or higher than the currently executing task. */

2473 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )

2474 {

2475 /* Pend the yield to be performed when the scheduler

2476 is unsuspended. */

2477 xYieldPending = pdTRUE;

2478 }

2479 else

2480 {

2481 mtCOVERAGE_TEST_MARKER();

2482 }

2483 }

2484 #endif /* configUSE_PREEMPTION */

2485 }

2486 else

2487 {

2488 mtCOVERAGE_TEST_MARKER();

2489 }

2490 }

2491 xTaskResumeAll();

2492

2493 return xReturn;

2494 }

2495

2496 #endif /* INCLUDE_xTaskAbortDelay */

2497 /*----------------------------------------------------------*/

2498

2499 BaseType_t xTaskIncrementTick( void )

2500 {

2501 TCB_t * pxTCB;

2502 TickType_t xItemValue;

2503 BaseType_t xSwitchRequired = pdFALSE;

2504

2505 /* Called by the portable layer each time a tick interrupt occurs.

2506 Increments the tick then checks to see if the new tick value will cause any

2507 tasks to be unblocked. */

2508 traceTASK_INCREMENT_TICK( xTickCount );

2509 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

2510 {

2511 /* Minor optimisation. The tick count cannot change in this

2512 block. */

2513 const TickType_t xConstTickCount = xTickCount + 1;

2514

2515 /* Increment the RTOS tick, switching the delayed and overflowed

2516 delayed lists if it wraps to 0. */

2517 xTickCount = xConstTickCount;

2518

2519 if( xConstTickCount == ( TickType_t ) 0U )

2520 {

2521 taskSWITCH_DELAYED_LISTS();

2522 }

2523 else

2524 {

2525 mtCOVERAGE_TEST_MARKER();

2526 }

2527

2528 /* See if this tick has made a timeout expire. Tasks are stored in

2529 the queue in the order of their wake time - meaning once one task

2530 has been found whose block time has not expired there is no need to

2531 look any further down the list. */

2532 if( xConstTickCount >= xNextTaskUnblockTime )

2533 {

2534 for( ;; )

2535 {

2536 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )

2537 {

2538 /* The delayed list is empty. Set xNextTaskUnblockTime

2539 to the maximum possible value so it is extremely

2540 unlikely that the

2541 if( xTickCount >= xNextTaskUnblockTime ) test will pass

2542 next time through. */

2543 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

2544 break;

2545 }

2546 else

2547 {

2548 /* The delayed list is not empty, get the value of the

2549 item at the head of the delayed list. This is the time

2550 at which the task at the head of the delayed list must

2551 be removed from the Blocked state. */

2552 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );

2553 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );

2554

2555 if( xConstTickCount < xItemValue )

2556 {

2557 /* It is not time to unblock this item yet, but the

2558 item value is the time at which the task at the head

2559 of the blocked list must be removed from the Blocked

2560 state - so record the item value in

2561 xNextTaskUnblockTime. */

2562 xNextTaskUnblockTime = xItemValue;

2563 break;

2564 }

2565 else

2566 {

2567 mtCOVERAGE_TEST_MARKER();

2568 }

2569

2570 /* It is time to remove the item from the Blocked state. */

2571 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

2572

2573 /* Is the task waiting on an event also? If so remove

2574 it from the event list. */

2575 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )

2576 {

2577 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

2578 }

2579 else

2580 {

2581 mtCOVERAGE_TEST_MARKER();

2582 }

2583

2584 /* Place the unblocked task into the appropriate ready

2585 list. */

2586 prvAddTaskToReadyList( pxTCB );

2587

2588 /* A task being unblocked cannot cause an immediate

2589 context switch if preemption is turned off. */

2590 #if ( configUSE_PREEMPTION == 1 )

2591 {

2592 /* Preemption is on, but a context switch should

2593 only be performed if the unblocked task has a

2594 priority that is equal to or higher than the

2595 currently executing task. */

2596 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )

2597 {

2598 xSwitchRequired = pdTRUE;

2599 }

2600 else

2601 {

2602 mtCOVERAGE_TEST_MARKER();

2603 }

2604 }

2605 #endif /* configUSE_PREEMPTION */

2606 }

2607 }

2608 }

2609

2610 /* Tasks of equal priority to the currently running task will share

2611 processing time (time slice) if preemption is on, and the application

2612 writer has not explicitly turned time slicing off. */

2613 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )

2614 {

2615 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )

2616 {

2617 xSwitchRequired = pdTRUE;

2618 }

2619 else

2620 {

2621 mtCOVERAGE_TEST_MARKER();

2622 }

2623 }

2624 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */

2625

2626 #if ( configUSE_TICK_HOOK == 1 )

2627 {

2628 /* Guard against the tick hook being called when the pended tick

2629 count is being unwound (when the scheduler is being unlocked). */

2630 if( uxPendedTicks == ( UBaseType_t ) 0U )

2631 {

2632 vApplicationTickHook();

2633 }

2634 else

2635 {

2636 mtCOVERAGE_TEST_MARKER();

2637 }

2638 }

2639 #endif /* configUSE_TICK_HOOK */

2640 }

2641 else

2642 {

2643 ++uxPendedTicks;

2644

2645 /* The tick hook gets called at regular intervals, even if the

2646 scheduler is locked. */

2647 #if ( configUSE_TICK_HOOK == 1 )

2648 {

2649 vApplicationTickHook();

2650 }

2651 #endif

2652 }

2653

2654 #if ( configUSE_PREEMPTION == 1 )

2655 {

2656 if( xYieldPending != pdFALSE )

2657 {

2658 xSwitchRequired = pdTRUE;

2659 }

2660 else

2661 {

2662 mtCOVERAGE_TEST_MARKER();

2663 }

2664 }

2665 #endif /* configUSE_PREEMPTION */

2666

2667 return xSwitchRequired;

2668 }

2669 /*-----------------------------------------------------------*/

2670

2671 #if ( configUSE_APPLICATION_TASK_TAG == 1 )

2672

2673 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )

2674 {

2675 TCB_t *xTCB;

2676

2677 /* If xTask is NULL then it is the task hook of the calling task that is

2678 getting set. */

2679 if( xTask == NULL )

2680 {

2681 xTCB = ( TCB_t * ) pxCurrentTCB;

2682 }

2683 else

2684 {

2685 xTCB = ( TCB_t * ) xTask;

2686 }

2687

2688 /* Save the hook function in the TCB. A critical section is required as

2689 the value can be accessed from an interrupt. */

2690 taskENTER_CRITICAL();

2691 xTCB->pxTaskTag = pxHookFunction;

2692 taskEXIT_CRITICAL();

2693 }

2694

2695 #endif /* configUSE_APPLICATION_TASK_TAG */

2696 /*-----------------------------------------------------------*/

2697

2698 #if ( configUSE_APPLICATION_TASK_TAG == 1 )

2699

2700 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )

2701 {

2702 TCB_t *xTCB;

2703 TaskHookFunction_t xReturn;

2704

2705 /* If xTask is NULL then we are setting our own task hook. */

2706 if( xTask == NULL )

2707 {

2708 xTCB = ( TCB_t * ) pxCurrentTCB;

2709 }

2710 else

2711 {

2712 xTCB = ( TCB_t * ) xTask;

2713 }

2714

2715 /* Save the hook function in the TCB. A critical section is required as

2716 the value can be accessed from an interrupt. */

2717 taskENTER_CRITICAL();

2718 {

2719 xReturn = xTCB->pxTaskTag;

2720 }

2721 taskEXIT_CRITICAL();

2722

2723 return xReturn;

2724 }

2725

2726 #endif /* configUSE_APPLICATION_TASK_TAG */

2727 /*-----------------------------------------------------------*/

2728

2729 #if ( configUSE_APPLICATION_TASK_TAG == 1 )

2730

2731 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )

2732 {

2733 TCB_t *xTCB;

2734 BaseType_t xReturn;

2735

2736 /* If xTask is NULL then we are calling our own task hook. */

2737 if( xTask == NULL )

2738 {

2739 xTCB = ( TCB_t * ) pxCurrentTCB;

2740 }

2741 else

2742 {

2743 xTCB = ( TCB_t * ) xTask;

2744 }

2745

2746 if( xTCB->pxTaskTag != NULL )

2747 {

2748 xReturn = xTCB->pxTaskTag( pvParameter );

2749 }

2750 else

2751 {

2752 xReturn = pdFAIL;

2753 }

2754

2755 return xReturn;

2756 }

2757

2758 #endif /* configUSE_APPLICATION_TASK_TAG */

2759 /*-----------------------------------------------------------*/

2760

2761 void vTaskSwitchContext( void )

2762 {

2763 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )

2764 {

2765 /* The scheduler is currently suspended - do not allow a context

2766 switch. */

2767 xYieldPending = pdTRUE;

2768 }

2769 else

2770 {

2771 xYieldPending = pdFALSE;

2772 traceTASK_SWITCHED_OUT();

2773

2774 #if ( configGENERATE_RUN_TIME_STATS == 1 )

2775 {

2776 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE

2777 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );

2778 #else

2779 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();

2780 #endif

2781

2782 /* Add the amount of time the task has been running to the

2783 accumulated time so far. The time the task started running was

2784 stored in ulTaskSwitchedInTime. Note that there is no overflow

2785 protection here so count values are only valid until the timer

2786 overflows. The guard against negative values is to protect

2787 against suspect run time stat counter implementations - which

2788 are provided by the application, not the kernel. */

2789 if( ulTotalRunTime > ulTaskSwitchedInTime )

2790 {

2791 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );

2792 }

2793 else

2794 {

2795 mtCOVERAGE_TEST_MARKER();

2796 }

2797 ulTaskSwitchedInTime = ulTotalRunTime;

2798 }

2799 #endif /* configGENERATE_RUN_TIME_STATS */

2800

2801 /* Check for stack overflow, if configured. */

2802 taskCHECK_FOR_STACK_OVERFLOW();

2803

2804 /* Select a new task to run using either the generic C or port

2805 optimised asm code. */

2806 taskSELECT_HIGHEST_PRIORITY_TASK();

2807 traceTASK_SWITCHED_IN();

2808

2809 #if ( configUSE_NEWLIB_REENTRANT == 1 )

2810 {

2811 /* Switch Newlib's _impure_ptr variable to point to the _reent

2812 structure specific to this task. */

2813 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );

2814 }

2815 #endif /* configUSE_NEWLIB_REENTRANT */

2816 }

2817 }

2818 /*-----------------------------------------------------------*/

2819

2820 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )

2821 {

2822 configASSERT( pxEventList );

2823

2824 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE

2825 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */

2826

2827 /* Place the event list item of the TCB in the appropriate event list.

2828 This is placed in the list in priority order so the highest priority task

2829 is the first to be woken by the event. The queue that contains the event

2830 list is locked, preventing simultaneous access from interrupts. */

2831 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );

2832

2833 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

2834 }

2835 /*-----------------------------------------------------------*/

2836

2837 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )

2838 {

2839 configASSERT( pxEventList );

2840

2841 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by

2842 the event groups implementation. */

2843 configASSERT( uxSchedulerSuspended != 0 );

2844

2845 /* Store the item value in the event list item. It is safe to access the

2846 event list item here as interrupts won't access the event list item of a

2847 task that is not in the Blocked state. */

2848 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

2849

2850 /* Place the event list item of the TCB at the end of the appropriate event

2851 list. It is safe to access the event list here because it is part of an

2852 event group implementation - and interrupts don't access event groups

2853 directly (instead they access them indirectly by pending function calls to

2854 the task level). */

2855 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );

2856

2857 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

2858 }

2859 /*-----------------------------------------------------------*/

2860

2861 #if( configUSE_TIMERS == 1 )

2862

2863 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )

2864 {

2865 configASSERT( pxEventList );

2866

2867 /* This function should not be called by application code hence the

2868 'Restricted' in its name. It is not part of the public API. It is

2869 designed for use by kernel code, and has special calling requirements -

2870 it should be called with the scheduler suspended. */

2871

2872

2873 /* Place the event list item of the TCB in the appropriate event list.

2874 In this case it is assume that this is the only task that is going to

2875 be waiting on this event list, so the faster vListInsertEnd() function

2876 can be used in place of vListInsert. */

2877 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );

2878

2879 /* If the task should block indefinitely then set the block time to a

2880 value that will be recognised as an indefinite delay inside the

2881 prvAddCurrentTaskToDelayedList() function. */

2882 if( xWaitIndefinitely != pdFALSE )

2883 {

2884 xTicksToWait = portMAX_DELAY;

2885 }

2886

2887 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );

2888 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );

2889 }

2890

2891 #endif /* configUSE_TIMERS */

2892 /*-----------------------------------------------------------*/

2893

2894 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )

2895 {

2896 TCB_t *pxUnblockedTCB;

2897 BaseType_t xReturn;

2898

2899 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be

2900 called from a critical section within an ISR. */

2901

2902 /* The event list is sorted in priority order, so the first in the list can

2903 be removed as it is known to be the highest priority. Remove the TCB from

2904 the delayed list, and add it to the ready list.

2905

2906 If an event is for a queue that is locked then this function will never

2907 get called - the lock count on the queue will get modified instead. This

2908 means exclusive access to the event list is guaranteed here.

2909

2910 This function assumes that a check has already been made to ensure that

2911 pxEventList is not empty. */

2912 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );

2913 configASSERT( pxUnblockedTCB );

2914 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );

2915

2916 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

2917 {

2918 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );

2919 prvAddTaskToReadyList( pxUnblockedTCB );

2920 }

2921 else

2922 {

2923 /* The delayed and ready lists cannot be accessed, so hold this task

2924 pending until the scheduler is resumed. */

2925 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );

2926 }

2927

2928 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )

2929 {

2930 /* Return true if the task removed from the event list has a higher

2931 priority than the calling task. This allows the calling task to know if

2932 it should force a context switch now. */

2933 xReturn = pdTRUE;

2934

2935 /* Mark that a yield is pending in case the user is not using the

2936 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */

2937 xYieldPending = pdTRUE;

2938 }

2939 else

2940 {

2941 xReturn = pdFALSE;

2942 }

2943

2944 #if( configUSE_TICKLESS_IDLE != 0 )

2945 {

2946 /* If a task is blocked on a kernel object then xNextTaskUnblockTime

2947 might be set to the blocked task's time out time. If the task is

2948 unblocked for a reason other than a timeout xNextTaskUnblockTime is

2949 normally left unchanged, because it is automatically reset to a new

2950 value when the tick count equals xNextTaskUnblockTime. However if

2951 tickless idling is used it might be more important to enter sleep mode

2952 at the earliest possible time - so reset xNextTaskUnblockTime here to

2953 ensure it is updated at the earliest possible time. */

2954 prvResetNextTaskUnblockTime();

2955 }

2956 #endif

2957

2958 return xReturn;

2959 }

2960 /*-----------------------------------------------------------*/

2961

2962 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )

2963 {

2964 TCB_t *pxUnblockedTCB;

2965 BaseType_t xReturn;

2966

2967 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by

2968 the event flags implementation. */

2969 configASSERT( uxSchedulerSuspended != pdFALSE );

2970

2971 /* Store the new item value in the event list. */

2972 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

2973

2974 /* Remove the event list form the event flag. Interrupts do not access

2975 event flags. */

2976 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );

2977 configASSERT( pxUnblockedTCB );

2978 ( void ) uxListRemove( pxEventListItem );

2979

2980 /* Remove the task from the delayed list and add it to the ready list. The

2981 scheduler is suspended so interrupts will not be accessing the ready

2982 lists. */

2983 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );

2984 prvAddTaskToReadyList( pxUnblockedTCB );

2985

2986 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )

2987 {

2988 /* Return true if the task removed from the event list has

2989 a higher priority than the calling task. This allows

2990 the calling task to know if it should force a context

2991 switch now. */

2992 xReturn = pdTRUE;

2993

2994 /* Mark that a yield is pending in case the user is not using the

2995 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */

2996 xYieldPending = pdTRUE;

2997 }

2998 else

2999 {

3000 xReturn = pdFALSE;

3001 }

3002

3003 return xReturn;

3004 }

3005 /*-----------------------------------------------------------*/

3006

3007 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )

3008 {

3009 configASSERT( pxTimeOut );

3010 pxTimeOut->xOverflowCount = xNumOfOverflows;

3011 pxTimeOut->xTimeOnEntering = xTickCount;

3012 }

3013 /*-----------------------------------------------------------*/

3014

3015 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )

3016 {

3017 BaseType_t xReturn;

3018

3019 configASSERT( pxTimeOut );

3020 configASSERT( pxTicksToWait );

3021

3022 taskENTER_CRITICAL();

3023 {

3024 /* Minor optimisation. The tick count cannot change in this block. */

3025 const TickType_t xConstTickCount = xTickCount;

3026

3027 #if( INCLUDE_xTaskAbortDelay == 1 )

3028 if( pxCurrentTCB->ucDelayAborted != pdFALSE )

3029 {

3030 /* The delay was aborted, which is not the same as a time out,

3031 but has the same result. */

3032 pxCurrentTCB->ucDelayAborted = pdFALSE;

3033 xReturn = pdTRUE;

3034 }

3035 else

3036 #endif

3037

3038 #if ( INCLUDE_vTaskSuspend == 1 )

3039 if( *pxTicksToWait == portMAX_DELAY )

3040 {

3041 /* If INCLUDE_vTaskSuspend is set to 1 and the block time

3042 specified is the maximum block time then the task should block

3043 indefinitely, and therefore never time out. */

3044 xReturn = pdFALSE;

3045 }

3046 else

3047 #endif

3048

3049 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */

3050 {

3051 /* The tick count is greater than the time at which

3052 vTaskSetTimeout() was called, but has also overflowed since

3053 vTaskSetTimeOut() was called. It must have wrapped all the way

3054 around and gone past again. This passed since vTaskSetTimeout()

3055 was called. */

3056 xReturn = pdTRUE;

3057 }

3058 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. */

3059 {

3060 /* Not a genuine timeout. Adjust parameters for time remaining. */

3061 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );

3062 vTaskSetTimeOutState( pxTimeOut );

3063 xReturn = pdFALSE;

3064 }

3065 else

3066 {

3067 xReturn = pdTRUE;

3068 }

3069 }

3070 taskEXIT_CRITICAL();

3071

3072 return xReturn;

3073 }

3074 /*-----------------------------------------------------------*/

3075

3076 void vTaskMissedYield( void )

3077 {

3078 xYieldPending = pdTRUE;

3079 }

3080 /*-----------------------------------------------------------*/

3081

3082 #if ( configUSE_TRACE_FACILITY == 1 )

3083

3084 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )

3085 {

3086 UBaseType_t uxReturn;

3087 TCB_t *pxTCB;

3088

3089 if( xTask != NULL )

3090 {

3091 pxTCB = ( TCB_t * ) xTask;

3092 uxReturn = pxTCB->uxTaskNumber;

3093 }

3094 else

3095 {

3096 uxReturn = 0U;

3097 }

3098

3099 return uxReturn;

3100 }

3101

3102 #endif /* configUSE_TRACE_FACILITY */

3103 /*-----------------------------------------------------------*/

3104

3105 #if ( configUSE_TRACE_FACILITY == 1 )

3106

3107 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )

3108 {

3109 TCB_t *pxTCB;

3110

3111 if( xTask != NULL )

3112 {

3113 pxTCB = ( TCB_t * ) xTask;

3114 pxTCB->uxTaskNumber = uxHandle;

3115 }

3116 }

3117

3118 #endif /* configUSE_TRACE_FACILITY */

3119

3120 /*

3121 * -----------------------------------------------------------

3122 * The Idle task.

3123 * ----------------------------------------------------------

3124 *

3125 * The portTASK_FUNCTION() macro is used to allow port/compiler specific

3126 * language extensions. The equivalent prototype for this function is:

3127 *

3128 * void prvIdleTask( void *pvParameters );

3129 *

3130 */

3131 static portTASK_FUNCTION( prvIdleTask, pvParameters )

3132 {

3133 /* Stop warnings. */

3134 ( void ) pvParameters;

3135

3136 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE

3137 SCHEDULER IS STARTED. **/

3138

3139 for( ;; )

3140 {

3141 /* See if any tasks have deleted themselves - if so then the idle task

3142 is responsible for freeing the deleted task's TCB and stack. */

3143 prvCheckTasksWaitingTermination();

3144

3145 #if ( configUSE_PREEMPTION == 0 )

3146 {

3147 /* If we are not using preemption we keep forcing a task switch to

3148 see if any other task has become available. If we are using

3149 preemption we don't need to do this as any task becoming available

3150 will automatically get the processor anyway. */

3151 taskYIELD();

3152 }

3153 #endif /* configUSE_PREEMPTION */

3154

3155 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )

3156 {

3157 /* When using preemption tasks of equal priority will be

3158 timesliced. If a task that is sharing the idle priority is ready

3159 to run then the idle task should yield before the end of the

3160 timeslice.

3161

3162 A critical region is not required here as we are just reading from

3163 the list, and an occasional incorrect value will not matter. If

3164 the ready list at the idle priority contains more than one task

3165 then a task other than the idle task is ready to execute. */

3166 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )

3167 {

3168 taskYIELD();

3169 }

3170 else

3171 {

3172 mtCOVERAGE_TEST_MARKER();

3173 }

3174 }

3175 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */

3176

3177 #if ( configUSE_IDLE_HOOK == 1 )

3178 {

3179 extern void vApplicationIdleHook( void );

3180

3181 /* Call the user defined function from within the idle task. This

3182 allows the application designer to add background functionality

3183 without the overhead of a separate task.

3184 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,

3185 CALL A FUNCTION THAT MIGHT BLOCK. */

3186 vApplicationIdleHook();

3187 }

3188 #endif /* configUSE_IDLE_HOOK */

3189

3190 /* This conditional compilation should use inequality to 0, not equality

3191 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when

3192 user defined low power mode implementations require

3193 configUSE_TICKLESS_IDLE to be set to a value other than 1. */

3194 #if ( configUSE_TICKLESS_IDLE != 0 )

3195 {

3196 TickType_t xExpectedIdleTime;

3197

3198 /* It is not desirable to suspend then resume the scheduler on

3199 each iteration of the idle task. Therefore, a preliminary

3200 test of the expected idle time is performed without the

3201 scheduler suspended. The result here is not necessarily

3202 valid. */

3203 xExpectedIdleTime = prvGetExpectedIdleTime();

3204

3205 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )

3206 {

3207 vTaskSuspendAll();

3208 {

3209 /* Now the scheduler is suspended, the expected idle

3210 time can be sampled again, and this time its value can

3211 be used. */

3212 configASSERT( xNextTaskUnblockTime >= xTickCount );

3213 xExpectedIdleTime = prvGetExpectedIdleTime();

3214

3215 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )

3216 {

3217 traceLOW_POWER_IDLE_BEGIN();

3218 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );

3219 traceLOW_POWER_IDLE_END();

3220 }

3221 else

3222 {

3223 mtCOVERAGE_TEST_MARKER();

3224 }

3225 }

3226 ( void ) xTaskResumeAll();

3227 }

3228 else

3229 {

3230 mtCOVERAGE_TEST_MARKER();

3231 }

3232 }

3233 #endif /* configUSE_TICKLESS_IDLE */

3234 }

3235 }

3236 /*-----------------------------------------------------------*/

3237

3238 #if( configUSE_TICKLESS_IDLE != 0 )

3239

3240 eSleepModeStatus eTaskConfirmSleepModeStatus( void )

3241 {

3242 /* The idle task exists in addition to the application tasks. */

3243 const UBaseType_t uxNonApplicationTasks = 1;

3244 eSleepModeStatus eReturn = eStandardSleep;

3245

3246 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )

3247 {

3248 /* A task was made ready while the scheduler was suspended. */

3249 eReturn = eAbortSleep;

3250 }

3251 else if( xYieldPending != pdFALSE )

3252 {

3253 /* A yield was pended while the scheduler was suspended. */

3254 eReturn = eAbortSleep;

3255 }

3256 else

3257 {

3258 /* If all the tasks are in the suspended list (which might mean they

3259 have an infinite block time rather than actually being suspended)

3260 then it is safe to turn all clocks off and just wait for external

3261 interrupts. */

3262 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )

3263 {

3264 eReturn = eNoTasksWaitingTimeout;

3265 }

3266 else

3267 {

3268 mtCOVERAGE_TEST_MARKER();

3269 }

3270 }

3271

3272 return eReturn;

3273 }

3274

3275 #endif /* configUSE_TICKLESS_IDLE */

3276 /*-----------------------------------------------------------*/

3277

3278 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

3279

3280 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )

3281 {

3282 TCB_t *pxTCB;

3283

3284 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )

3285 {

3286 pxTCB = prvGetTCBFromHandle( xTaskToSet );

3287 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;

3288 }

3289 }

3290

3291 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */

3292 /*-----------------------------------------------------------*/

3293

3294 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

3295

3296 void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )

3297 {

3298 void *pvReturn = NULL;

3299 TCB_t *pxTCB;

3300

3301 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )

3302 {

3303 pxTCB = prvGetTCBFromHandle( xTaskToQuery );

3304 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];

3305 }

3306 else

3307 {

3308 pvReturn = NULL;

3309 }

3310

3311 return pvReturn;

3312 }

3313

3314 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */

3315 /*-----------------------------------------------------------*/

3316

3317 #if ( portUSING_MPU_WRAPPERS == 1 )

3318

3319 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )

3320 {

3321 TCB_t *pxTCB;

3322

3323 /* If null is passed in here then we are modifying the MPU settings of

3324 the calling task. */

3325 pxTCB = prvGetTCBFromHandle( xTaskToModify );

3326

3327 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );

3328 }

3329

3330 #endif /* portUSING_MPU_WRAPPERS */

3331 /*-----------------------------------------------------------*/

3332

3333 static void prvInitialiseTaskLists( void )

3334 {

3335 UBaseType_t uxPriority;

3336

3337 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )

3338 {

3339 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );

3340 }

3341

3342 vListInitialise( &xDelayedTaskList1 );

3343 vListInitialise( &xDelayedTaskList2 );

3344 vListInitialise( &xPendingReadyList );

3345

3346 #if ( INCLUDE_vTaskDelete == 1 )

3347 {

3348 vListInitialise( &xTasksWaitingTermination );

3349 }

3350 #endif /* INCLUDE_vTaskDelete */

3351

3352 #if ( INCLUDE_vTaskSuspend == 1 )

3353 {

3354 vListInitialise( &xSuspendedTaskList );

3355 }

3356 #endif /* INCLUDE_vTaskSuspend */

3357

3358 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList

3359 using list2. */

3360 pxDelayedTaskList = &xDelayedTaskList1;

3361 pxOverflowDelayedTaskList = &xDelayedTaskList2;

3362 }

3363 /*-----------------------------------------------------------*/

3364

3365 static void prvCheckTasksWaitingTermination( void )

3366 {

3367

3368 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/

3369

3370 #if ( INCLUDE_vTaskDelete == 1 )

3371 {

3372 BaseType_t xListIsEmpty;

3373

3374 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called

3375 too often in the idle task. */

3376 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )

3377 {

3378 vTaskSuspendAll();

3379 {

3380 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );

3381 }

3382 ( void ) xTaskResumeAll();

3383

3384 if( xListIsEmpty == pdFALSE )

3385 {

3386 TCB_t *pxTCB;

3387

3388 taskENTER_CRITICAL();

3389 {

3390 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );

3391 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

3392 --uxCurrentNumberOfTasks;

3393 --uxDeletedTasksWaitingCleanUp;

3394 }

3395 taskEXIT_CRITICAL();

3396

3397 prvDeleteTCB( pxTCB );

3398 }

3399 else

3400 {

3401 mtCOVERAGE_TEST_MARKER();

3402 }

3403 }

3404 }

3405 #endif /* INCLUDE_vTaskDelete */

3406 }

3407 /*-----------------------------------------------------------*/

3408

3409 #if( configUSE_TRACE_FACILITY == 1 )

3410

3411 void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )

3412 {

3413 TCB_t *pxTCB;

3414

3415 /* xTask is NULL then get the state of the calling task. */

3416 pxTCB = prvGetTCBFromHandle( xTask );

3417

3418 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;

3419 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );

3420 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;

3421 pxTaskStatus->pxStackBase = pxTCB->pxStack;

3422 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;

3423

3424 #if ( INCLUDE_vTaskSuspend == 1 )

3425 {

3426 /* If the task is in the suspended list then there is a chance it is

3427 actually just blocked indefinitely - so really it should be reported as

3428 being in the Blocked state. */

3429 if( pxTaskStatus->eCurrentState == eSuspended )

3430 {

3431 vTaskSuspendAll();

3432 {

3433 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )

3434 {

3435 pxTaskStatus->eCurrentState = eBlocked;

3436 }

3437 }

3438 xTaskResumeAll();

3439 }

3440 }

3441 #endif /* INCLUDE_vTaskSuspend */

3442

3443 #if ( configUSE_MUTEXES == 1 )

3444 {

3445 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;

3446 }

3447 #else

3448 {

3449 pxTaskStatus->uxBasePriority = 0;

3450 }

3451 #endif

3452

3453 #if ( configGENERATE_RUN_TIME_STATS == 1 )

3454 {

3455 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;

3456 }

3457 #else

3458 {

3459 pxTaskStatus->ulRunTimeCounter = 0;

3460 }

3461 #endif

3462

3463 /* Obtaining the task state is a little fiddly, so is only done if the value

3464 of eState passed into this function is eInvalid - otherwise the state is

3465 just set to whatever is passed in. */

3466 if( eState != eInvalid )

3467 {

3468 pxTaskStatus->eCurrentState = eState;

3469 }

3470 else

3471 {

3472 pxTaskStatus->eCurrentState = eTaskGetState( xTask );

3473 }

3474

3475 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace

3476 parameter is provided to allow it to be skipped. */

3477 if( xGetFreeStackSpace != pdFALSE )

3478 {

3479 #if ( portSTACK_GROWTH > 0 )

3480 {

3481 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );

3482 }

3483 #else

3484 {

3485 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );

3486 }

3487 #endif

3488 }

3489 else

3490 {

3491 pxTaskStatus->usStackHighWaterMark = 0;

3492 }

3493 }

3494

3495 #endif /* configUSE_TRACE_FACILITY */

3496 /*-----------------------------------------------------------*/

3497

3498 #if ( configUSE_TRACE_FACILITY == 1 )

3499

3500 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )

3501 {

3502 volatile TCB_t *pxNextTCB, *pxFirstTCB;

3503 UBaseType_t uxTask = 0;

3504

3505 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )

3506 {

3507 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );

3508

3509 /* Populate an TaskStatus_t structure within the

3510 pxTaskStatusArray array for each task that is referenced from

3511 pxList. See the definition of TaskStatus_t in task.h for the

3512 meaning of each TaskStatus_t structure member. */

3513 do

3514 {

3515 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );

3516 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );

3517 uxTask++;

3518 } while( pxNextTCB != pxFirstTCB );

3519 }

3520 else

3521 {

3522 mtCOVERAGE_TEST_MARKER();

3523 }

3524

3525 return uxTask;

3526 }

3527

3528 #endif /* configUSE_TRACE_FACILITY */

3529 /*-----------------------------------------------------------*/

3530

3531 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )

3532

3533 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )

3534 {

3535 uint32_t ulCount = 0U;

3536

3537 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )

3538 {

3539 pucStackByte -= portSTACK_GROWTH;

3540 ulCount++;

3541 }

3542

3543 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */

3544

3545 return ( uint16_t ) ulCount;

3546 }

3547

3548 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */

3549 /*-----------------------------------------------------------*/

3550

3551 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )

3552

3553 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )

3554 {

3555 TCB_t *pxTCB;

3556 uint8_t *pucEndOfStack;

3557 UBaseType_t uxReturn;

3558

3559 pxTCB = prvGetTCBFromHandle( xTask );

3560

3561 #if portSTACK_GROWTH < 0

3562 {

3563 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;

3564 }

3565 #else

3566 {

3567 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;

3568 }

3569 #endif

3570

3571 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );

3572

3573 return uxReturn;

3574 }

3575

3576 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */

3577 /*-----------------------------------------------------------*/

3578

3579 #if ( INCLUDE_vTaskDelete == 1 )

3580

3581 static void prvDeleteTCB( TCB_t *pxTCB )

3582 {

3583 /* This call is required specifically for the TriCore port. It must be

3584 above the vPortFree() calls. The call is also used by ports/demos that

3585 want to allocate and clean RAM statically. */

3586 portCLEAN_UP_TCB( pxTCB );

3587

3588 /* Free up the memory allocated by the scheduler for the task. It is up

3589 to the task to free any memory allocated at the application level. */

3590 #if ( configUSE_NEWLIB_REENTRANT == 1 )

3591 {

3592 _reclaim_reent( &( pxTCB->xNewLib_reent ) );

3593 }

3594 #endif /* configUSE_NEWLIB_REENTRANT */

3595

3596 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )

3597 {

3598 /* The task can only have been allocated dynamically - free both

3599 the stack and TCB. */

3600 vPortFree( pxTCB->pxStack );

3601 vPortFree( pxTCB );

3602 }

3603 #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )

3604 {

3605 /* The task could have been allocated statically or dynamically, so

3606 check what was statically allocated before trying to free the

3607 memory. */

3608 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )

3609 {

3610 /* Both the stack and TCB were allocated dynamically, so both

3611 must be freed. */

3612 vPortFree( pxTCB->pxStack );

3613 vPortFree( pxTCB );

3614 }

3615 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )

3616 {

3617 /* Only the stack was statically allocated, so the TCB is the

3618 only memory that must be freed. */

3619 vPortFree( pxTCB );

3620 }

3621 else

3622 {

3623 /* Neither the stack nor the TCB were allocated dynamically, so

3624 nothing needs to be freed. */

3625 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )

3626 mtCOVERAGE_TEST_MARKER();

3627 }

3628 }

3629 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */

3630 }

3631

3632 #endif /* INCLUDE_vTaskDelete */

3633 /*-----------------------------------------------------------*/

3634

3635 static void prvResetNextTaskUnblockTime( void )

3636 {

3637 TCB_t *pxTCB;

3638

3639 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )

3640 {

3641 /* The new current delayed list is empty. Set xNextTaskUnblockTime to

3642 the maximum possible value so it is extremely unlikely that the

3643 if( xTickCount >= xNextTaskUnblockTime ) test will pass until

3644 there is an item in the delayed list. */

3645 xNextTaskUnblockTime = portMAX_DELAY;

3646 }

3647 else

3648 {

3649 /* The new current delayed list is not empty, get the value of

3650 the item at the head of the delayed list. This is the time at

3651 which the task at the head of the delayed list should be removed

3652 from the Blocked state. */

3653 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );

3654 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );

3655 }

3656 }

3657 /*-----------------------------------------------------------*/

3658

3659 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )

3660

3661 TaskHandle_t xTaskGetCurrentTaskHandle( void )

3662 {

3663 TaskHandle_t xReturn;

3664

3665 /* A critical section is not required as this is not called from

3666 an interrupt and the current TCB will always be the same for any

3667 individual execution thread. */

3668 xReturn = pxCurrentTCB;

3669

3670 return xReturn;

3671 }

3672

3673 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */

3674 /*-----------------------------------------------------------*/

3675

3676 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )

3677

3678 BaseType_t xTaskGetSchedulerState( void )

3679 {

3680 BaseType_t xReturn;

3681

3682 if( xSchedulerRunning == pdFALSE )

3683 {

3684 xReturn = taskSCHEDULER_NOT_STARTED;

3685 }

3686 else

3687 {

3688 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

3689 {

3690 xReturn = taskSCHEDULER_RUNNING;

3691 }

3692 else

3693 {

3694 xReturn = taskSCHEDULER_SUSPENDED;

3695 }

3696 }

3697

3698 return xReturn;

3699 }

3700

3701 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */

3702 /*-----------------------------------------------------------*/

3703

3704 #if ( configUSE_MUTEXES == 1 )

3705

3706 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )

3707 {

3708 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;

3709

3710 /* If the mutex was given back by an interrupt while the queue was

3711 locked then the mutex holder might now be NULL. */

3712 if( pxMutexHolder != NULL )

3713 {

3714 /* If the holder of the mutex has a priority below the priority of

3715 the task attempting to obtain the mutex then it will temporarily

3716 inherit the priority of the task attempting to obtain the mutex. */

3717 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )

3718 {

3719 /* Adjust the mutex holder state to account for its new

3720 priority. Only reset the event list item value if the value is

3721 not being used for anything else. */

3722 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )

3723 {

3724 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

3725 }

3726 else

3727 {

3728 mtCOVERAGE_TEST_MARKER();

3729 }

3730

3731 /* If the task being modified is in the ready state it will need

3732 to be moved into a new list. */

3733 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )

3734 {

3735 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

3736 {

3737 taskRESET_READY_PRIORITY( pxTCB->uxPriority );

3738 }

3739 else

3740 {

3741 mtCOVERAGE_TEST_MARKER();

3742 }

3743

3744 /* Inherit the priority before being moved into the new list. */

3745 pxTCB->uxPriority = pxCurrentTCB->uxPriority;

3746 prvAddTaskToReadyList( pxTCB );

3747 }

3748 else

3749 {

3750 /* Just inherit the priority. */

3751 pxTCB->uxPriority = pxCurrentTCB->uxPriority;

3752 }

3753

3754 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );

3755 }

3756 else

3757 {

3758 mtCOVERAGE_TEST_MARKER();

3759 }

3760 }

3761 else

3762 {

3763 mtCOVERAGE_TEST_MARKER();

3764 }

3765 }

3766

3767 #endif /* configUSE_MUTEXES */

3768 /*-----------------------------------------------------------*/

3769

3770 #if ( configUSE_MUTEXES == 1 )

3771

3772 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )

3773 {

3774 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;

3775 BaseType_t xReturn = pdFALSE;

3776

3777 if( pxMutexHolder != NULL )

3778 {

3779 /* A task can only have an inherited priority if it holds the mutex.

3780 If the mutex is held by a task then it cannot be given from an

3781 interrupt, and if a mutex is given by the holding task then it must

3782 be the running state task. */

3783 configASSERT( pxTCB == pxCurrentTCB );

3784

3785 configASSERT( pxTCB->uxMutexesHeld );

3786 ( pxTCB->uxMutexesHeld )--;

3787

3788 /* Has the holder of the mutex inherited the priority of another

3789 task? */

3790 if( pxTCB->uxPriority != pxTCB->uxBasePriority )

3791 {

3792 /* Only disinherit if no other mutexes are held. */

3793 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )

3794 {

3795 /* A task can only have an inherited priority if it holds

3796 the mutex. If the mutex is held by a task then it cannot be

3797 given from an interrupt, and if a mutex is given by the

3798 holding task then it must be the running state task. Remove

3799 the holding task from the ready list. */

3800 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

3801 {

3802 taskRESET_READY_PRIORITY( pxTCB->uxPriority );

3803 }

3804 else

3805 {

3806 mtCOVERAGE_TEST_MARKER();

3807 }

3808

3809 /* Disinherit the priority before adding the task into the

3810 new ready list. */

3811 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );

3812 pxTCB->uxPriority = pxTCB->uxBasePriority;

3813

3814 /* Reset the event list item value. It cannot be in use for

3815 any other purpose if this task is running, and it must be

3816 running to give back the mutex. */

3817 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. */

3818 prvAddTaskToReadyList( pxTCB );

3819

3820 /* Return true to indicate that a context switch is required.

3821 This is only actually required in the corner case whereby

3822 multiple mutexes were held and the mutexes were given back

3823 in an order different to that in which they were taken.

3824 If a context switch did not occur when the first mutex was

3825 returned, even if a task was waiting on it, then a context

3826 switch should occur when the last mutex is returned whether

3827 a task is waiting on it or not. */

3828 xReturn = pdTRUE;

3829 }

3830 else

3831 {

3832 mtCOVERAGE_TEST_MARKER();

3833 }

3834 }

3835 else

3836 {

3837 mtCOVERAGE_TEST_MARKER();

3838 }

3839 }

3840 else

3841 {

3842 mtCOVERAGE_TEST_MARKER();

3843 }

3844

3845 return xReturn;

3846 }

3847

3848 #endif /* configUSE_MUTEXES */

3849 /*-----------------------------------------------------------*/

3850

3851 #if ( portCRITICAL_NESTING_IN_TCB == 1 )

3852

3853 void vTaskEnterCritical( void )

3854 {

3855 portDISABLE_INTERRUPTS();

3856

3857 if( xSchedulerRunning != pdFALSE )

3858 {

3859 ( pxCurrentTCB->uxCriticalNesting )++;

3860

3861 /* This is not the interrupt safe version of the enter critical

3862 function so assert() if it is being called from an interrupt

3863 context. Only API functions that end in "FromISR" can be used in an

3864 interrupt. Only assert if the critical nesting count is 1 to

3865 protect against recursive calls if the assert function also uses a

3866 critical section. */

3867 if( pxCurrentTCB->uxCriticalNesting == 1 )

3868 {

3869 portASSERT_IF_IN_ISR();

3870 }

3871 }

3872 else

3873 {

3874 mtCOVERAGE_TEST_MARKER();

3875 }

3876 }

3877

3878 #endif /* portCRITICAL_NESTING_IN_TCB */

3879 /*-----------------------------------------------------------*/

3880

3881 #if ( portCRITICAL_NESTING_IN_TCB == 1 )

3882

3883 void vTaskExitCritical( void )

3884 {

3885 if( xSchedulerRunning != pdFALSE )

3886 {

3887 if( pxCurrentTCB->uxCriticalNesting > 0U )

3888 {

3889 ( pxCurrentTCB->uxCriticalNesting )--;

3890

3891 if( pxCurrentTCB->uxCriticalNesting == 0U )

3892 {

3893 portENABLE_INTERRUPTS();

3894 }

3895 else

3896 {

3897 mtCOVERAGE_TEST_MARKER();

3898 }

3899 }

3900 else

3901 {

3902 mtCOVERAGE_TEST_MARKER();

3903 }

3904 }

3905 else

3906 {

3907 mtCOVERAGE_TEST_MARKER();

3908 }

3909 }

3910

3911 #endif /* portCRITICAL_NESTING_IN_TCB */

3912 /*-----------------------------------------------------------*/

3913

3914 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

3915

3916 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )

3917 {

3918 size_t x;

3919

3920 /* Start by copying the entire string. */

3921 strcpy( pcBuffer, pcTaskName );

3922

3923 /* Pad the end of the string with spaces to ensure columns line up when

3924 printed out. */

3925 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )

3926 {

3927 pcBuffer[ x ] = ' ';

3928 }

3929

3930 /* Terminate. */

3931 pcBuffer[ x ] = 0x00;

3932

3933 /* Return the new end of string. */

3934 return &( pcBuffer[ x ] );

3935 }

3936

3937 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */

3938 /*-----------------------------------------------------------*/

3939

3940 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

3941

3942 void vTaskList( char * pcWriteBuffer )

3943 {

3944 TaskStatus_t *pxTaskStatusArray;

3945 volatile UBaseType_t uxArraySize, x;

3946 char cStatus;

3947

3948 /*

3949 * PLEASE NOTE:

3950 *

3951 * This function is provided for convenience only, and is used by many

3952 * of the demo applications. Do not consider it to be part of the

3953 * scheduler.

3954 *

3955 * vTaskList() calls uxTaskGetSystemState(), then formats part of the

3956 * uxTaskGetSystemState() output into a human readable table that

3957 * displays task names, states and stack usage.

3958 *

3959 * vTaskList() has a dependency on the sprintf() C library function that

3960 * might bloat the code size, use a lot of stack, and provide different

3961 * results on different platforms. An alternative, tiny, third party,

3962 * and limited functionality implementation of sprintf() is provided in

3963 * many of the FreeRTOS/Demo sub-directories in a file called

3964 * printf-stdarg.c (note printf-stdarg.c does not provide a full

3965 * snprintf() implementation!).

3966 *

3967 * It is recommended that production systems call uxTaskGetSystemState()

3968 * directly to get access to raw stats data, rather than indirectly

3969 * through a call to vTaskList().

3970 */

3971

3972

3973 /* Make sure the write buffer does not contain a string. */

3974 *pcWriteBuffer = 0x00;

3975

3976 /* Take a snapshot of the number of tasks in case it changes while this

3977 function is executing. */

3978 uxArraySize = uxCurrentNumberOfTasks;

3979

3980 /* Allocate an array index for each task. NOTE! if

3981 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will

3982 equate to NULL. */

3983 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );

3984

3985 if( pxTaskStatusArray != NULL )

3986 {

3987 /* Generate the (binary) data. */

3988 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );

3989

3990 /* Create a human readable table from the binary data. */

3991 for( x = 0; x < uxArraySize; x++ )

3992 {

3993 switch( pxTaskStatusArray[ x ].eCurrentState )

3994 {

3995 case eReady: cStatus = tskREADY_CHAR;

3996 break;

3997

3998 case eBlocked: cStatus = tskBLOCKED_CHAR;

3999 break;

4000

4001 case eSuspended: cStatus = tskSUSPENDED_CHAR;

4002 break;

4003

4004 case eDeleted: cStatus = tskDELETED_CHAR;

4005 break;

4006

4007 default: /* Should not get here, but it is included

4008 to prevent static checking errors. */

4009 cStatus = 0x00;

4010 break;

4011 }

4012

4013 /* Write the task name to the string, padding with spaces so it

4014 can be printed in tabular form more easily. */

4015 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

4016

4017 /* Write the rest of the string. */

4018 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 );

4019 pcWriteBuffer += strlen( pcWriteBuffer );

4020 }

4021

4022 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION

4023 is 0 then vPortFree() will be #defined to nothing. */

4024 vPortFree( pxTaskStatusArray );

4025 }

4026 else

4027 {

4028 mtCOVERAGE_TEST_MARKER();

4029 }

4030 }

4031

4032 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */

4033 /*----------------------------------------------------------*/

4034

4035 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

4036

4037 void vTaskGetRunTimeStats( char *pcWriteBuffer )

4038 {

4039 TaskStatus_t *pxTaskStatusArray;

4040 volatile UBaseType_t uxArraySize, x;

4041 uint32_t ulTotalTime, ulStatsAsPercentage;

4042

4043 #if( configUSE_TRACE_FACILITY != 1 )

4044 {

4045 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().

4046 }

4047 #endif

4048

4049 /*

4050 * PLEASE NOTE:

4051 *

4052 * This function is provided for convenience only, and is used by many

4053 * of the demo applications. Do not consider it to be part of the

4054 * scheduler.

4055 *

4056 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part

4057 * of the uxTaskGetSystemState() output into a human readable table that

4058 * displays the amount of time each task has spent in the Running state

4059 * in both absolute and percentage terms.

4060 *

4061 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library

4062 * function that might bloat the code size, use a lot of stack, and

4063 * provide different results on different platforms. An alternative,

4064 * tiny, third party, and limited functionality implementation of

4065 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in

4066 * a file called printf-stdarg.c (note printf-stdarg.c does not provide

4067 * a full snprintf() implementation!).

4068 *

4069 * It is recommended that production systems call uxTaskGetSystemState()

4070 * directly to get access to raw stats data, rather than indirectly

4071 * through a call to vTaskGetRunTimeStats().

4072 */

4073

4074 /* Make sure the write buffer does not contain a string. */

4075 *pcWriteBuffer = 0x00;

4076

4077 /* Take a snapshot of the number of tasks in case it changes while this

4078 function is executing. */

4079 uxArraySize = uxCurrentNumberOfTasks;

4080

4081 /* Allocate an array index for each task. NOTE! If

4082 configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will

4083 equate to NULL. */

4084 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );

4085

4086 if( pxTaskStatusArray != NULL )

4087 {

4088 /* Generate the (binary) data. */

4089 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );

4090

4091 /* For percentage calculations. */

4092 ulTotalTime /= 100UL;

4093

4094 /* Avoid divide by zero errors. */

4095 if( ulTotalTime > 0 )

4096 {

4097 /* Create a human readable table from the binary data. */

4098 for( x = 0; x < uxArraySize; x++ )

4099 {

4100 /* What percentage of the total run time has the task used?

4101 This will always be rounded down to the nearest integer.

4102 ulTotalRunTimeDiv100 has already been divided by 100. */

4103 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;

4104

4105 /* Write the task name to the string, padding with

4106 spaces so it can be printed in tabular form more

4107 easily. */

4108 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

4109

4110 if( ulStatsAsPercentage > 0UL )

4111 {

4112 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED

4113 {

4114 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );

4115 }

4116 #else

4117 {

4118 /* sizeof( int ) == sizeof( long ) so a smaller

4119 printf() library can be used. */

4120 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );

4121 }

4122 #endif

4123 }

4124 else

4125 {

4126 /* If the percentage is zero here then the task has

4127 consumed less than 1% of the total run time. */

4128 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED

4129 {

4130 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );

4131 }

4132 #else

4133 {

4134 /* sizeof( int ) == sizeof( long ) so a smaller

4135 printf() library can be used. */

4136 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );

4137 }

4138 #endif

4139 }

4140

4141 pcWriteBuffer += strlen( pcWriteBuffer );

4142 }

4143 }

4144 else

4145 {

4146 mtCOVERAGE_TEST_MARKER();

4147 }

4148

4149 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION

4150 is 0 then vPortFree() will be #defined to nothing. */

4151 vPortFree( pxTaskStatusArray );

4152 }

4153 else

4154 {

4155 mtCOVERAGE_TEST_MARKER();

4156 }

4157 }

4158

4159 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */

4160 /*-----------------------------------------------------------*/

4161

4162 TickType_t uxTaskResetEventItemValue( void )

4163 {

4164 TickType_t uxReturn;

4165

4166 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );

4167

4168 /* Reset the event list item to its normal value - so it can be used with

4169 queues and semaphores. */

4170 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

4171

4172 return uxReturn;

4173 }

4174 /*-----------------------------------------------------------*/

4175

4176 #if ( configUSE_MUTEXES == 1 )

4177

4178 void *pvTaskIncrementMutexHeldCount( void )

4179 {

4180 /* If xSemaphoreCreateMutex() is called before any tasks have been created

4181 then pxCurrentTCB will be NULL. */

4182 if( pxCurrentTCB != NULL )

4183 {

4184 ( pxCurrentTCB->uxMutexesHeld )++;

4185 }

4186

4187 return pxCurrentTCB;

4188 }

4189

4190 #endif /* configUSE_MUTEXES */

4191 /*-----------------------------------------------------------*/

4192

4193 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4194

4195 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )

4196 {

4197 uint32_t ulReturn;

4198

4199 taskENTER_CRITICAL();

4200 {

4201 /* Only block if the notification count is not already non-zero. */

4202 if( pxCurrentTCB->ulNotifiedValue == 0UL )

4203 {

4204 /* Mark this task as waiting for a notification. */

4205 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;

4206

4207 if( xTicksToWait > ( TickType_t ) 0 )

4208 {

4209 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

4210 traceTASK_NOTIFY_TAKE_BLOCK();

4211

4212 /* All ports are written to allow a yield in a critical

4213 section (some will yield immediately, others wait until the

4214 critical section exits) - but it is not something that

4215 application code should ever do. */

4216 portYIELD_WITHIN_API();

4217 }

4218 else

4219 {

4220 mtCOVERAGE_TEST_MARKER();

4221 }

4222 }

4223 else

4224 {

4225 mtCOVERAGE_TEST_MARKER();

4226 }

4227 }

4228 taskEXIT_CRITICAL();

4229

4230 taskENTER_CRITICAL();

4231 {

4232 traceTASK_NOTIFY_TAKE();

4233 ulReturn = pxCurrentTCB->ulNotifiedValue;

4234

4235 if( ulReturn != 0UL )

4236 {

4237 if( xClearCountOnExit != pdFALSE )

4238 {

4239 pxCurrentTCB->ulNotifiedValue = 0UL;

4240 }

4241 else

4242 {

4243 pxCurrentTCB->ulNotifiedValue = ulReturn - 1;

4244 }

4245 }

4246 else

4247 {

4248 mtCOVERAGE_TEST_MARKER();

4249 }

4250

4251 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;

4252 }

4253 taskEXIT_CRITICAL();

4254

4255 return ulReturn;

4256 }

4257

4258 #endif /* configUSE_TASK_NOTIFICATIONS */

4259 /*-----------------------------------------------------------*/

4260

4261 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4262

4263 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )

4264 {

4265 BaseType_t xReturn;

4266

4267 taskENTER_CRITICAL();

4268 {

4269 /* Only block if a notification is not already pending. */

4270 if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )

4271 {

4272 /* Clear bits in the task's notification value as bits may get

4273 set by the notifying task or interrupt. This can be used to

4274 clear the value to zero. */

4275 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;

4276

4277 /* Mark this task as waiting for a notification. */

4278 pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;

4279

4280 if( xTicksToWait > ( TickType_t ) 0 )

4281 {

4282 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

4283 traceTASK_NOTIFY_WAIT_BLOCK();

4284

4285 /* All ports are written to allow a yield in a critical

4286 section (some will yield immediately, others wait until the

4287 critical section exits) - but it is not something that

4288 application code should ever do. */

4289 portYIELD_WITHIN_API();

4290 }

4291 else

4292 {

4293 mtCOVERAGE_TEST_MARKER();

4294 }

4295 }

4296 else

4297 {

4298 mtCOVERAGE_TEST_MARKER();

4299 }

4300 }

4301 taskEXIT_CRITICAL();

4302

4303 taskENTER_CRITICAL();

4304 {

4305 traceTASK_NOTIFY_WAIT();

4306

4307 if( pulNotificationValue != NULL )

4308 {

4309 /* Output the current notification value, which may or may not

4310 have changed. */

4311 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;

4312 }

4313

4314 /* If ucNotifyValue is set then either the task never entered the

4315 blocked state (because a notification was already pending) or the

4316 task unblocked because of a notification. Otherwise the task

4317 unblocked because of a timeout. */

4318 if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )

4319 {

4320 /* A notification was not received. */

4321 xReturn = pdFALSE;

4322 }

4323 else

4324 {

4325 /* A notification was already pending or a notification was

4326 received while the task was waiting. */

4327 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;

4328 xReturn = pdTRUE;

4329 }

4330

4331 pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;

4332 }

4333 taskEXIT_CRITICAL();

4334

4335 return xReturn;

4336 }

4337

4338 #endif /* configUSE_TASK_NOTIFICATIONS */

4339 /*-----------------------------------------------------------*/

4340

4341 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4342

4343 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )

4344 {

4345 TCB_t * pxTCB;

4346 BaseType_t xReturn = pdPASS;

4347 uint8_t ucOriginalNotifyState;

4348

4349 configASSERT( xTaskToNotify );

4350 pxTCB = ( TCB_t * ) xTaskToNotify;

4351

4352 taskENTER_CRITICAL();

4353 {

4354 if( pulPreviousNotificationValue != NULL )

4355 {

4356 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;

4357 }

4358

4359 ucOriginalNotifyState = pxTCB->ucNotifyState;

4360

4361 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;

4362

4363 switch( eAction )

4364 {

4365 case eSetBits :

4366 pxTCB->ulNotifiedValue |= ulValue;

4367 break;

4368

4369 case eIncrement :

4370 ( pxTCB->ulNotifiedValue )++;

4371 break;

4372

4373 case eSetValueWithOverwrite :

4374 pxTCB->ulNotifiedValue = ulValue;

4375 break;

4376

4377 case eSetValueWithoutOverwrite :

4378 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )

4379 {

4380 pxTCB->ulNotifiedValue = ulValue;

4381 }

4382 else

4383 {

4384 /* The value could not be written to the task. */

4385 xReturn = pdFAIL;

4386 }

4387 break;

4388

4389 case eNoAction:

4390 /* The task is being notified without its notify value being

4391 updated. */

4392 break;

4393 }

4394

4395 traceTASK_NOTIFY();

4396

4397 /* If the task is in the blocked state specifically to wait for a

4398 notification then unblock it now. */

4399 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )

4400 {

4401 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

4402 prvAddTaskToReadyList( pxTCB );

4403

4404 /* The task should not have been on an event list. */

4405 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

4406

4407 #if( configUSE_TICKLESS_IDLE != 0 )

4408 {

4409 /* If a task is blocked waiting for a notification then

4410 xNextTaskUnblockTime might be set to the blocked task's time

4411 out time. If the task is unblocked for a reason other than

4412 a timeout xNextTaskUnblockTime is normally left unchanged,

4413 because it will automatically get reset to a new value when

4414 the tick count equals xNextTaskUnblockTime. However if

4415 tickless idling is used it might be more important to enter

4416 sleep mode at the earliest possible time - so reset

4417 xNextTaskUnblockTime here to ensure it is updated at the

4418 earliest possible time. */

4419 prvResetNextTaskUnblockTime();

4420 }

4421 #endif

4422

4423 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )

4424 {

4425 /* The notified task has a priority above the currently

4426 executing task so a yield is required. */

4427 taskYIELD_IF_USING_PREEMPTION();

4428 }

4429 else

4430 {

4431 mtCOVERAGE_TEST_MARKER();

4432 }

4433 }

4434 else

4435 {

4436 mtCOVERAGE_TEST_MARKER();

4437 }

4438 }

4439 taskEXIT_CRITICAL();

4440

4441 return xReturn;

4442 }

4443

4444 #endif /* configUSE_TASK_NOTIFICATIONS */

4445 /*-----------------------------------------------------------*/

4446

4447 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4448

4449 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )

4450 {

4451 TCB_t * pxTCB;

4452 uint8_t ucOriginalNotifyState;

4453 BaseType_t xReturn = pdPASS;

4454 UBaseType_t uxSavedInterruptStatus;

4455

4456 configASSERT( xTaskToNotify );

4457

4458 /* RTOS ports that support interrupt nesting have the concept of a

4459 maximum system call (or maximum API call) interrupt priority.

4460 Interrupts that are above the maximum system call priority are keep

4461 permanently enabled, even when the RTOS kernel is in a critical section,

4462 but cannot make any calls to FreeRTOS API functions. If configASSERT()

4463 is defined in FreeRTOSConfig.h then

4464 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion

4465 failure if a FreeRTOS API function is called from an interrupt that has

4466 been assigned a priority above the configured maximum system call

4467 priority. Only FreeRTOS functions that end in FromISR can be called

4468 from interrupts that have been assigned a priority at or (logically)

4469 below the maximum system call interrupt priority. FreeRTOS maintains a

4470 separate interrupt safe API to ensure interrupt entry is as fast and as

4471 simple as possible. More information (albeit Cortex-M specific) is

4472 provided on the following link:

4473 http://www.freertos.org/RTOS-Cortex-M3-M4.html */

4474 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

4475

4476 pxTCB = ( TCB_t * ) xTaskToNotify;

4477

4478 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();

4479 {

4480 if( pulPreviousNotificationValue != NULL )

4481 {

4482 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;

4483 }

4484

4485 ucOriginalNotifyState = pxTCB->ucNotifyState;

4486 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;

4487

4488 switch( eAction )

4489 {

4490 case eSetBits :

4491 pxTCB->ulNotifiedValue |= ulValue;

4492 break;

4493

4494 case eIncrement :

4495 ( pxTCB->ulNotifiedValue )++;

4496 break;

4497

4498 case eSetValueWithOverwrite :

4499 pxTCB->ulNotifiedValue = ulValue;

4500 break;

4501

4502 case eSetValueWithoutOverwrite :

4503 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )

4504 {

4505 pxTCB->ulNotifiedValue = ulValue;

4506 }

4507 else

4508 {

4509 /* The value could not be written to the task. */

4510 xReturn = pdFAIL;

4511 }

4512 break;

4513

4514 case eNoAction :

4515 /* The task is being notified without its notify value being

4516 updated. */

4517 break;

4518 }

4519

4520 traceTASK_NOTIFY_FROM_ISR();

4521

4522 /* If the task is in the blocked state specifically to wait for a

4523 notification then unblock it now. */

4524 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )

4525 {

4526 /* The task should not have been on an event list. */

4527 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

4528

4529 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

4530 {

4531 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

4532 prvAddTaskToReadyList( pxTCB );

4533 }

4534 else

4535 {

4536 /* The delayed and ready lists cannot be accessed, so hold

4537 this task pending until the scheduler is resumed. */

4538 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );

4539 }

4540

4541 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )

4542 {

4543 /* The notified task has a priority above the currently

4544 executing task so a yield is required. */

4545 if( pxHigherPriorityTaskWoken != NULL )

4546 {

4547 *pxHigherPriorityTaskWoken = pdTRUE;

4548 }

4549 else

4550 {

4551 /* Mark that a yield is pending in case the user is not

4552 using the "xHigherPriorityTaskWoken" parameter to an ISR

4553 safe FreeRTOS function. */

4554 xYieldPending = pdTRUE;

4555 }

4556 }

4557 else

4558 {

4559 mtCOVERAGE_TEST_MARKER();

4560 }

4561 }

4562 }

4563 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

4564

4565 return xReturn;

4566 }

4567

4568 #endif /* configUSE_TASK_NOTIFICATIONS */

4569 /*-----------------------------------------------------------*/

4570

4571 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4572

4573 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )

4574 {

4575 TCB_t * pxTCB;

4576 uint8_t ucOriginalNotifyState;

4577 UBaseType_t uxSavedInterruptStatus;

4578

4579 configASSERT( xTaskToNotify );

4580

4581 /* RTOS ports that support interrupt nesting have the concept of a

4582 maximum system call (or maximum API call) interrupt priority.

4583 Interrupts that are above the maximum system call priority are keep

4584 permanently enabled, even when the RTOS kernel is in a critical section,

4585 but cannot make any calls to FreeRTOS API functions. If configASSERT()

4586 is defined in FreeRTOSConfig.h then

4587 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion

4588 failure if a FreeRTOS API function is called from an interrupt that has

4589 been assigned a priority above the configured maximum system call

4590 priority. Only FreeRTOS functions that end in FromISR can be called

4591 from interrupts that have been assigned a priority at or (logically)

4592 below the maximum system call interrupt priority. FreeRTOS maintains a

4593 separate interrupt safe API to ensure interrupt entry is as fast and as

4594 simple as possible. More information (albeit Cortex-M specific) is

4595 provided on the following link:

4596 http://www.freertos.org/RTOS-Cortex-M3-M4.html */

4597 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

4598

4599 pxTCB = ( TCB_t * ) xTaskToNotify;

4600

4601 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();

4602 {

4603 ucOriginalNotifyState = pxTCB->ucNotifyState;

4604 pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;

4605

4606 /* 'Giving' is equivalent to incrementing a count in a counting

4607 semaphore. */

4608 ( pxTCB->ulNotifiedValue )++;

4609

4610 traceTASK_NOTIFY_GIVE_FROM_ISR();

4611

4612 /* If the task is in the blocked state specifically to wait for a

4613 notification then unblock it now. */

4614 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )

4615 {

4616 /* The task should not have been on an event list. */

4617 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

4618

4619 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )

4620 {

4621 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

4622 prvAddTaskToReadyList( pxTCB );

4623 }

4624 else

4625 {

4626 /* The delayed and ready lists cannot be accessed, so hold

4627 this task pending until the scheduler is resumed. */

4628 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );

4629 }

4630

4631 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )

4632 {

4633 /* The notified task has a priority above the currently

4634 executing task so a yield is required. */

4635 if( pxHigherPriorityTaskWoken != NULL )

4636 {

4637 *pxHigherPriorityTaskWoken = pdTRUE;

4638 }

4639 else

4640 {

4641 /* Mark that a yield is pending in case the user is not

4642 using the "xHigherPriorityTaskWoken" parameter in an ISR

4643 safe FreeRTOS function. */

4644 xYieldPending = pdTRUE;

4645 }

4646 }

4647 else

4648 {

4649 mtCOVERAGE_TEST_MARKER();

4650 }

4651 }

4652 }

4653 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

4654 }

4655

4656 #endif /* configUSE_TASK_NOTIFICATIONS */

4657

4658 /*-----------------------------------------------------------*/

4659

4660 #if( configUSE_TASK_NOTIFICATIONS == 1 )

4661

4662 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )

4663 {

4664 TCB_t *pxTCB;

4665 BaseType_t xReturn;

4666

4667 /* If null is passed in here then it is the calling task that is having

4668 its notification state cleared. */

4669 pxTCB = prvGetTCBFromHandle( xTask );

4670

4671 taskENTER_CRITICAL();

4672 {

4673 if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )

4674 {

4675 pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;

4676 xReturn = pdPASS;

4677 }

4678 else

4679 {

4680 xReturn = pdFAIL;

4681 }

4682 }

4683 taskEXIT_CRITICAL();

4684

4685 return xReturn;

4686 }

4687

4688 #endif /* configUSE_TASK_NOTIFICATIONS */

4689 /*-----------------------------------------------------------*/

4690

4691

4692 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )

4693 {

4694 TickType_t xTimeToWake;

4695 const TickType_t xConstTickCount = xTickCount;

4696

4697 #if( INCLUDE_xTaskAbortDelay == 1 )

4698 {

4699 /* About to enter a delayed list, so ensure the ucDelayAborted flag is

4700 reset to pdFALSE so it can be detected as having been set to pdTRUE

4701 when the task leaves the Blocked state. */

4702 pxCurrentTCB->ucDelayAborted = pdFALSE;

4703 }

4704 #endif

4705

4706 /* Remove the task from the ready list before adding it to the blocked list

4707 as the same list item is used for both lists. */

4708 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )

4709 {

4710 /* The current task must be in a ready list, so there is no need to

4711 check, and the port reset macro can be called directly. */

4712 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );

4713 }

4714 else

4715 {

4716 mtCOVERAGE_TEST_MARKER();

4717 }

4718

4719 #if ( INCLUDE_vTaskSuspend == 1 )

4720 {

4721 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )

4722 {

4723 /* Add the task to the suspended task list instead of a delayed task

4724 list to ensure it is not woken by a timing event. It will block

4725 indefinitely. */

4726 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );

4727 }

4728 else

4729 {

4730 /* Calculate the time at which the task should be woken if the event

4731 does not occur. This may overflow but this doesn't matter, the

4732 kernel will manage it correctly. */

4733 xTimeToWake = xConstTickCount + xTicksToWait;

4734

4735 /* The list item will be inserted in wake time order. */

4736 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );

4737

4738 if( xTimeToWake < xConstTickCount )

4739 {

4740 /* Wake time has overflowed. Place this item in the overflow

4741 list. */

4742 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

4743 }

4744 else

4745 {

4746 /* The wake time has not overflowed, so the current block list

4747 is used. */

4748 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

4749

4750 /* If the task entering the blocked state was placed at the

4751 head of the list of blocked tasks then xNextTaskUnblockTime

4752 needs to be updated too. */

4753 if( xTimeToWake < xNextTaskUnblockTime )

4754 {

4755 xNextTaskUnblockTime = xTimeToWake;

4756 }

4757 else

4758 {

4759 mtCOVERAGE_TEST_MARKER();

4760 }

4761 }

4762 }

4763 }

4764 #else /* INCLUDE_vTaskSuspend */

4765 {

4766 /* Calculate the time at which the task should be woken if the event

4767 does not occur. This may overflow but this doesn't matter, the kernel

4768 will manage it correctly. */

4769 xTimeToWake = xConstTickCount + xTicksToWait;

4770

4771 /* The list item will be inserted in wake time order. */

4772 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );

4773

4774 if( xTimeToWake < xConstTickCount )

4775 {

4776 /* Wake time has overflowed. Place this item in the overflow list. */

4777 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

4778 }

4779 else

4780 {

4781 /* The wake time has not overflowed, so the current block list is used. */

4782 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

4783

4784 /* If the task entering the blocked state was placed at the head of the

4785 list of blocked tasks then xNextTaskUnblockTime needs to be updated

4786 too. */

4787 if( xTimeToWake < xNextTaskUnblockTime )

4788 {

4789 xNextTaskUnblockTime = xTimeToWake;

4790 }

4791 else

4792 {

4793 mtCOVERAGE_TEST_MARKER();

4794 }

4795 }

4796

4797 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */

4798 ( void ) xCanBlockIndefinitely;

4799 }

4800 #endif /* INCLUDE_vTaskSuspend */

4801 }

4802

4803

4804 #ifdef FREERTOS_MODULE_TEST

4805 #include "tasks_test_access_functions.h"

4806 #endif

4807