2 * FreeRTOS Kernel V10.3.1
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * https://www.FreeRTOS.org
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23 * https://github.com/FreeRTOS
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27 /* Standard includes. */
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 * all the API functions to use the MPU wrappers. That should only be done when
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33 * task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 /* FreeRTOS includes. */
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37 #include "FreeRTOS.h"
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40 #include "stack_macros.h"
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42 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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43 * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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44 * for the header files above, but not in this file, in order to generate the
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45 * correct privileged Vs unprivileged linkage and placement. */
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46 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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48 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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49 * functions but without including stdio.h here. */
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50 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 * to generate human readable text from the raw data generated by the
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54 * uxTaskGetSystemState() function. Note the formatting functions are provided
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55 * for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if ( configUSE_PREEMPTION == 0 )
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61 /* If the cooperative scheduler is being used then a yield should not be
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62 * performed just because a higher priority task has been woken. */
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63 #define taskYIELD_IF_USING_PREEMPTION()
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65 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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68 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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69 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
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70 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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71 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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74 * The value used to fill the stack of a task when the task is created. This
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75 * is used purely for checking the high water mark for tasks.
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77 #define tskSTACK_FILL_BYTE ( 0xa5U )
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79 /* Bits used to recored how a task's stack and TCB were allocated. */
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80 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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81 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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82 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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84 /* If any of the following are set then task stacks are filled with a known
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85 * value so the high water mark can be determined. If none of the following are
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86 * set then don't fill the stack so there is no unnecessary dependency on memset. */
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87 #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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88 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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90 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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94 * Macros used by vListTask to indicate which state a task is in.
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96 #define tskRUNNING_CHAR ( 'X' )
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97 #define tskBLOCKED_CHAR ( 'B' )
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98 #define tskREADY_CHAR ( 'R' )
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99 #define tskDELETED_CHAR ( 'D' )
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100 #define tskSUSPENDED_CHAR ( 'S' )
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103 * Some kernel aware debuggers require the data the debugger needs access to be
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104 * global, rather than file scope.
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106 #ifdef portREMOVE_STATIC_QUALIFIER
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110 /* The name allocated to the Idle task. This can be overridden by defining
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111 * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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112 #ifndef configIDLE_TASK_NAME
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113 #define configIDLE_TASK_NAME "IDLE"
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116 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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118 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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119 * performed in a generic way that is not optimised to any particular
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120 * microcontroller architecture. */
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122 /* uxTopReadyPriority holds the priority of the highest priority ready
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124 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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126 if( ( uxPriority ) > uxTopReadyPriority ) \
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128 uxTopReadyPriority = ( uxPriority ); \
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130 } /* taskRECORD_READY_PRIORITY */
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132 /*-----------------------------------------------------------*/
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134 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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136 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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138 /* Find the highest priority queue that contains ready tasks. */ \
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139 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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141 configASSERT( uxTopPriority ); \
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145 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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146 * the same priority get an equal share of the processor time. */ \
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147 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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148 uxTopReadyPriority = uxTopPriority; \
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149 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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151 /*-----------------------------------------------------------*/
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153 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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154 * they are only required when a port optimised method of task selection is
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156 #define taskRESET_READY_PRIORITY( uxPriority )
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157 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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159 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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161 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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162 * performed in a way that is tailored to the particular microcontroller
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163 * architecture being used. */
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165 /* A port optimised version is provided. Call the port defined macros. */
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166 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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168 /*-----------------------------------------------------------*/
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170 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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172 UBaseType_t uxTopPriority; \
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174 /* Find the highest priority list that contains ready tasks. */ \
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175 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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176 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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177 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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178 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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180 /*-----------------------------------------------------------*/
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182 /* A port optimised version is provided, call it only if the TCB being reset
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183 * is being referenced from a ready list. If it is referenced from a delayed
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184 * or suspended list then it won't be in a ready list. */
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185 #define taskRESET_READY_PRIORITY( uxPriority ) \
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187 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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189 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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193 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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195 /*-----------------------------------------------------------*/
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197 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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198 * count overflows. */
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199 #define taskSWITCH_DELAYED_LISTS() \
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203 /* The delayed tasks list should be empty when the lists are switched. */ \
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204 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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206 pxTemp = pxDelayedTaskList; \
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207 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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208 pxOverflowDelayedTaskList = pxTemp; \
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209 xNumOfOverflows++; \
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210 prvResetNextTaskUnblockTime(); \
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213 /*-----------------------------------------------------------*/
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216 * Place the task represented by pxTCB into the appropriate ready list for
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217 * the task. It is inserted at the end of the list.
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219 #define prvAddTaskToReadyList( pxTCB ) \
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220 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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221 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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222 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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223 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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224 /*-----------------------------------------------------------*/
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227 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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228 * where NULL is used to indicate that the handle of the currently executing
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229 * task should be used in place of the parameter. This macro simply checks to
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230 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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232 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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234 /* The item value of the event list item is normally used to hold the priority
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235 * of the task to which it belongs (coded to allow it to be held in reverse
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236 * priority order). However, it is occasionally borrowed for other purposes. It
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237 * is important its value is not updated due to a task priority change while it is
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238 * being used for another purpose. The following bit definition is used to inform
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239 * the scheduler that the value should not be changed - in which case it is the
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240 * responsibility of whichever module is using the value to ensure it gets set back
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241 * to its original value when it is released. */
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242 #if ( configUSE_16_BIT_TICKS == 1 )
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243 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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245 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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249 * Task control block. A task control block (TCB) is allocated for each task,
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250 * and stores task state information, including a pointer to the task's context
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251 * (the task's run time environment, including register values)
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253 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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255 volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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257 #if ( portUSING_MPU_WRAPPERS == 1 )
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258 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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261 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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262 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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263 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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264 StackType_t * pxStack; /*< Points to the start of the stack. */
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265 char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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267 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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268 StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
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271 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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272 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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275 #if ( configUSE_TRACE_FACILITY == 1 )
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276 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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277 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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280 #if ( configUSE_MUTEXES == 1 )
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281 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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282 UBaseType_t uxMutexesHeld;
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285 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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286 TaskHookFunction_t pxTaskTag;
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289 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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290 void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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293 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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294 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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297 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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299 /* Allocate a Newlib reent structure that is specific to this task.
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300 * Note Newlib support has been included by popular demand, but is not
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301 * used by the FreeRTOS maintainers themselves. FreeRTOS is not
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302 * responsible for resulting newlib operation. User must be familiar with
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303 * newlib and must provide system-wide implementations of the necessary
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304 * stubs. Be warned that (at the time of writing) the current newlib design
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305 * implements a system-wide malloc() that must be provided with locks.
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307 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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308 * for additional information. */
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309 struct _reent xNewLib_reent;
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312 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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313 volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
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314 volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
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317 /* See the comments in FreeRTOS.h with the definition of
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318 * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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319 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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320 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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323 #if ( INCLUDE_xTaskAbortDelay == 1 )
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324 uint8_t ucDelayAborted;
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327 #if ( configUSE_POSIX_ERRNO == 1 )
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332 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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333 * below to enable the use of older kernel aware debuggers. */
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334 typedef tskTCB TCB_t;
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336 /*lint -save -e956 A manual analysis and inspection has been used to determine
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337 * which static variables must be declared volatile. */
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338 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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340 /* Lists for ready and blocked tasks. --------------------
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341 * xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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342 * doing so breaks some kernel aware debuggers and debuggers that rely on removing
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343 * the static qualifier. */
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344 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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345 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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346 PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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347 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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348 PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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349 PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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351 #if ( INCLUDE_vTaskDelete == 1 )
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353 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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354 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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358 #if ( INCLUDE_vTaskSuspend == 1 )
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360 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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364 /* Global POSIX errno. Its value is changed upon context switching to match
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365 * the errno of the currently running task. */
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366 #if ( configUSE_POSIX_ERRNO == 1 )
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367 int FreeRTOS_errno = 0;
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370 /* Other file private variables. --------------------------------*/
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371 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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372 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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373 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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374 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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375 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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376 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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377 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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378 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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379 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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380 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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382 /* Context switches are held pending while the scheduler is suspended. Also,
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383 * interrupts must not manipulate the xStateListItem of a TCB, or any of the
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384 * lists the xStateListItem can be referenced from, if the scheduler is suspended.
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385 * If an interrupt needs to unblock a task while the scheduler is suspended then it
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386 * moves the task's event list item into the xPendingReadyList, ready for the
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387 * kernel to move the task from the pending ready list into the real ready list
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388 * when the scheduler is unsuspended. The pending ready list itself can only be
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389 * accessed from a critical section. */
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390 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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392 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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394 /* Do not move these variables to function scope as doing so prevents the
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395 * code working with debuggers that need to remove the static qualifier. */
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396 PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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397 PRIVILEGED_DATA static volatile uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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403 /*-----------------------------------------------------------*/
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405 /* File private functions. --------------------------------*/
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408 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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409 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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410 * is in any other state.
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412 #if ( INCLUDE_vTaskSuspend == 1 )
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414 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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416 #endif /* INCLUDE_vTaskSuspend */
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419 * Utility to ready all the lists used by the scheduler. This is called
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420 * automatically upon the creation of the first task.
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422 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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425 * The idle task, which as all tasks is implemented as a never ending loop.
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426 * The idle task is automatically created and added to the ready lists upon
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427 * creation of the first user task.
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429 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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430 * language extensions. The equivalent prototype for this function is:
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432 * void prvIdleTask( void *pvParameters );
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435 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
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438 * Utility to free all memory allocated by the scheduler to hold a TCB,
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439 * including the stack pointed to by the TCB.
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441 * This does not free memory allocated by the task itself (i.e. memory
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442 * allocated by calls to pvPortMalloc from within the tasks application code).
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444 #if ( INCLUDE_vTaskDelete == 1 )
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446 static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
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451 * Used only by the idle task. This checks to see if anything has been placed
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452 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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453 * and its TCB deleted.
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455 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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458 * The currently executing task is entering the Blocked state. Add the task to
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459 * either the current or the overflow delayed task list.
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461 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
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462 const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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465 * Fills an TaskStatus_t structure with information on each task that is
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466 * referenced from the pxList list (which may be a ready list, a delayed list,
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467 * a suspended list, etc.).
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469 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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470 * NORMAL APPLICATION CODE.
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472 #if ( configUSE_TRACE_FACILITY == 1 )
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474 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
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476 eTaskState eState ) PRIVILEGED_FUNCTION;
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481 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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482 * the task if it is found, or NULL if the task is not found.
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484 #if ( INCLUDE_xTaskGetHandle == 1 )
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486 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
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487 const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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492 * When a task is created, the stack of the task is filled with a known value.
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493 * This function determines the 'high water mark' of the task stack by
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494 * determining how much of the stack remains at the original preset value.
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496 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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498 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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503 * Return the amount of time, in ticks, that will pass before the kernel will
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504 * next move a task from the Blocked state to the Running state.
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506 * This conditional compilation should use inequality to 0, not equality to 1.
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507 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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508 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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509 * set to a value other than 1.
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511 #if ( configUSE_TICKLESS_IDLE != 0 )
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513 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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518 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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519 * will exit the Blocked state.
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521 static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
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523 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
526 * Helper function used to pad task names with spaces when printing out
\r
527 * human readable tables of task information.
\r
529 static char * prvWriteNameToBuffer( char * pcBuffer,
\r
530 const char * pcTaskName ) PRIVILEGED_FUNCTION;
\r
535 * Called after a Task_t structure has been allocated either statically or
\r
536 * dynamically to fill in the structure's members.
\r
538 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
539 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
540 const uint32_t ulStackDepth,
\r
541 void * const pvParameters,
\r
542 UBaseType_t uxPriority,
\r
543 TaskHandle_t * const pxCreatedTask,
\r
545 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
548 * Called after a new task has been created and initialised to place the task
\r
549 * under the control of the scheduler.
\r
551 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
\r
554 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
555 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
556 * called by the function.
\r
558 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
560 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
564 /*-----------------------------------------------------------*/
\r
566 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
568 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
569 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
570 const uint32_t ulStackDepth,
\r
571 void * const pvParameters,
\r
572 UBaseType_t uxPriority,
\r
573 StackType_t * const puxStackBuffer,
\r
574 StaticTask_t * const pxTaskBuffer )
\r
577 TaskHandle_t xReturn;
\r
579 configASSERT( puxStackBuffer != NULL );
\r
580 configASSERT( pxTaskBuffer != NULL );
\r
582 #if ( configASSERT_DEFINED == 1 )
\r
584 /* Sanity check that the size of the structure used to declare a
\r
585 * variable of type StaticTask_t equals the size of the real task
\r
587 volatile size_t xSize = sizeof( StaticTask_t );
\r
588 configASSERT( xSize == sizeof( TCB_t ) );
\r
589 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
591 #endif /* configASSERT_DEFINED */
\r
593 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
595 /* The memory used for the task's TCB and stack are passed into this
\r
596 * function - use them. */
\r
597 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
598 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
600 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
602 /* Tasks can be created statically or dynamically, so note this
\r
603 * task was created statically in case the task is later deleted. */
\r
604 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
606 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
608 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
609 prvAddNewTaskToReadyList( pxNewTCB );
\r
619 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
620 /*-----------------------------------------------------------*/
\r
622 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
624 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
\r
625 TaskHandle_t * pxCreatedTask )
\r
628 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
630 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
631 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
633 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
635 /* Allocate space for the TCB. Where the memory comes from depends
\r
636 * on the implementation of the port malloc function and whether or
\r
637 * not static allocation is being used. */
\r
638 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
640 /* Store the stack location in the TCB. */
\r
641 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
643 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
645 /* Tasks can be created statically or dynamically, so note this
\r
646 * task was created statically in case the task is later deleted. */
\r
647 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
649 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
651 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
652 pxTaskDefinition->pcName,
\r
653 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
654 pxTaskDefinition->pvParameters,
\r
655 pxTaskDefinition->uxPriority,
\r
656 pxCreatedTask, pxNewTCB,
\r
657 pxTaskDefinition->xRegions );
\r
659 prvAddNewTaskToReadyList( pxNewTCB );
\r
666 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
667 /*-----------------------------------------------------------*/
\r
669 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
671 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
\r
672 TaskHandle_t * pxCreatedTask )
\r
675 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
677 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
679 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
681 /* Allocate space for the TCB. Where the memory comes from depends
\r
682 * on the implementation of the port malloc function and whether or
\r
683 * not static allocation is being used. */
\r
684 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
686 if( pxNewTCB != NULL )
\r
688 /* Store the stack location in the TCB. */
\r
689 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
691 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
693 /* Tasks can be created statically or dynamically, so note
\r
694 * this task had a statically allocated stack in case it is
\r
695 * later deleted. The TCB was allocated dynamically. */
\r
696 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
698 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
700 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
701 pxTaskDefinition->pcName,
\r
702 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
703 pxTaskDefinition->pvParameters,
\r
704 pxTaskDefinition->uxPriority,
\r
705 pxCreatedTask, pxNewTCB,
\r
706 pxTaskDefinition->xRegions );
\r
708 prvAddNewTaskToReadyList( pxNewTCB );
\r
716 #endif /* portUSING_MPU_WRAPPERS */
\r
717 /*-----------------------------------------------------------*/
\r
719 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
721 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
722 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
723 const configSTACK_DEPTH_TYPE usStackDepth,
\r
724 void * const pvParameters,
\r
725 UBaseType_t uxPriority,
\r
726 TaskHandle_t * const pxCreatedTask )
\r
729 BaseType_t xReturn;
\r
731 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
732 * does not grow into the TCB. Likewise if the stack grows up then allocate
\r
733 * the TCB then the stack. */
\r
734 #if ( portSTACK_GROWTH > 0 )
\r
736 /* Allocate space for the TCB. Where the memory comes from depends on
\r
737 * the implementation of the port malloc function and whether or not static
\r
738 * allocation is being used. */
\r
739 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
741 if( pxNewTCB != NULL )
\r
743 /* Allocate space for the stack used by the task being created.
\r
744 * The base of the stack memory stored in the TCB so the task can
\r
745 * be deleted later if required. */
\r
746 pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
748 if( pxNewTCB->pxStack == NULL )
\r
750 /* Could not allocate the stack. Delete the allocated TCB. */
\r
751 vPortFree( pxNewTCB );
\r
756 #else /* portSTACK_GROWTH */
\r
758 StackType_t * pxStack;
\r
760 /* Allocate space for the stack used by the task being created. */
\r
761 pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
763 if( pxStack != NULL )
\r
765 /* Allocate space for the TCB. */
\r
766 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
768 if( pxNewTCB != NULL )
\r
770 /* Store the stack location in the TCB. */
\r
771 pxNewTCB->pxStack = pxStack;
\r
775 /* The stack cannot be used as the TCB was not created. Free
\r
777 vPortFree( pxStack );
\r
785 #endif /* portSTACK_GROWTH */
\r
787 if( pxNewTCB != NULL )
\r
789 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
791 /* Tasks can be created statically or dynamically, so note this
\r
792 * task was created dynamically in case it is later deleted. */
\r
793 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
795 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
797 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
798 prvAddNewTaskToReadyList( pxNewTCB );
\r
803 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
809 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
810 /*-----------------------------------------------------------*/
\r
812 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
813 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
814 const uint32_t ulStackDepth,
\r
815 void * const pvParameters,
\r
816 UBaseType_t uxPriority,
\r
817 TaskHandle_t * const pxCreatedTask,
\r
819 const MemoryRegion_t * const xRegions )
\r
821 StackType_t * pxTopOfStack;
\r
824 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
825 /* Should the task be created in privileged mode? */
\r
826 BaseType_t xRunPrivileged;
\r
828 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
830 xRunPrivileged = pdTRUE;
\r
834 xRunPrivileged = pdFALSE;
\r
836 uxPriority &= ~portPRIVILEGE_BIT;
\r
837 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
839 /* Avoid dependency on memset() if it is not required. */
\r
840 #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
842 /* Fill the stack with a known value to assist debugging. */
\r
843 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
845 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
847 /* Calculate the top of stack address. This depends on whether the stack
\r
848 * grows from high memory to low (as per the 80x86) or vice versa.
\r
849 * portSTACK_GROWTH is used to make the result positive or negative as required
\r
851 #if ( portSTACK_GROWTH < 0 )
\r
853 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
854 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
856 /* Check the alignment of the calculated top of stack is correct. */
\r
857 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
859 #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
861 /* Also record the stack's high address, which may assist
\r
863 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
865 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
867 #else /* portSTACK_GROWTH */
\r
869 pxTopOfStack = pxNewTCB->pxStack;
\r
871 /* Check the alignment of the stack buffer is correct. */
\r
872 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
874 /* The other extreme of the stack space is required if stack checking is
\r
876 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
878 #endif /* portSTACK_GROWTH */
\r
880 /* Store the task name in the TCB. */
\r
881 if( pcName != NULL )
\r
883 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
885 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
887 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
888 * configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
889 * string is not accessible (extremely unlikely). */
\r
890 if( pcName[ x ] == ( char ) 0x00 )
\r
896 mtCOVERAGE_TEST_MARKER();
\r
900 /* Ensure the name string is terminated in the case that the string length
\r
901 * was greater or equal to configMAX_TASK_NAME_LEN. */
\r
902 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
906 /* The task has not been given a name, so just ensure there is a NULL
\r
907 * terminator when it is read out. */
\r
908 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
911 /* This is used as an array index so must ensure it's not too large. First
\r
912 * remove the privilege bit if one is present. */
\r
913 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
915 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
919 mtCOVERAGE_TEST_MARKER();
\r
922 pxNewTCB->uxPriority = uxPriority;
\r
923 #if ( configUSE_MUTEXES == 1 )
\r
925 pxNewTCB->uxBasePriority = uxPriority;
\r
926 pxNewTCB->uxMutexesHeld = 0;
\r
928 #endif /* configUSE_MUTEXES */
\r
930 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
931 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
933 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
934 * back to the containing TCB from a generic item in a list. */
\r
935 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
937 /* Event lists are always in priority order. */
\r
938 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
939 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
941 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
943 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
945 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
947 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
949 pxNewTCB->pxTaskTag = NULL;
\r
951 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
953 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
955 pxNewTCB->ulRunTimeCounter = 0UL;
\r
957 #endif /* configGENERATE_RUN_TIME_STATS */
\r
959 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
961 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
965 /* Avoid compiler warning about unreferenced parameter. */
\r
970 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
972 memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) );
\r
976 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
978 memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
\r
979 memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
\r
983 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
985 /* Initialise this task's Newlib reent structure.
\r
986 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
987 * for additional information. */
\r
988 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
992 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
994 pxNewTCB->ucDelayAborted = pdFALSE;
\r
998 /* Initialize the TCB stack to look as if the task was already running,
\r
999 * but had been interrupted by the scheduler. The return address is set
\r
1000 * to the start of the task function. Once the stack has been initialised
\r
1001 * the top of stack variable is updated. */
\r
1002 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1004 /* If the port has capability to detect stack overflow,
\r
1005 * pass the stack end address to the stack initialization
\r
1006 * function as well. */
\r
1007 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1009 #if ( portSTACK_GROWTH < 0 )
\r
1011 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1013 #else /* portSTACK_GROWTH */
\r
1015 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1017 #endif /* portSTACK_GROWTH */
\r
1019 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1021 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1023 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1025 #else /* portUSING_MPU_WRAPPERS */
\r
1027 /* If the port has capability to detect stack overflow,
\r
1028 * pass the stack end address to the stack initialization
\r
1029 * function as well. */
\r
1030 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1032 #if ( portSTACK_GROWTH < 0 )
\r
1034 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1036 #else /* portSTACK_GROWTH */
\r
1038 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1040 #endif /* portSTACK_GROWTH */
\r
1042 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1044 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1046 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1048 #endif /* portUSING_MPU_WRAPPERS */
\r
1050 if( pxCreatedTask != NULL )
\r
1052 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1053 * change the created task's priority, delete the created task, etc.*/
\r
1054 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1058 mtCOVERAGE_TEST_MARKER();
\r
1061 /*-----------------------------------------------------------*/
\r
1063 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
\r
1065 /* Ensure interrupts don't access the task lists while the lists are being
\r
1067 taskENTER_CRITICAL();
\r
1069 uxCurrentNumberOfTasks++;
\r
1071 if( pxCurrentTCB == NULL )
\r
1073 /* There are no other tasks, or all the other tasks are in
\r
1074 * the suspended state - make this the current task. */
\r
1075 pxCurrentTCB = pxNewTCB;
\r
1077 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1079 /* This is the first task to be created so do the preliminary
\r
1080 * initialisation required. We will not recover if this call
\r
1081 * fails, but we will report the failure. */
\r
1082 prvInitialiseTaskLists();
\r
1086 mtCOVERAGE_TEST_MARKER();
\r
1091 /* If the scheduler is not already running, make this task the
\r
1092 * current task if it is the highest priority task to be created
\r
1094 if( xSchedulerRunning == pdFALSE )
\r
1096 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1098 pxCurrentTCB = pxNewTCB;
\r
1102 mtCOVERAGE_TEST_MARKER();
\r
1107 mtCOVERAGE_TEST_MARKER();
\r
1113 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1115 /* Add a counter into the TCB for tracing only. */
\r
1116 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1118 #endif /* configUSE_TRACE_FACILITY */
\r
1119 traceTASK_CREATE( pxNewTCB );
\r
1121 prvAddTaskToReadyList( pxNewTCB );
\r
1123 portSETUP_TCB( pxNewTCB );
\r
1125 taskEXIT_CRITICAL();
\r
1127 if( xSchedulerRunning != pdFALSE )
\r
1129 /* If the created task is of a higher priority than the current task
\r
1130 * then it should run now. */
\r
1131 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1133 taskYIELD_IF_USING_PREEMPTION();
\r
1137 mtCOVERAGE_TEST_MARKER();
\r
1142 mtCOVERAGE_TEST_MARKER();
\r
1145 /*-----------------------------------------------------------*/
\r
1147 #if ( INCLUDE_vTaskDelete == 1 )
\r
1149 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1153 taskENTER_CRITICAL();
\r
1155 /* If null is passed in here then it is the calling task that is
\r
1156 * being deleted. */
\r
1157 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1159 /* Remove task from the ready/delayed list. */
\r
1160 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1162 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1166 mtCOVERAGE_TEST_MARKER();
\r
1169 /* Is the task waiting on an event also? */
\r
1170 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1172 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1176 mtCOVERAGE_TEST_MARKER();
\r
1179 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1180 * detect that the task lists need re-generating. This is done before
\r
1181 * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1185 if( pxTCB == pxCurrentTCB )
\r
1187 /* A task is deleting itself. This cannot complete within the
\r
1188 * task itself, as a context switch to another task is required.
\r
1189 * Place the task in the termination list. The idle task will
\r
1190 * check the termination list and free up any memory allocated by
\r
1191 * the scheduler for the TCB and stack of the deleted task. */
\r
1192 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1194 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1195 * there is a task that has been deleted and that it should therefore
\r
1196 * check the xTasksWaitingTermination list. */
\r
1197 ++uxDeletedTasksWaitingCleanUp;
\r
1199 /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
\r
1200 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
\r
1201 traceTASK_DELETE( pxTCB );
\r
1203 /* The pre-delete hook is primarily for the Windows simulator,
\r
1204 * in which Windows specific clean up operations are performed,
\r
1205 * after which it is not possible to yield away from this task -
\r
1206 * hence xYieldPending is used to latch that a context switch is
\r
1208 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1212 --uxCurrentNumberOfTasks;
\r
1213 traceTASK_DELETE( pxTCB );
\r
1214 prvDeleteTCB( pxTCB );
\r
1216 /* Reset the next expected unblock time in case it referred to
\r
1217 * the task that has just been deleted. */
\r
1218 prvResetNextTaskUnblockTime();
\r
1221 taskEXIT_CRITICAL();
\r
1223 /* Force a reschedule if it is the currently running task that has just
\r
1224 * been deleted. */
\r
1225 if( xSchedulerRunning != pdFALSE )
\r
1227 if( pxTCB == pxCurrentTCB )
\r
1229 configASSERT( uxSchedulerSuspended == 0 );
\r
1230 portYIELD_WITHIN_API();
\r
1234 mtCOVERAGE_TEST_MARKER();
\r
1239 #endif /* INCLUDE_vTaskDelete */
\r
1240 /*-----------------------------------------------------------*/
\r
1242 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
1244 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
\r
1245 const TickType_t xTimeIncrement )
\r
1247 TickType_t xTimeToWake;
\r
1248 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1250 configASSERT( pxPreviousWakeTime );
\r
1251 configASSERT( ( xTimeIncrement > 0U ) );
\r
1252 configASSERT( uxSchedulerSuspended == 0 );
\r
1254 vTaskSuspendAll();
\r
1256 /* Minor optimisation. The tick count cannot change in this
\r
1258 const TickType_t xConstTickCount = xTickCount;
\r
1260 /* Generate the tick time at which the task wants to wake. */
\r
1261 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1263 if( xConstTickCount < *pxPreviousWakeTime )
\r
1265 /* The tick count has overflowed since this function was
\r
1266 * lasted called. In this case the only time we should ever
\r
1267 * actually delay is if the wake time has also overflowed,
\r
1268 * and the wake time is greater than the tick time. When this
\r
1269 * is the case it is as if neither time had overflowed. */
\r
1270 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1272 xShouldDelay = pdTRUE;
\r
1276 mtCOVERAGE_TEST_MARKER();
\r
1281 /* The tick time has not overflowed. In this case we will
\r
1282 * delay if either the wake time has overflowed, and/or the
\r
1283 * tick time is less than the wake time. */
\r
1284 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1286 xShouldDelay = pdTRUE;
\r
1290 mtCOVERAGE_TEST_MARKER();
\r
1294 /* Update the wake time ready for the next call. */
\r
1295 *pxPreviousWakeTime = xTimeToWake;
\r
1297 if( xShouldDelay != pdFALSE )
\r
1299 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1301 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1302 * the time to wake, so subtract the current tick count. */
\r
1303 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1307 mtCOVERAGE_TEST_MARKER();
\r
1310 xAlreadyYielded = xTaskResumeAll();
\r
1312 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1313 * have put ourselves to sleep. */
\r
1314 if( xAlreadyYielded == pdFALSE )
\r
1316 portYIELD_WITHIN_API();
\r
1320 mtCOVERAGE_TEST_MARKER();
\r
1324 #endif /* INCLUDE_vTaskDelayUntil */
\r
1325 /*-----------------------------------------------------------*/
\r
1327 #if ( INCLUDE_vTaskDelay == 1 )
\r
1329 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1331 BaseType_t xAlreadyYielded = pdFALSE;
\r
1333 /* A delay time of zero just forces a reschedule. */
\r
1334 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1336 configASSERT( uxSchedulerSuspended == 0 );
\r
1337 vTaskSuspendAll();
\r
1339 traceTASK_DELAY();
\r
1341 /* A task that is removed from the event list while the
\r
1342 * scheduler is suspended will not get placed in the ready
\r
1343 * list or removed from the blocked list until the scheduler
\r
1346 * This task cannot be in an event list as it is the currently
\r
1347 * executing task. */
\r
1348 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1350 xAlreadyYielded = xTaskResumeAll();
\r
1354 mtCOVERAGE_TEST_MARKER();
\r
1357 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1358 * have put ourselves to sleep. */
\r
1359 if( xAlreadyYielded == pdFALSE )
\r
1361 portYIELD_WITHIN_API();
\r
1365 mtCOVERAGE_TEST_MARKER();
\r
1369 #endif /* INCLUDE_vTaskDelay */
\r
1370 /*-----------------------------------------------------------*/
\r
1372 #if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1374 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1376 eTaskState eReturn;
\r
1377 List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList;
\r
1378 const TCB_t * const pxTCB = xTask;
\r
1380 configASSERT( pxTCB );
\r
1382 if( pxTCB == pxCurrentTCB )
\r
1384 /* The task calling this function is querying its own state. */
\r
1385 eReturn = eRunning;
\r
1389 taskENTER_CRITICAL();
\r
1391 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1392 pxDelayedList = pxDelayedTaskList;
\r
1393 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1395 taskEXIT_CRITICAL();
\r
1397 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1399 /* The task being queried is referenced from one of the Blocked
\r
1401 eReturn = eBlocked;
\r
1404 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1405 else if( pxStateList == &xSuspendedTaskList )
\r
1407 /* The task being queried is referenced from the suspended
\r
1408 * list. Is it genuinely suspended or is it blocked
\r
1409 * indefinitely? */
\r
1410 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1412 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1416 /* The task does not appear on the event list item of
\r
1417 * and of the RTOS objects, but could still be in the
\r
1418 * blocked state if it is waiting on its notification
\r
1419 * rather than waiting on an object. If not, is
\r
1421 eReturn = eSuspended;
\r
1423 for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
\r
1425 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
\r
1427 eReturn = eBlocked;
\r
1432 #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1434 eReturn = eSuspended;
\r
1436 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1440 eReturn = eBlocked;
\r
1443 #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
\r
1445 #if ( INCLUDE_vTaskDelete == 1 )
\r
1446 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1448 /* The task being queried is referenced from the deleted
\r
1449 * tasks list, or it is not referenced from any lists at
\r
1451 eReturn = eDeleted;
\r
1455 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1457 /* If the task is not in any other state, it must be in the
\r
1458 * Ready (including pending ready) state. */
\r
1464 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1466 #endif /* INCLUDE_eTaskGetState */
\r
1467 /*-----------------------------------------------------------*/
\r
1469 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1471 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1473 TCB_t const * pxTCB;
\r
1474 UBaseType_t uxReturn;
\r
1476 taskENTER_CRITICAL();
\r
1478 /* If null is passed in here then it is the priority of the task
\r
1479 * that called uxTaskPriorityGet() that is being queried. */
\r
1480 pxTCB = prvGetTCBFromHandle( xTask );
\r
1481 uxReturn = pxTCB->uxPriority;
\r
1483 taskEXIT_CRITICAL();
\r
1488 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1489 /*-----------------------------------------------------------*/
\r
1491 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1493 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1495 TCB_t const * pxTCB;
\r
1496 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1498 /* RTOS ports that support interrupt nesting have the concept of a
\r
1499 * maximum system call (or maximum API call) interrupt priority.
\r
1500 * Interrupts that are above the maximum system call priority are keep
\r
1501 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
1502 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1503 * is defined in FreeRTOSConfig.h then
\r
1504 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1505 * failure if a FreeRTOS API function is called from an interrupt that has
\r
1506 * been assigned a priority above the configured maximum system call
\r
1507 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
1508 * from interrupts that have been assigned a priority at or (logically)
\r
1509 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1510 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1511 * simple as possible. More information (albeit Cortex-M specific) is
\r
1512 * provided on the following link:
\r
1513 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
1514 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1516 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1518 /* If null is passed in here then it is the priority of the calling
\r
1519 * task that is being queried. */
\r
1520 pxTCB = prvGetTCBFromHandle( xTask );
\r
1521 uxReturn = pxTCB->uxPriority;
\r
1523 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1528 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1529 /*-----------------------------------------------------------*/
\r
1531 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1533 void vTaskPrioritySet( TaskHandle_t xTask,
\r
1534 UBaseType_t uxNewPriority )
\r
1537 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1538 BaseType_t xYieldRequired = pdFALSE;
\r
1540 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1542 /* Ensure the new priority is valid. */
\r
1543 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1545 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1549 mtCOVERAGE_TEST_MARKER();
\r
1552 taskENTER_CRITICAL();
\r
1554 /* If null is passed in here then it is the priority of the calling
\r
1555 * task that is being changed. */
\r
1556 pxTCB = prvGetTCBFromHandle( xTask );
\r
1558 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1560 #if ( configUSE_MUTEXES == 1 )
\r
1562 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1566 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1570 if( uxCurrentBasePriority != uxNewPriority )
\r
1572 /* The priority change may have readied a task of higher
\r
1573 * priority than the calling task. */
\r
1574 if( uxNewPriority > uxCurrentBasePriority )
\r
1576 if( pxTCB != pxCurrentTCB )
\r
1578 /* The priority of a task other than the currently
\r
1579 * running task is being raised. Is the priority being
\r
1580 * raised above that of the running task? */
\r
1581 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1583 xYieldRequired = pdTRUE;
\r
1587 mtCOVERAGE_TEST_MARKER();
\r
1592 /* The priority of the running task is being raised,
\r
1593 * but the running task must already be the highest
\r
1594 * priority task able to run so no yield is required. */
\r
1597 else if( pxTCB == pxCurrentTCB )
\r
1599 /* Setting the priority of the running task down means
\r
1600 * there may now be another task of higher priority that
\r
1601 * is ready to execute. */
\r
1602 xYieldRequired = pdTRUE;
\r
1606 /* Setting the priority of any other task down does not
\r
1607 * require a yield as the running task must be above the
\r
1608 * new priority of the task being modified. */
\r
1611 /* Remember the ready list the task might be referenced from
\r
1612 * before its uxPriority member is changed so the
\r
1613 * taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1614 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1616 #if ( configUSE_MUTEXES == 1 )
\r
1618 /* Only change the priority being used if the task is not
\r
1619 * currently using an inherited priority. */
\r
1620 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1622 pxTCB->uxPriority = uxNewPriority;
\r
1626 mtCOVERAGE_TEST_MARKER();
\r
1629 /* The base priority gets set whatever. */
\r
1630 pxTCB->uxBasePriority = uxNewPriority;
\r
1632 #else /* if ( configUSE_MUTEXES == 1 ) */
\r
1634 pxTCB->uxPriority = uxNewPriority;
\r
1636 #endif /* if ( configUSE_MUTEXES == 1 ) */
\r
1638 /* Only reset the event list item value if the value is not
\r
1639 * being used for anything else. */
\r
1640 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1642 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1646 mtCOVERAGE_TEST_MARKER();
\r
1649 /* If the task is in the blocked or suspended list we need do
\r
1650 * nothing more than change its priority variable. However, if
\r
1651 * the task is in a ready list it needs to be removed and placed
\r
1652 * in the list appropriate to its new priority. */
\r
1653 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1655 /* The task is currently in its ready list - remove before
\r
1656 * adding it to it's new ready list. As we are in a critical
\r
1657 * section we can do this even if the scheduler is suspended. */
\r
1658 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1660 /* It is known that the task is in its ready list so
\r
1661 * there is no need to check again and the port level
\r
1662 * reset macro can be called directly. */
\r
1663 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1667 mtCOVERAGE_TEST_MARKER();
\r
1670 prvAddTaskToReadyList( pxTCB );
\r
1674 mtCOVERAGE_TEST_MARKER();
\r
1677 if( xYieldRequired != pdFALSE )
\r
1679 taskYIELD_IF_USING_PREEMPTION();
\r
1683 mtCOVERAGE_TEST_MARKER();
\r
1686 /* Remove compiler warning about unused variables when the port
\r
1687 * optimised task selection is not being used. */
\r
1688 ( void ) uxPriorityUsedOnEntry;
\r
1691 taskEXIT_CRITICAL();
\r
1694 #endif /* INCLUDE_vTaskPrioritySet */
\r
1695 /*-----------------------------------------------------------*/
\r
1697 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1699 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1703 taskENTER_CRITICAL();
\r
1705 /* If null is passed in here then it is the running task that is
\r
1706 * being suspended. */
\r
1707 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1709 traceTASK_SUSPEND( pxTCB );
\r
1711 /* Remove task from the ready/delayed list and place in the
\r
1712 * suspended list. */
\r
1713 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1715 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1719 mtCOVERAGE_TEST_MARKER();
\r
1722 /* Is the task waiting on an event also? */
\r
1723 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1725 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1729 mtCOVERAGE_TEST_MARKER();
\r
1732 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1734 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1738 for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
\r
1740 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
\r
1742 /* The task was blocked to wait for a notification, but is
\r
1743 * now suspended, so no notification was received. */
\r
1744 pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
\r
1748 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1750 taskEXIT_CRITICAL();
\r
1752 if( xSchedulerRunning != pdFALSE )
\r
1754 /* Reset the next expected unblock time in case it referred to the
\r
1755 * task that is now in the Suspended state. */
\r
1756 taskENTER_CRITICAL();
\r
1758 prvResetNextTaskUnblockTime();
\r
1760 taskEXIT_CRITICAL();
\r
1764 mtCOVERAGE_TEST_MARKER();
\r
1767 if( pxTCB == pxCurrentTCB )
\r
1769 if( xSchedulerRunning != pdFALSE )
\r
1771 /* The current task has just been suspended. */
\r
1772 configASSERT( uxSchedulerSuspended == 0 );
\r
1773 portYIELD_WITHIN_API();
\r
1777 /* The scheduler is not running, but the task that was pointed
\r
1778 * to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1779 * must be adjusted to point to a different task. */
\r
1780 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1782 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1783 * NULL so when the next task is created pxCurrentTCB will
\r
1784 * be set to point to it no matter what its relative priority
\r
1786 pxCurrentTCB = NULL;
\r
1790 vTaskSwitchContext();
\r
1796 mtCOVERAGE_TEST_MARKER();
\r
1800 #endif /* INCLUDE_vTaskSuspend */
\r
1801 /*-----------------------------------------------------------*/
\r
1803 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1805 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1807 BaseType_t xReturn = pdFALSE;
\r
1808 const TCB_t * const pxTCB = xTask;
\r
1810 /* Accesses xPendingReadyList so must be called from a critical
\r
1813 /* It does not make sense to check if the calling task is suspended. */
\r
1814 configASSERT( xTask );
\r
1816 /* Is the task being resumed actually in the suspended list? */
\r
1817 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1819 /* Has the task already been resumed from within an ISR? */
\r
1820 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1822 /* Is it in the suspended list because it is in the Suspended
\r
1823 * state, or because is is blocked with no timeout? */
\r
1824 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1830 mtCOVERAGE_TEST_MARKER();
\r
1835 mtCOVERAGE_TEST_MARKER();
\r
1840 mtCOVERAGE_TEST_MARKER();
\r
1844 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1846 #endif /* INCLUDE_vTaskSuspend */
\r
1847 /*-----------------------------------------------------------*/
\r
1849 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1851 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1853 TCB_t * const pxTCB = xTaskToResume;
\r
1855 /* It does not make sense to resume the calling task. */
\r
1856 configASSERT( xTaskToResume );
\r
1858 /* The parameter cannot be NULL as it is impossible to resume the
\r
1859 * currently executing task. */
\r
1860 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1862 taskENTER_CRITICAL();
\r
1864 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1866 traceTASK_RESUME( pxTCB );
\r
1868 /* The ready list can be accessed even if the scheduler is
\r
1869 * suspended because this is inside a critical section. */
\r
1870 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1871 prvAddTaskToReadyList( pxTCB );
\r
1873 /* A higher priority task may have just been resumed. */
\r
1874 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1876 /* This yield may not cause the task just resumed to run,
\r
1877 * but will leave the lists in the correct state for the
\r
1879 taskYIELD_IF_USING_PREEMPTION();
\r
1883 mtCOVERAGE_TEST_MARKER();
\r
1888 mtCOVERAGE_TEST_MARKER();
\r
1891 taskEXIT_CRITICAL();
\r
1895 mtCOVERAGE_TEST_MARKER();
\r
1899 #endif /* INCLUDE_vTaskSuspend */
\r
1901 /*-----------------------------------------------------------*/
\r
1903 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1905 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1907 BaseType_t xYieldRequired = pdFALSE;
\r
1908 TCB_t * const pxTCB = xTaskToResume;
\r
1909 UBaseType_t uxSavedInterruptStatus;
\r
1911 configASSERT( xTaskToResume );
\r
1913 /* RTOS ports that support interrupt nesting have the concept of a
\r
1914 * maximum system call (or maximum API call) interrupt priority.
\r
1915 * Interrupts that are above the maximum system call priority are keep
\r
1916 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
1917 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1918 * is defined in FreeRTOSConfig.h then
\r
1919 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1920 * failure if a FreeRTOS API function is called from an interrupt that has
\r
1921 * been assigned a priority above the configured maximum system call
\r
1922 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
1923 * from interrupts that have been assigned a priority at or (logically)
\r
1924 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1925 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1926 * simple as possible. More information (albeit Cortex-M specific) is
\r
1927 * provided on the following link:
\r
1928 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
1929 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1931 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1933 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1935 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1937 /* Check the ready lists can be accessed. */
\r
1938 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1940 /* Ready lists can be accessed so move the task from the
\r
1941 * suspended list to the ready list directly. */
\r
1942 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1944 xYieldRequired = pdTRUE;
\r
1948 mtCOVERAGE_TEST_MARKER();
\r
1951 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1952 prvAddTaskToReadyList( pxTCB );
\r
1956 /* The delayed or ready lists cannot be accessed so the task
\r
1957 * is held in the pending ready list until the scheduler is
\r
1959 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1964 mtCOVERAGE_TEST_MARKER();
\r
1967 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1969 return xYieldRequired;
\r
1972 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1973 /*-----------------------------------------------------------*/
\r
1975 void vTaskStartScheduler( void )
\r
1977 BaseType_t xReturn;
\r
1979 /* Add the idle task at the lowest priority. */
\r
1980 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1982 StaticTask_t * pxIdleTaskTCBBuffer = NULL;
\r
1983 StackType_t * pxIdleTaskStackBuffer = NULL;
\r
1984 uint32_t ulIdleTaskStackSize;
\r
1986 /* The Idle task is created using user provided RAM - obtain the
\r
1987 * address of the RAM then create the idle task. */
\r
1988 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
1989 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
1990 configIDLE_TASK_NAME,
\r
1991 ulIdleTaskStackSize,
\r
1992 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
1993 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
1994 pxIdleTaskStackBuffer,
\r
1995 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1997 if( xIdleTaskHandle != NULL )
\r
2006 #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
2008 /* The Idle task is being created using dynamically allocated RAM. */
\r
2009 xReturn = xTaskCreate( prvIdleTask,
\r
2010 configIDLE_TASK_NAME,
\r
2011 configMINIMAL_STACK_SIZE,
\r
2013 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2014 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2016 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2018 #if ( configUSE_TIMERS == 1 )
\r
2020 if( xReturn == pdPASS )
\r
2022 xReturn = xTimerCreateTimerTask();
\r
2026 mtCOVERAGE_TEST_MARKER();
\r
2029 #endif /* configUSE_TIMERS */
\r
2031 if( xReturn == pdPASS )
\r
2033 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2034 * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2035 * the only macro called by the function. */
\r
2036 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2038 freertos_tasks_c_additions_init();
\r
2042 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2043 * before or during the call to xPortStartScheduler(). The stacks of
\r
2044 * the created tasks contain a status word with interrupts switched on
\r
2045 * so interrupts will automatically get re-enabled when the first task
\r
2046 * starts to run. */
\r
2047 portDISABLE_INTERRUPTS();
\r
2049 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2051 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2052 * structure specific to the task that will run first.
\r
2053 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
2054 * for additional information. */
\r
2055 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2057 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2059 xNextTaskUnblockTime = portMAX_DELAY;
\r
2060 xSchedulerRunning = pdTRUE;
\r
2061 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2063 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2064 * macro must be defined to configure the timer/counter used to generate
\r
2065 * the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2066 * is set to 0 and the following line fails to build then ensure you do not
\r
2067 * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2068 * FreeRTOSConfig.h file. */
\r
2069 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2071 traceTASK_SWITCHED_IN();
\r
2073 /* Setting up the timer tick is hardware specific and thus in the
\r
2074 * portable interface. */
\r
2075 if( xPortStartScheduler() != pdFALSE )
\r
2077 /* Should not reach here as if the scheduler is running the
\r
2078 * function will not return. */
\r
2082 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2087 /* This line will only be reached if the kernel could not be started,
\r
2088 * because there was not enough FreeRTOS heap to create the idle task
\r
2089 * or the timer task. */
\r
2090 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2093 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2094 * meaning xIdleTaskHandle is not used anywhere else. */
\r
2095 ( void ) xIdleTaskHandle;
\r
2097 /*-----------------------------------------------------------*/
\r
2099 void vTaskEndScheduler( void )
\r
2101 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2102 * routine so the original ISRs can be restored if necessary. The port
\r
2103 * layer must ensure interrupts enable bit is left in the correct state. */
\r
2104 portDISABLE_INTERRUPTS();
\r
2105 xSchedulerRunning = pdFALSE;
\r
2106 vPortEndScheduler();
\r
2108 /*----------------------------------------------------------*/
\r
2110 void vTaskSuspendAll( void )
\r
2112 /* A critical section is not required as the variable is of type
\r
2113 * BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2114 * post in the FreeRTOS support forum before reporting this as a bug! -
\r
2115 * http://goo.gl/wu4acr */
\r
2117 /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
\r
2118 * do not otherwise exhibit real time behaviour. */
\r
2119 portSOFTWARE_BARRIER();
\r
2121 /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
\r
2122 * is used to allow calls to vTaskSuspendAll() to nest. */
\r
2123 ++uxSchedulerSuspended;
\r
2125 /* Enforces ordering for ports and optimised compilers that may otherwise place
\r
2126 * the above increment elsewhere. */
\r
2127 portMEMORY_BARRIER();
\r
2129 /*----------------------------------------------------------*/
\r
2131 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2133 static TickType_t prvGetExpectedIdleTime( void )
\r
2135 TickType_t xReturn;
\r
2136 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2138 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2139 * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2140 * task that are in the Ready state, even though the idle task is
\r
2142 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2144 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2146 uxHigherPriorityReadyTasks = pdTRUE;
\r
2151 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2153 /* When port optimised task selection is used the uxTopReadyPriority
\r
2154 * variable is used as a bit map. If bits other than the least
\r
2155 * significant bit are set then there are tasks that have a priority
\r
2156 * above the idle priority that are in the Ready state. This takes
\r
2157 * care of the case where the co-operative scheduler is in use. */
\r
2158 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2160 uxHigherPriorityReadyTasks = pdTRUE;
\r
2163 #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
\r
2165 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2169 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2171 /* There are other idle priority tasks in the ready state. If
\r
2172 * time slicing is used then the very next tick interrupt must be
\r
2176 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2178 /* There are tasks in the Ready state that have a priority above the
\r
2179 * idle priority. This path can only be reached if
\r
2180 * configUSE_PREEMPTION is 0. */
\r
2185 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2191 #endif /* configUSE_TICKLESS_IDLE */
\r
2192 /*----------------------------------------------------------*/
\r
2194 BaseType_t xTaskResumeAll( void )
\r
2196 TCB_t * pxTCB = NULL;
\r
2197 BaseType_t xAlreadyYielded = pdFALSE;
\r
2199 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2200 * previous call to vTaskSuspendAll(). */
\r
2201 configASSERT( uxSchedulerSuspended );
\r
2203 /* It is possible that an ISR caused a task to be removed from an event
\r
2204 * list while the scheduler was suspended. If this was the case then the
\r
2205 * removed task will have been added to the xPendingReadyList. Once the
\r
2206 * scheduler has been resumed it is safe to move all the pending ready
\r
2207 * tasks from this list into their appropriate ready list. */
\r
2208 taskENTER_CRITICAL();
\r
2210 --uxSchedulerSuspended;
\r
2212 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2214 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2216 /* Move any readied tasks from the pending list into the
\r
2217 * appropriate ready list. */
\r
2218 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2220 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2221 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2222 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2223 prvAddTaskToReadyList( pxTCB );
\r
2225 /* If the moved task has a priority higher than the current
\r
2226 * task then a yield must be performed. */
\r
2227 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2229 xYieldPending = pdTRUE;
\r
2233 mtCOVERAGE_TEST_MARKER();
\r
2237 if( pxTCB != NULL )
\r
2239 /* A task was unblocked while the scheduler was suspended,
\r
2240 * which may have prevented the next unblock time from being
\r
2241 * re-calculated, in which case re-calculate it now. Mainly
\r
2242 * important for low power tickless implementations, where
\r
2243 * this can prevent an unnecessary exit from low power
\r
2245 prvResetNextTaskUnblockTime();
\r
2248 /* If any ticks occurred while the scheduler was suspended then
\r
2249 * they should be processed now. This ensures the tick count does
\r
2250 * not slip, and that any delayed tasks are resumed at the correct
\r
2253 TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
\r
2255 if( xPendedCounts > ( TickType_t ) 0U )
\r
2259 if( xTaskIncrementTick() != pdFALSE )
\r
2261 xYieldPending = pdTRUE;
\r
2265 mtCOVERAGE_TEST_MARKER();
\r
2269 } while( xPendedCounts > ( TickType_t ) 0U );
\r
2275 mtCOVERAGE_TEST_MARKER();
\r
2279 if( xYieldPending != pdFALSE )
\r
2281 #if ( configUSE_PREEMPTION != 0 )
\r
2283 xAlreadyYielded = pdTRUE;
\r
2286 taskYIELD_IF_USING_PREEMPTION();
\r
2290 mtCOVERAGE_TEST_MARKER();
\r
2296 mtCOVERAGE_TEST_MARKER();
\r
2299 taskEXIT_CRITICAL();
\r
2301 return xAlreadyYielded;
\r
2303 /*-----------------------------------------------------------*/
\r
2305 TickType_t xTaskGetTickCount( void )
\r
2307 TickType_t xTicks;
\r
2309 /* Critical section required if running on a 16 bit processor. */
\r
2310 portTICK_TYPE_ENTER_CRITICAL();
\r
2312 xTicks = xTickCount;
\r
2314 portTICK_TYPE_EXIT_CRITICAL();
\r
2318 /*-----------------------------------------------------------*/
\r
2320 TickType_t xTaskGetTickCountFromISR( void )
\r
2322 TickType_t xReturn;
\r
2323 UBaseType_t uxSavedInterruptStatus;
\r
2325 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2326 * system call (or maximum API call) interrupt priority. Interrupts that are
\r
2327 * above the maximum system call priority are kept permanently enabled, even
\r
2328 * when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2329 * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2330 * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2331 * failure if a FreeRTOS API function is called from an interrupt that has been
\r
2332 * assigned a priority above the configured maximum system call priority.
\r
2333 * Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2334 * that have been assigned a priority at or (logically) below the maximum
\r
2335 * system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2336 * safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2337 * More information (albeit Cortex-M specific) is provided on the following
\r
2338 * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
2339 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2341 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2343 xReturn = xTickCount;
\r
2345 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2349 /*-----------------------------------------------------------*/
\r
2351 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2353 /* A critical section is not required because the variables are of type
\r
2355 return uxCurrentNumberOfTasks;
\r
2357 /*-----------------------------------------------------------*/
\r
2359 char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2363 /* If null is passed in here then the name of the calling task is being
\r
2365 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2366 configASSERT( pxTCB );
\r
2367 return &( pxTCB->pcTaskName[ 0 ] );
\r
2369 /*-----------------------------------------------------------*/
\r
2371 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2373 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
\r
2374 const char pcNameToQuery[] )
\r
2376 TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL;
\r
2379 BaseType_t xBreakLoop;
\r
2381 /* This function is called with the scheduler suspended. */
\r
2383 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2385 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2389 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2391 /* Check each character in the name looking for a match or
\r
2393 xBreakLoop = pdFALSE;
\r
2395 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2397 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2399 if( cNextChar != pcNameToQuery[ x ] )
\r
2401 /* Characters didn't match. */
\r
2402 xBreakLoop = pdTRUE;
\r
2404 else if( cNextChar == ( char ) 0x00 )
\r
2406 /* Both strings terminated, a match must have been
\r
2408 pxReturn = pxNextTCB;
\r
2409 xBreakLoop = pdTRUE;
\r
2413 mtCOVERAGE_TEST_MARKER();
\r
2416 if( xBreakLoop != pdFALSE )
\r
2422 if( pxReturn != NULL )
\r
2424 /* The handle has been found. */
\r
2427 } while( pxNextTCB != pxFirstTCB );
\r
2431 mtCOVERAGE_TEST_MARKER();
\r
2437 #endif /* INCLUDE_xTaskGetHandle */
\r
2438 /*-----------------------------------------------------------*/
\r
2440 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2442 TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2444 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2447 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2448 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2450 vTaskSuspendAll();
\r
2452 /* Search the ready lists. */
\r
2456 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2458 if( pxTCB != NULL )
\r
2460 /* Found the handle. */
\r
2463 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2465 /* Search the delayed lists. */
\r
2466 if( pxTCB == NULL )
\r
2468 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2471 if( pxTCB == NULL )
\r
2473 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2476 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2478 if( pxTCB == NULL )
\r
2480 /* Search the suspended list. */
\r
2481 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2486 #if ( INCLUDE_vTaskDelete == 1 )
\r
2488 if( pxTCB == NULL )
\r
2490 /* Search the deleted list. */
\r
2491 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2496 ( void ) xTaskResumeAll();
\r
2501 #endif /* INCLUDE_xTaskGetHandle */
\r
2502 /*-----------------------------------------------------------*/
\r
2504 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2506 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
\r
2507 const UBaseType_t uxArraySize,
\r
2508 uint32_t * const pulTotalRunTime )
\r
2510 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2512 vTaskSuspendAll();
\r
2514 /* Is there a space in the array for each task in the system? */
\r
2515 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2517 /* Fill in an TaskStatus_t structure with information on each
\r
2518 * task in the Ready state. */
\r
2522 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2523 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2525 /* Fill in an TaskStatus_t structure with information on each
\r
2526 * task in the Blocked state. */
\r
2527 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2528 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2530 #if ( INCLUDE_vTaskDelete == 1 )
\r
2532 /* Fill in an TaskStatus_t structure with information on
\r
2533 * each task that has been deleted but not yet cleaned up. */
\r
2534 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2538 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2540 /* Fill in an TaskStatus_t structure with information on
\r
2541 * each task in the Suspended state. */
\r
2542 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2546 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2548 if( pulTotalRunTime != NULL )
\r
2550 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2551 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2553 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2557 #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
\r
2559 if( pulTotalRunTime != NULL )
\r
2561 *pulTotalRunTime = 0;
\r
2564 #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
\r
2568 mtCOVERAGE_TEST_MARKER();
\r
2571 ( void ) xTaskResumeAll();
\r
2576 #endif /* configUSE_TRACE_FACILITY */
\r
2577 /*----------------------------------------------------------*/
\r
2579 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2581 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2583 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2584 * started, then xIdleTaskHandle will be NULL. */
\r
2585 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2586 return xIdleTaskHandle;
\r
2589 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2590 /*----------------------------------------------------------*/
\r
2592 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2593 * This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2594 * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2596 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2598 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2600 /* Correct the tick count value after a period during which the tick
\r
2601 * was suppressed. Note this does *not* call the tick hook function for
\r
2602 * each stepped tick. */
\r
2603 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2604 xTickCount += xTicksToJump;
\r
2605 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2608 #endif /* configUSE_TICKLESS_IDLE */
\r
2609 /*----------------------------------------------------------*/
\r
2611 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
\r
2613 BaseType_t xYieldOccurred;
\r
2615 /* Must not be called with the scheduler suspended as the implementation
\r
2616 * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
\r
2617 configASSERT( uxSchedulerSuspended == 0 );
\r
2619 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
\r
2620 * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
\r
2621 vTaskSuspendAll();
\r
2622 xPendedTicks += xTicksToCatchUp;
\r
2623 xYieldOccurred = xTaskResumeAll();
\r
2625 return xYieldOccurred;
\r
2627 /*----------------------------------------------------------*/
\r
2629 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2631 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2633 TCB_t * pxTCB = xTask;
\r
2634 BaseType_t xReturn;
\r
2636 configASSERT( pxTCB );
\r
2638 vTaskSuspendAll();
\r
2640 /* A task can only be prematurely removed from the Blocked state if
\r
2641 * it is actually in the Blocked state. */
\r
2642 if( eTaskGetState( xTask ) == eBlocked )
\r
2646 /* Remove the reference to the task from the blocked list. An
\r
2647 * interrupt won't touch the xStateListItem because the
\r
2648 * scheduler is suspended. */
\r
2649 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2651 /* Is the task waiting on an event also? If so remove it from
\r
2652 * the event list too. Interrupts can touch the event list item,
\r
2653 * even though the scheduler is suspended, so a critical section
\r
2655 taskENTER_CRITICAL();
\r
2657 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2659 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2661 /* This lets the task know it was forcibly removed from the
\r
2662 * blocked state so it should not re-evaluate its block time and
\r
2663 * then block again. */
\r
2664 pxTCB->ucDelayAborted = pdTRUE;
\r
2668 mtCOVERAGE_TEST_MARKER();
\r
2671 taskEXIT_CRITICAL();
\r
2673 /* Place the unblocked task into the appropriate ready list. */
\r
2674 prvAddTaskToReadyList( pxTCB );
\r
2676 /* A task being unblocked cannot cause an immediate context
\r
2677 * switch if preemption is turned off. */
\r
2678 #if ( configUSE_PREEMPTION == 1 )
\r
2680 /* Preemption is on, but a context switch should only be
\r
2681 * performed if the unblocked task has a priority that is
\r
2682 * equal to or higher than the currently executing task. */
\r
2683 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2685 /* Pend the yield to be performed when the scheduler
\r
2686 * is unsuspended. */
\r
2687 xYieldPending = pdTRUE;
\r
2691 mtCOVERAGE_TEST_MARKER();
\r
2694 #endif /* configUSE_PREEMPTION */
\r
2701 ( void ) xTaskResumeAll();
\r
2706 #endif /* INCLUDE_xTaskAbortDelay */
\r
2707 /*----------------------------------------------------------*/
\r
2709 BaseType_t xTaskIncrementTick( void )
\r
2712 TickType_t xItemValue;
\r
2713 BaseType_t xSwitchRequired = pdFALSE;
\r
2715 /* Called by the portable layer each time a tick interrupt occurs.
\r
2716 * Increments the tick then checks to see if the new tick value will cause any
\r
2717 * tasks to be unblocked. */
\r
2718 traceTASK_INCREMENT_TICK( xTickCount );
\r
2720 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2722 /* Minor optimisation. The tick count cannot change in this
\r
2724 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2726 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2727 * delayed lists if it wraps to 0. */
\r
2728 xTickCount = xConstTickCount;
\r
2730 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2732 taskSWITCH_DELAYED_LISTS();
\r
2736 mtCOVERAGE_TEST_MARKER();
\r
2739 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2740 * the queue in the order of their wake time - meaning once one task
\r
2741 * has been found whose block time has not expired there is no need to
\r
2742 * look any further down the list. */
\r
2743 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2747 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2749 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2750 * to the maximum possible value so it is extremely
\r
2751 * unlikely that the
\r
2752 * if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2753 * next time through. */
\r
2754 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2759 /* The delayed list is not empty, get the value of the
\r
2760 * item at the head of the delayed list. This is the time
\r
2761 * at which the task at the head of the delayed list must
\r
2762 * be removed from the Blocked state. */
\r
2763 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2764 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2766 if( xConstTickCount < xItemValue )
\r
2768 /* It is not time to unblock this item yet, but the
\r
2769 * item value is the time at which the task at the head
\r
2770 * of the blocked list must be removed from the Blocked
\r
2771 * state - so record the item value in
\r
2772 * xNextTaskUnblockTime. */
\r
2773 xNextTaskUnblockTime = xItemValue;
\r
2774 break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
\r
2778 mtCOVERAGE_TEST_MARKER();
\r
2781 /* It is time to remove the item from the Blocked state. */
\r
2782 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2784 /* Is the task waiting on an event also? If so remove
\r
2785 * it from the event list. */
\r
2786 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2788 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2792 mtCOVERAGE_TEST_MARKER();
\r
2795 /* Place the unblocked task into the appropriate ready
\r
2797 prvAddTaskToReadyList( pxTCB );
\r
2799 /* A task being unblocked cannot cause an immediate
\r
2800 * context switch if preemption is turned off. */
\r
2801 #if ( configUSE_PREEMPTION == 1 )
\r
2803 /* Preemption is on, but a context switch should
\r
2804 * only be performed if the unblocked task has a
\r
2805 * priority that is equal to or higher than the
\r
2806 * currently executing task. */
\r
2807 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2809 xSwitchRequired = pdTRUE;
\r
2813 mtCOVERAGE_TEST_MARKER();
\r
2816 #endif /* configUSE_PREEMPTION */
\r
2821 /* Tasks of equal priority to the currently running task will share
\r
2822 * processing time (time slice) if preemption is on, and the application
\r
2823 * writer has not explicitly turned time slicing off. */
\r
2824 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2826 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2828 xSwitchRequired = pdTRUE;
\r
2832 mtCOVERAGE_TEST_MARKER();
\r
2835 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2837 #if ( configUSE_TICK_HOOK == 1 )
\r
2839 /* Guard against the tick hook being called when the pended tick
\r
2840 * count is being unwound (when the scheduler is being unlocked). */
\r
2841 if( xPendedTicks == ( TickType_t ) 0 )
\r
2843 vApplicationTickHook();
\r
2847 mtCOVERAGE_TEST_MARKER();
\r
2850 #endif /* configUSE_TICK_HOOK */
\r
2852 #if ( configUSE_PREEMPTION == 1 )
\r
2854 if( xYieldPending != pdFALSE )
\r
2856 xSwitchRequired = pdTRUE;
\r
2860 mtCOVERAGE_TEST_MARKER();
\r
2863 #endif /* configUSE_PREEMPTION */
\r
2869 /* The tick hook gets called at regular intervals, even if the
\r
2870 * scheduler is locked. */
\r
2871 #if ( configUSE_TICK_HOOK == 1 )
\r
2873 vApplicationTickHook();
\r
2878 return xSwitchRequired;
\r
2880 /*-----------------------------------------------------------*/
\r
2882 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2884 void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
\r
2885 TaskHookFunction_t pxHookFunction )
\r
2889 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2891 if( xTask == NULL )
\r
2893 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2900 /* Save the hook function in the TCB. A critical section is required as
\r
2901 * the value can be accessed from an interrupt. */
\r
2902 taskENTER_CRITICAL();
\r
2904 xTCB->pxTaskTag = pxHookFunction;
\r
2906 taskEXIT_CRITICAL();
\r
2909 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2910 /*-----------------------------------------------------------*/
\r
2912 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2914 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2917 TaskHookFunction_t xReturn;
\r
2919 /* If xTask is NULL then set the calling task's hook. */
\r
2920 pxTCB = prvGetTCBFromHandle( xTask );
\r
2922 /* Save the hook function in the TCB. A critical section is required as
\r
2923 * the value can be accessed from an interrupt. */
\r
2924 taskENTER_CRITICAL();
\r
2926 xReturn = pxTCB->pxTaskTag;
\r
2928 taskEXIT_CRITICAL();
\r
2933 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2934 /*-----------------------------------------------------------*/
\r
2936 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2938 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2941 TaskHookFunction_t xReturn;
\r
2942 UBaseType_t uxSavedInterruptStatus;
\r
2944 /* If xTask is NULL then set the calling task's hook. */
\r
2945 pxTCB = prvGetTCBFromHandle( xTask );
\r
2947 /* Save the hook function in the TCB. A critical section is required as
\r
2948 * the value can be accessed from an interrupt. */
\r
2949 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2951 xReturn = pxTCB->pxTaskTag;
\r
2953 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2958 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2959 /*-----------------------------------------------------------*/
\r
2961 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2963 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
\r
2964 void * pvParameter )
\r
2967 BaseType_t xReturn;
\r
2969 /* If xTask is NULL then we are calling our own task hook. */
\r
2970 if( xTask == NULL )
\r
2972 xTCB = pxCurrentTCB;
\r
2979 if( xTCB->pxTaskTag != NULL )
\r
2981 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2991 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2992 /*-----------------------------------------------------------*/
\r
2994 void vTaskSwitchContext( void )
\r
2996 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2998 /* The scheduler is currently suspended - do not allow a context
\r
3000 xYieldPending = pdTRUE;
\r
3004 xYieldPending = pdFALSE;
\r
3005 traceTASK_SWITCHED_OUT();
\r
3007 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3009 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
3010 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
3012 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
3015 /* Add the amount of time the task has been running to the
\r
3016 * accumulated time so far. The time the task started running was
\r
3017 * stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
3018 * protection here so count values are only valid until the timer
\r
3019 * overflows. The guard against negative values is to protect
\r
3020 * against suspect run time stat counter implementations - which
\r
3021 * are provided by the application, not the kernel. */
\r
3022 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
3024 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
3028 mtCOVERAGE_TEST_MARKER();
\r
3031 ulTaskSwitchedInTime = ulTotalRunTime;
\r
3033 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3035 /* Check for stack overflow, if configured. */
\r
3036 taskCHECK_FOR_STACK_OVERFLOW();
\r
3038 /* Before the currently running task is switched out, save its errno. */
\r
3039 #if ( configUSE_POSIX_ERRNO == 1 )
\r
3041 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
3045 /* Select a new task to run using either the generic C or port
\r
3046 * optimised asm code. */
\r
3047 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3048 traceTASK_SWITCHED_IN();
\r
3050 /* After the new task is switched in, update the global errno. */
\r
3051 #if ( configUSE_POSIX_ERRNO == 1 )
\r
3053 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3057 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3059 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3060 * structure specific to this task.
\r
3061 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
3062 * for additional information. */
\r
3063 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3065 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3068 /*-----------------------------------------------------------*/
\r
3070 void vTaskPlaceOnEventList( List_t * const pxEventList,
\r
3071 const TickType_t xTicksToWait )
\r
3073 configASSERT( pxEventList );
\r
3075 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3076 * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3078 /* Place the event list item of the TCB in the appropriate event list.
\r
3079 * This is placed in the list in priority order so the highest priority task
\r
3080 * is the first to be woken by the event. The queue that contains the event
\r
3081 * list is locked, preventing simultaneous access from interrupts. */
\r
3082 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3084 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3086 /*-----------------------------------------------------------*/
\r
3088 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
\r
3089 const TickType_t xItemValue,
\r
3090 const TickType_t xTicksToWait )
\r
3092 configASSERT( pxEventList );
\r
3094 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3095 * the event groups implementation. */
\r
3096 configASSERT( uxSchedulerSuspended != 0 );
\r
3098 /* Store the item value in the event list item. It is safe to access the
\r
3099 * event list item here as interrupts won't access the event list item of a
\r
3100 * task that is not in the Blocked state. */
\r
3101 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3103 /* Place the event list item of the TCB at the end of the appropriate event
\r
3104 * list. It is safe to access the event list here because it is part of an
\r
3105 * event group implementation - and interrupts don't access event groups
\r
3106 * directly (instead they access them indirectly by pending function calls to
\r
3107 * the task level). */
\r
3108 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3110 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3112 /*-----------------------------------------------------------*/
\r
3114 #if ( configUSE_TIMERS == 1 )
\r
3116 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
\r
3117 TickType_t xTicksToWait,
\r
3118 const BaseType_t xWaitIndefinitely )
\r
3120 configASSERT( pxEventList );
\r
3122 /* This function should not be called by application code hence the
\r
3123 * 'Restricted' in its name. It is not part of the public API. It is
\r
3124 * designed for use by kernel code, and has special calling requirements -
\r
3125 * it should be called with the scheduler suspended. */
\r
3128 /* Place the event list item of the TCB in the appropriate event list.
\r
3129 * In this case it is assume that this is the only task that is going to
\r
3130 * be waiting on this event list, so the faster vListInsertEnd() function
\r
3131 * can be used in place of vListInsert. */
\r
3132 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3134 /* If the task should block indefinitely then set the block time to a
\r
3135 * value that will be recognised as an indefinite delay inside the
\r
3136 * prvAddCurrentTaskToDelayedList() function. */
\r
3137 if( xWaitIndefinitely != pdFALSE )
\r
3139 xTicksToWait = portMAX_DELAY;
\r
3142 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3143 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3146 #endif /* configUSE_TIMERS */
\r
3147 /*-----------------------------------------------------------*/
\r
3149 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3151 TCB_t * pxUnblockedTCB;
\r
3152 BaseType_t xReturn;
\r
3154 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3155 * called from a critical section within an ISR. */
\r
3157 /* The event list is sorted in priority order, so the first in the list can
\r
3158 * be removed as it is known to be the highest priority. Remove the TCB from
\r
3159 * the delayed list, and add it to the ready list.
\r
3161 * If an event is for a queue that is locked then this function will never
\r
3162 * get called - the lock count on the queue will get modified instead. This
\r
3163 * means exclusive access to the event list is guaranteed here.
\r
3165 * This function assumes that a check has already been made to ensure that
\r
3166 * pxEventList is not empty. */
\r
3167 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3168 configASSERT( pxUnblockedTCB );
\r
3169 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
3171 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3173 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3174 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3176 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3178 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3179 * might be set to the blocked task's time out time. If the task is
\r
3180 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3181 * normally left unchanged, because it is automatically reset to a new
\r
3182 * value when the tick count equals xNextTaskUnblockTime. However if
\r
3183 * tickless idling is used it might be more important to enter sleep mode
\r
3184 * at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3185 * ensure it is updated at the earliest possible time. */
\r
3186 prvResetNextTaskUnblockTime();
\r
3192 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3193 * pending until the scheduler is resumed. */
\r
3194 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3197 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3199 /* Return true if the task removed from the event list has a higher
\r
3200 * priority than the calling task. This allows the calling task to know if
\r
3201 * it should force a context switch now. */
\r
3204 /* Mark that a yield is pending in case the user is not using the
\r
3205 * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3206 xYieldPending = pdTRUE;
\r
3210 xReturn = pdFALSE;
\r
3215 /*-----------------------------------------------------------*/
\r
3217 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
\r
3218 const TickType_t xItemValue )
\r
3220 TCB_t * pxUnblockedTCB;
\r
3222 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3223 * the event flags implementation. */
\r
3224 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3226 /* Store the new item value in the event list. */
\r
3227 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3229 /* Remove the event list form the event flag. Interrupts do not access
\r
3231 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3232 configASSERT( pxUnblockedTCB );
\r
3233 ( void ) uxListRemove( pxEventListItem );
\r
3235 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3237 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3238 * might be set to the blocked task's time out time. If the task is
\r
3239 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3240 * normally left unchanged, because it is automatically reset to a new
\r
3241 * value when the tick count equals xNextTaskUnblockTime. However if
\r
3242 * tickless idling is used it might be more important to enter sleep mode
\r
3243 * at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3244 * ensure it is updated at the earliest possible time. */
\r
3245 prvResetNextTaskUnblockTime();
\r
3249 /* Remove the task from the delayed list and add it to the ready list. The
\r
3250 * scheduler is suspended so interrupts will not be accessing the ready
\r
3252 ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
\r
3253 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3255 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3257 /* The unblocked task has a priority above that of the calling task, so
\r
3258 * a context switch is required. This function is called with the
\r
3259 * scheduler suspended so xYieldPending is set so the context switch
\r
3260 * occurs immediately that the scheduler is resumed (unsuspended). */
\r
3261 xYieldPending = pdTRUE;
\r
3264 /*-----------------------------------------------------------*/
\r
3266 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3268 configASSERT( pxTimeOut );
\r
3269 taskENTER_CRITICAL();
\r
3271 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3272 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3274 taskEXIT_CRITICAL();
\r
3276 /*-----------------------------------------------------------*/
\r
3278 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3280 /* For internal use only as it does not use a critical section. */
\r
3281 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3282 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3284 /*-----------------------------------------------------------*/
\r
3286 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
\r
3287 TickType_t * const pxTicksToWait )
\r
3289 BaseType_t xReturn;
\r
3291 configASSERT( pxTimeOut );
\r
3292 configASSERT( pxTicksToWait );
\r
3294 taskENTER_CRITICAL();
\r
3296 /* Minor optimisation. The tick count cannot change in this block. */
\r
3297 const TickType_t xConstTickCount = xTickCount;
\r
3298 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3300 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
3301 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3303 /* The delay was aborted, which is not the same as a time out,
\r
3304 * but has the same result. */
\r
3305 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3311 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3312 if( *pxTicksToWait == portMAX_DELAY )
\r
3314 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3315 * specified is the maximum block time then the task should block
\r
3316 * indefinitely, and therefore never time out. */
\r
3317 xReturn = pdFALSE;
\r
3322 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3324 /* The tick count is greater than the time at which
\r
3325 * vTaskSetTimeout() was called, but has also overflowed since
\r
3326 * vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3327 * around and gone past again. This passed since vTaskSetTimeout()
\r
3330 *pxTicksToWait = ( TickType_t ) 0;
\r
3332 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3334 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3335 *pxTicksToWait -= xElapsedTime;
\r
3336 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3337 xReturn = pdFALSE;
\r
3341 *pxTicksToWait = ( TickType_t ) 0;
\r
3345 taskEXIT_CRITICAL();
\r
3349 /*-----------------------------------------------------------*/
\r
3351 void vTaskMissedYield( void )
\r
3353 xYieldPending = pdTRUE;
\r
3355 /*-----------------------------------------------------------*/
\r
3357 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3359 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3361 UBaseType_t uxReturn;
\r
3362 TCB_t const * pxTCB;
\r
3364 if( xTask != NULL )
\r
3367 uxReturn = pxTCB->uxTaskNumber;
\r
3377 #endif /* configUSE_TRACE_FACILITY */
\r
3378 /*-----------------------------------------------------------*/
\r
3380 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3382 void vTaskSetTaskNumber( TaskHandle_t xTask,
\r
3383 const UBaseType_t uxHandle )
\r
3387 if( xTask != NULL )
\r
3390 pxTCB->uxTaskNumber = uxHandle;
\r
3394 #endif /* configUSE_TRACE_FACILITY */
\r
3397 * -----------------------------------------------------------
\r
3399 * ----------------------------------------------------------
\r
3401 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3402 * language extensions. The equivalent prototype for this function is:
\r
3404 * void prvIdleTask( void *pvParameters );
\r
3407 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3409 /* Stop warnings. */
\r
3410 ( void ) pvParameters;
\r
3412 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3413 * SCHEDULER IS STARTED. **/
\r
3415 /* In case a task that has a secure context deletes itself, in which case
\r
3416 * the idle task is responsible for deleting the task's secure context, if
\r
3418 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3422 /* See if any tasks have deleted themselves - if so then the idle task
\r
3423 * is responsible for freeing the deleted task's TCB and stack. */
\r
3424 prvCheckTasksWaitingTermination();
\r
3426 #if ( configUSE_PREEMPTION == 0 )
\r
3428 /* If we are not using preemption we keep forcing a task switch to
\r
3429 * see if any other task has become available. If we are using
\r
3430 * preemption we don't need to do this as any task becoming available
\r
3431 * will automatically get the processor anyway. */
\r
3434 #endif /* configUSE_PREEMPTION */
\r
3436 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3438 /* When using preemption tasks of equal priority will be
\r
3439 * timesliced. If a task that is sharing the idle priority is ready
\r
3440 * to run then the idle task should yield before the end of the
\r
3443 * A critical region is not required here as we are just reading from
\r
3444 * the list, and an occasional incorrect value will not matter. If
\r
3445 * the ready list at the idle priority contains more than one task
\r
3446 * then a task other than the idle task is ready to execute. */
\r
3447 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3453 mtCOVERAGE_TEST_MARKER();
\r
3456 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3458 #if ( configUSE_IDLE_HOOK == 1 )
\r
3460 extern void vApplicationIdleHook( void );
\r
3462 /* Call the user defined function from within the idle task. This
\r
3463 * allows the application designer to add background functionality
\r
3464 * without the overhead of a separate task.
\r
3465 * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3466 * CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3467 vApplicationIdleHook();
\r
3469 #endif /* configUSE_IDLE_HOOK */
\r
3471 /* This conditional compilation should use inequality to 0, not equality
\r
3472 * to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3473 * user defined low power mode implementations require
\r
3474 * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3475 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3477 TickType_t xExpectedIdleTime;
\r
3479 /* It is not desirable to suspend then resume the scheduler on
\r
3480 * each iteration of the idle task. Therefore, a preliminary
\r
3481 * test of the expected idle time is performed without the
\r
3482 * scheduler suspended. The result here is not necessarily
\r
3484 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3486 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3488 vTaskSuspendAll();
\r
3490 /* Now the scheduler is suspended, the expected idle
\r
3491 * time can be sampled again, and this time its value can
\r
3493 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3494 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3496 /* Define the following macro to set xExpectedIdleTime to 0
\r
3497 * if the application does not want
\r
3498 * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3499 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3501 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3503 traceLOW_POWER_IDLE_BEGIN();
\r
3504 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3505 traceLOW_POWER_IDLE_END();
\r
3509 mtCOVERAGE_TEST_MARKER();
\r
3512 ( void ) xTaskResumeAll();
\r
3516 mtCOVERAGE_TEST_MARKER();
\r
3519 #endif /* configUSE_TICKLESS_IDLE */
\r
3522 /*-----------------------------------------------------------*/
\r
3524 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3526 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3528 /* The idle task exists in addition to the application tasks. */
\r
3529 const UBaseType_t uxNonApplicationTasks = 1;
\r
3530 eSleepModeStatus eReturn = eStandardSleep;
\r
3532 /* This function must be called from a critical section. */
\r
3534 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3536 /* A task was made ready while the scheduler was suspended. */
\r
3537 eReturn = eAbortSleep;
\r
3539 else if( xYieldPending != pdFALSE )
\r
3541 /* A yield was pended while the scheduler was suspended. */
\r
3542 eReturn = eAbortSleep;
\r
3544 else if( xPendedTicks != 0 )
\r
3546 /* A tick interrupt has already occurred but was held pending
\r
3547 * because the scheduler is suspended. */
\r
3548 eReturn = eAbortSleep;
\r
3552 /* If all the tasks are in the suspended list (which might mean they
\r
3553 * have an infinite block time rather than actually being suspended)
\r
3554 * then it is safe to turn all clocks off and just wait for external
\r
3556 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3558 eReturn = eNoTasksWaitingTimeout;
\r
3562 mtCOVERAGE_TEST_MARKER();
\r
3569 #endif /* configUSE_TICKLESS_IDLE */
\r
3570 /*-----------------------------------------------------------*/
\r
3572 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3574 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
\r
3575 BaseType_t xIndex,
\r
3580 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3582 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3583 configASSERT( pxTCB != NULL );
\r
3584 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3588 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3589 /*-----------------------------------------------------------*/
\r
3591 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3593 void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
\r
3594 BaseType_t xIndex )
\r
3596 void * pvReturn = NULL;
\r
3599 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3601 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3602 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3612 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3613 /*-----------------------------------------------------------*/
\r
3615 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3617 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
\r
3618 const MemoryRegion_t * const xRegions )
\r
3622 /* If null is passed in here then we are modifying the MPU settings of
\r
3623 * the calling task. */
\r
3624 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3626 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3629 #endif /* portUSING_MPU_WRAPPERS */
\r
3630 /*-----------------------------------------------------------*/
\r
3632 static void prvInitialiseTaskLists( void )
\r
3634 UBaseType_t uxPriority;
\r
3636 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3638 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3641 vListInitialise( &xDelayedTaskList1 );
\r
3642 vListInitialise( &xDelayedTaskList2 );
\r
3643 vListInitialise( &xPendingReadyList );
\r
3645 #if ( INCLUDE_vTaskDelete == 1 )
\r
3647 vListInitialise( &xTasksWaitingTermination );
\r
3649 #endif /* INCLUDE_vTaskDelete */
\r
3651 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3653 vListInitialise( &xSuspendedTaskList );
\r
3655 #endif /* INCLUDE_vTaskSuspend */
\r
3657 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3659 pxDelayedTaskList = &xDelayedTaskList1;
\r
3660 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3662 /*-----------------------------------------------------------*/
\r
3664 static void prvCheckTasksWaitingTermination( void )
\r
3666 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3668 #if ( INCLUDE_vTaskDelete == 1 )
\r
3672 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3673 * being called too often in the idle task. */
\r
3674 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3676 taskENTER_CRITICAL();
\r
3678 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3679 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3680 --uxCurrentNumberOfTasks;
\r
3681 --uxDeletedTasksWaitingCleanUp;
\r
3683 taskEXIT_CRITICAL();
\r
3685 prvDeleteTCB( pxTCB );
\r
3688 #endif /* INCLUDE_vTaskDelete */
\r
3690 /*-----------------------------------------------------------*/
\r
3692 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3694 void vTaskGetInfo( TaskHandle_t xTask,
\r
3695 TaskStatus_t * pxTaskStatus,
\r
3696 BaseType_t xGetFreeStackSpace,
\r
3697 eTaskState eState )
\r
3701 /* xTask is NULL then get the state of the calling task. */
\r
3702 pxTCB = prvGetTCBFromHandle( xTask );
\r
3704 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3705 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
\r
3706 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3707 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3708 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3710 #if ( configUSE_MUTEXES == 1 )
\r
3712 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3716 pxTaskStatus->uxBasePriority = 0;
\r
3720 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3722 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3726 pxTaskStatus->ulRunTimeCounter = 0;
\r
3730 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3731 * value of eState passed into this function is eInvalid - otherwise the
\r
3732 * state is just set to whatever is passed in. */
\r
3733 if( eState != eInvalid )
\r
3735 if( pxTCB == pxCurrentTCB )
\r
3737 pxTaskStatus->eCurrentState = eRunning;
\r
3741 pxTaskStatus->eCurrentState = eState;
\r
3743 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3745 /* If the task is in the suspended list then there is a
\r
3746 * chance it is actually just blocked indefinitely - so really
\r
3747 * it should be reported as being in the Blocked state. */
\r
3748 if( eState == eSuspended )
\r
3750 vTaskSuspendAll();
\r
3752 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3754 pxTaskStatus->eCurrentState = eBlocked;
\r
3757 ( void ) xTaskResumeAll();
\r
3760 #endif /* INCLUDE_vTaskSuspend */
\r
3765 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3768 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3769 * parameter is provided to allow it to be skipped. */
\r
3770 if( xGetFreeStackSpace != pdFALSE )
\r
3772 #if ( portSTACK_GROWTH > 0 )
\r
3774 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3778 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3784 pxTaskStatus->usStackHighWaterMark = 0;
\r
3788 #endif /* configUSE_TRACE_FACILITY */
\r
3789 /*-----------------------------------------------------------*/
\r
3791 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3793 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
\r
3795 eTaskState eState )
\r
3797 configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB;
\r
3798 UBaseType_t uxTask = 0;
\r
3800 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3802 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3804 /* Populate an TaskStatus_t structure within the
\r
3805 * pxTaskStatusArray array for each task that is referenced from
\r
3806 * pxList. See the definition of TaskStatus_t in task.h for the
\r
3807 * meaning of each TaskStatus_t structure member. */
\r
3810 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3811 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3813 } while( pxNextTCB != pxFirstTCB );
\r
3817 mtCOVERAGE_TEST_MARKER();
\r
3823 #endif /* configUSE_TRACE_FACILITY */
\r
3824 /*-----------------------------------------------------------*/
\r
3826 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3828 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3830 uint32_t ulCount = 0U;
\r
3832 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3834 pucStackByte -= portSTACK_GROWTH;
\r
3838 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3840 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3843 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3844 /*-----------------------------------------------------------*/
\r
3846 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3848 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3849 * same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3850 * user to determine the return type. It gets around the problem of the value
\r
3851 * overflowing on 8-bit types without breaking backward compatibility for
\r
3852 * applications that expect an 8-bit return type. */
\r
3853 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3856 uint8_t * pucEndOfStack;
\r
3857 configSTACK_DEPTH_TYPE uxReturn;
\r
3859 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3860 * the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3861 * allows the user to determine the return type. It gets around the
\r
3862 * problem of the value overflowing on 8-bit types without breaking
\r
3863 * backward compatibility for applications that expect an 8-bit return
\r
3866 pxTCB = prvGetTCBFromHandle( xTask );
\r
3868 #if portSTACK_GROWTH < 0
\r
3870 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3874 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3878 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3883 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3884 /*-----------------------------------------------------------*/
\r
3886 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3888 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3891 uint8_t * pucEndOfStack;
\r
3892 UBaseType_t uxReturn;
\r
3894 pxTCB = prvGetTCBFromHandle( xTask );
\r
3896 #if portSTACK_GROWTH < 0
\r
3898 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3902 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3906 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3911 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3912 /*-----------------------------------------------------------*/
\r
3914 #if ( INCLUDE_vTaskDelete == 1 )
\r
3916 static void prvDeleteTCB( TCB_t * pxTCB )
\r
3918 /* This call is required specifically for the TriCore port. It must be
\r
3919 * above the vPortFree() calls. The call is also used by ports/demos that
\r
3920 * want to allocate and clean RAM statically. */
\r
3921 portCLEAN_UP_TCB( pxTCB );
\r
3923 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3924 * to the task to free any memory allocated at the application level.
\r
3925 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
3926 * for additional information. */
\r
3927 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3929 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3931 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3933 #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3935 /* The task can only have been allocated dynamically - free both
\r
3936 * the stack and TCB. */
\r
3937 vPortFree( pxTCB->pxStack );
\r
3938 vPortFree( pxTCB );
\r
3940 #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3942 /* The task could have been allocated statically or dynamically, so
\r
3943 * check what was statically allocated before trying to free the
\r
3945 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3947 /* Both the stack and TCB were allocated dynamically, so both
\r
3948 * must be freed. */
\r
3949 vPortFree( pxTCB->pxStack );
\r
3950 vPortFree( pxTCB );
\r
3952 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3954 /* Only the stack was statically allocated, so the TCB is the
\r
3955 * only memory that must be freed. */
\r
3956 vPortFree( pxTCB );
\r
3960 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3961 * nothing needs to be freed. */
\r
3962 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3963 mtCOVERAGE_TEST_MARKER();
\r
3966 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3969 #endif /* INCLUDE_vTaskDelete */
\r
3970 /*-----------------------------------------------------------*/
\r
3972 static void prvResetNextTaskUnblockTime( void )
\r
3974 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3976 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
3977 * the maximum possible value so it is extremely unlikely that the
\r
3978 * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3979 * there is an item in the delayed list. */
\r
3980 xNextTaskUnblockTime = portMAX_DELAY;
\r
3984 /* The new current delayed list is not empty, get the value of
\r
3985 * the item at the head of the delayed list. This is the time at
\r
3986 * which the task at the head of the delayed list should be removed
\r
3987 * from the Blocked state. */
\r
3988 xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3991 /*-----------------------------------------------------------*/
\r
3993 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3995 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3997 TaskHandle_t xReturn;
\r
3999 /* A critical section is not required as this is not called from
\r
4000 * an interrupt and the current TCB will always be the same for any
\r
4001 * individual execution thread. */
\r
4002 xReturn = pxCurrentTCB;
\r
4007 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
4008 /*-----------------------------------------------------------*/
\r
4010 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
4012 BaseType_t xTaskGetSchedulerState( void )
\r
4014 BaseType_t xReturn;
\r
4016 if( xSchedulerRunning == pdFALSE )
\r
4018 xReturn = taskSCHEDULER_NOT_STARTED;
\r
4022 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4024 xReturn = taskSCHEDULER_RUNNING;
\r
4028 xReturn = taskSCHEDULER_SUSPENDED;
\r
4035 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
4036 /*-----------------------------------------------------------*/
\r
4038 #if ( configUSE_MUTEXES == 1 )
\r
4040 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
4042 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
4043 BaseType_t xReturn = pdFALSE;
\r
4045 /* If the mutex was given back by an interrupt while the queue was
\r
4046 * locked then the mutex holder might now be NULL. _RB_ Is this still
\r
4047 * needed as interrupts can no longer use mutexes? */
\r
4048 if( pxMutexHolder != NULL )
\r
4050 /* If the holder of the mutex has a priority below the priority of
\r
4051 * the task attempting to obtain the mutex then it will temporarily
\r
4052 * inherit the priority of the task attempting to obtain the mutex. */
\r
4053 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
4055 /* Adjust the mutex holder state to account for its new
\r
4056 * priority. Only reset the event list item value if the value is
\r
4057 * not being used for anything else. */
\r
4058 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4060 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4064 mtCOVERAGE_TEST_MARKER();
\r
4067 /* If the task being modified is in the ready state it will need
\r
4068 * to be moved into a new list. */
\r
4069 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
4071 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4073 /* It is known that the task is in its ready list so
\r
4074 * there is no need to check again and the port level
\r
4075 * reset macro can be called directly. */
\r
4076 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
4080 mtCOVERAGE_TEST_MARKER();
\r
4083 /* Inherit the priority before being moved into the new list. */
\r
4084 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4085 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4089 /* Just inherit the priority. */
\r
4090 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4093 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4095 /* Inheritance occurred. */
\r
4100 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4102 /* The base priority of the mutex holder is lower than the
\r
4103 * priority of the task attempting to take the mutex, but the
\r
4104 * current priority of the mutex holder is not lower than the
\r
4105 * priority of the task attempting to take the mutex.
\r
4106 * Therefore the mutex holder must have already inherited a
\r
4107 * priority, but inheritance would have occurred if that had
\r
4108 * not been the case. */
\r
4113 mtCOVERAGE_TEST_MARKER();
\r
4119 mtCOVERAGE_TEST_MARKER();
\r
4125 #endif /* configUSE_MUTEXES */
\r
4126 /*-----------------------------------------------------------*/
\r
4128 #if ( configUSE_MUTEXES == 1 )
\r
4130 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4132 TCB_t * const pxTCB = pxMutexHolder;
\r
4133 BaseType_t xReturn = pdFALSE;
\r
4135 if( pxMutexHolder != NULL )
\r
4137 /* A task can only have an inherited priority if it holds the mutex.
\r
4138 * If the mutex is held by a task then it cannot be given from an
\r
4139 * interrupt, and if a mutex is given by the holding task then it must
\r
4140 * be the running state task. */
\r
4141 configASSERT( pxTCB == pxCurrentTCB );
\r
4142 configASSERT( pxTCB->uxMutexesHeld );
\r
4143 ( pxTCB->uxMutexesHeld )--;
\r
4145 /* Has the holder of the mutex inherited the priority of another
\r
4147 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4149 /* Only disinherit if no other mutexes are held. */
\r
4150 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4152 /* A task can only have an inherited priority if it holds
\r
4153 * the mutex. If the mutex is held by a task then it cannot be
\r
4154 * given from an interrupt, and if a mutex is given by the
\r
4155 * holding task then it must be the running state task. Remove
\r
4156 * the holding task from the ready list. */
\r
4157 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4159 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4163 mtCOVERAGE_TEST_MARKER();
\r
4166 /* Disinherit the priority before adding the task into the
\r
4167 * new ready list. */
\r
4168 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4169 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4171 /* Reset the event list item value. It cannot be in use for
\r
4172 * any other purpose if this task is running, and it must be
\r
4173 * running to give back the mutex. */
\r
4174 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4175 prvAddTaskToReadyList( pxTCB );
\r
4177 /* Return true to indicate that a context switch is required.
\r
4178 * This is only actually required in the corner case whereby
\r
4179 * multiple mutexes were held and the mutexes were given back
\r
4180 * in an order different to that in which they were taken.
\r
4181 * If a context switch did not occur when the first mutex was
\r
4182 * returned, even if a task was waiting on it, then a context
\r
4183 * switch should occur when the last mutex is returned whether
\r
4184 * a task is waiting on it or not. */
\r
4189 mtCOVERAGE_TEST_MARKER();
\r
4194 mtCOVERAGE_TEST_MARKER();
\r
4199 mtCOVERAGE_TEST_MARKER();
\r
4205 #endif /* configUSE_MUTEXES */
\r
4206 /*-----------------------------------------------------------*/
\r
4208 #if ( configUSE_MUTEXES == 1 )
\r
4210 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
\r
4211 UBaseType_t uxHighestPriorityWaitingTask )
\r
4213 TCB_t * const pxTCB = pxMutexHolder;
\r
4214 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4215 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4217 if( pxMutexHolder != NULL )
\r
4219 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4221 configASSERT( pxTCB->uxMutexesHeld );
\r
4223 /* Determine the priority to which the priority of the task that
\r
4224 * holds the mutex should be set. This will be the greater of the
\r
4225 * holding task's base priority and the priority of the highest
\r
4226 * priority task that is waiting to obtain the mutex. */
\r
4227 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4229 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4233 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4236 /* Does the priority need to change? */
\r
4237 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4239 /* Only disinherit if no other mutexes are held. This is a
\r
4240 * simplification in the priority inheritance implementation. If
\r
4241 * the task that holds the mutex is also holding other mutexes then
\r
4242 * the other mutexes may have caused the priority inheritance. */
\r
4243 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4245 /* If a task has timed out because it already holds the
\r
4246 * mutex it was trying to obtain then it cannot of inherited
\r
4247 * its own priority. */
\r
4248 configASSERT( pxTCB != pxCurrentTCB );
\r
4250 /* Disinherit the priority, remembering the previous
\r
4251 * priority to facilitate determining the subject task's
\r
4253 traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
\r
4254 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4255 pxTCB->uxPriority = uxPriorityToUse;
\r
4257 /* Only reset the event list item value if the value is not
\r
4258 * being used for anything else. */
\r
4259 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4261 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4265 mtCOVERAGE_TEST_MARKER();
\r
4268 /* If the running task is not the task that holds the mutex
\r
4269 * then the task that holds the mutex could be in either the
\r
4270 * Ready, Blocked or Suspended states. Only remove the task
\r
4271 * from its current state list if it is in the Ready state as
\r
4272 * the task's priority is going to change and there is one
\r
4273 * Ready list per priority. */
\r
4274 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4276 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4278 /* It is known that the task is in its ready list so
\r
4279 * there is no need to check again and the port level
\r
4280 * reset macro can be called directly. */
\r
4281 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4285 mtCOVERAGE_TEST_MARKER();
\r
4288 prvAddTaskToReadyList( pxTCB );
\r
4292 mtCOVERAGE_TEST_MARKER();
\r
4297 mtCOVERAGE_TEST_MARKER();
\r
4302 mtCOVERAGE_TEST_MARKER();
\r
4307 mtCOVERAGE_TEST_MARKER();
\r
4311 #endif /* configUSE_MUTEXES */
\r
4312 /*-----------------------------------------------------------*/
\r
4314 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4316 void vTaskEnterCritical( void )
\r
4318 portDISABLE_INTERRUPTS();
\r
4320 if( xSchedulerRunning != pdFALSE )
\r
4322 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4324 /* This is not the interrupt safe version of the enter critical
\r
4325 * function so assert() if it is being called from an interrupt
\r
4326 * context. Only API functions that end in "FromISR" can be used in an
\r
4327 * interrupt. Only assert if the critical nesting count is 1 to
\r
4328 * protect against recursive calls if the assert function also uses a
\r
4329 * critical section. */
\r
4330 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4332 portASSERT_IF_IN_ISR();
\r
4337 mtCOVERAGE_TEST_MARKER();
\r
4341 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4342 /*-----------------------------------------------------------*/
\r
4344 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4346 void vTaskExitCritical( void )
\r
4348 if( xSchedulerRunning != pdFALSE )
\r
4350 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4352 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4354 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4356 portENABLE_INTERRUPTS();
\r
4360 mtCOVERAGE_TEST_MARKER();
\r
4365 mtCOVERAGE_TEST_MARKER();
\r
4370 mtCOVERAGE_TEST_MARKER();
\r
4374 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4375 /*-----------------------------------------------------------*/
\r
4377 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4379 static char * prvWriteNameToBuffer( char * pcBuffer,
\r
4380 const char * pcTaskName )
\r
4384 /* Start by copying the entire string. */
\r
4385 strcpy( pcBuffer, pcTaskName );
\r
4387 /* Pad the end of the string with spaces to ensure columns line up when
\r
4389 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4391 pcBuffer[ x ] = ' ';
\r
4395 pcBuffer[ x ] = ( char ) 0x00;
\r
4397 /* Return the new end of string. */
\r
4398 return &( pcBuffer[ x ] );
\r
4401 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4402 /*-----------------------------------------------------------*/
\r
4404 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4406 void vTaskList( char * pcWriteBuffer )
\r
4408 TaskStatus_t * pxTaskStatusArray;
\r
4409 UBaseType_t uxArraySize, x;
\r
4415 * This function is provided for convenience only, and is used by many
\r
4416 * of the demo applications. Do not consider it to be part of the
\r
4419 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4420 * uxTaskGetSystemState() output into a human readable table that
\r
4421 * displays task names, states and stack usage.
\r
4423 * vTaskList() has a dependency on the sprintf() C library function that
\r
4424 * might bloat the code size, use a lot of stack, and provide different
\r
4425 * results on different platforms. An alternative, tiny, third party,
\r
4426 * and limited functionality implementation of sprintf() is provided in
\r
4427 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4428 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4429 * snprintf() implementation!).
\r
4431 * It is recommended that production systems call uxTaskGetSystemState()
\r
4432 * directly to get access to raw stats data, rather than indirectly
\r
4433 * through a call to vTaskList().
\r
4437 /* Make sure the write buffer does not contain a string. */
\r
4438 *pcWriteBuffer = ( char ) 0x00;
\r
4440 /* Take a snapshot of the number of tasks in case it changes while this
\r
4441 * function is executing. */
\r
4442 uxArraySize = uxCurrentNumberOfTasks;
\r
4444 /* Allocate an array index for each task. NOTE! if
\r
4445 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4446 * equate to NULL. */
\r
4447 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4449 if( pxTaskStatusArray != NULL )
\r
4451 /* Generate the (binary) data. */
\r
4452 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4454 /* Create a human readable table from the binary data. */
\r
4455 for( x = 0; x < uxArraySize; x++ )
\r
4457 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4460 cStatus = tskRUNNING_CHAR;
\r
4464 cStatus = tskREADY_CHAR;
\r
4468 cStatus = tskBLOCKED_CHAR;
\r
4472 cStatus = tskSUSPENDED_CHAR;
\r
4476 cStatus = tskDELETED_CHAR;
\r
4479 case eInvalid: /* Fall through. */
\r
4480 default: /* Should not get here, but it is included
\r
4481 * to prevent static checking errors. */
\r
4482 cStatus = ( char ) 0x00;
\r
4486 /* Write the task name to the string, padding with spaces so it
\r
4487 * can be printed in tabular form more easily. */
\r
4488 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4490 /* Write the rest of the string. */
\r
4491 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 ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4492 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4495 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4496 * is 0 then vPortFree() will be #defined to nothing. */
\r
4497 vPortFree( pxTaskStatusArray );
\r
4501 mtCOVERAGE_TEST_MARKER();
\r
4505 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4506 /*----------------------------------------------------------*/
\r
4508 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4510 void vTaskGetRunTimeStats( char * pcWriteBuffer )
\r
4512 TaskStatus_t * pxTaskStatusArray;
\r
4513 UBaseType_t uxArraySize, x;
\r
4514 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4516 #if ( configUSE_TRACE_FACILITY != 1 )
\r
4518 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4525 * This function is provided for convenience only, and is used by many
\r
4526 * of the demo applications. Do not consider it to be part of the
\r
4529 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4530 * of the uxTaskGetSystemState() output into a human readable table that
\r
4531 * displays the amount of time each task has spent in the Running state
\r
4532 * in both absolute and percentage terms.
\r
4534 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4535 * function that might bloat the code size, use a lot of stack, and
\r
4536 * provide different results on different platforms. An alternative,
\r
4537 * tiny, third party, and limited functionality implementation of
\r
4538 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4539 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4540 * a full snprintf() implementation!).
\r
4542 * It is recommended that production systems call uxTaskGetSystemState()
\r
4543 * directly to get access to raw stats data, rather than indirectly
\r
4544 * through a call to vTaskGetRunTimeStats().
\r
4547 /* Make sure the write buffer does not contain a string. */
\r
4548 *pcWriteBuffer = ( char ) 0x00;
\r
4550 /* Take a snapshot of the number of tasks in case it changes while this
\r
4551 * function is executing. */
\r
4552 uxArraySize = uxCurrentNumberOfTasks;
\r
4554 /* Allocate an array index for each task. NOTE! If
\r
4555 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4556 * equate to NULL. */
\r
4557 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4559 if( pxTaskStatusArray != NULL )
\r
4561 /* Generate the (binary) data. */
\r
4562 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4564 /* For percentage calculations. */
\r
4565 ulTotalTime /= 100UL;
\r
4567 /* Avoid divide by zero errors. */
\r
4568 if( ulTotalTime > 0UL )
\r
4570 /* Create a human readable table from the binary data. */
\r
4571 for( x = 0; x < uxArraySize; x++ )
\r
4573 /* What percentage of the total run time has the task used?
\r
4574 * This will always be rounded down to the nearest integer.
\r
4575 * ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4576 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4578 /* Write the task name to the string, padding with
\r
4579 * spaces so it can be printed in tabular form more
\r
4581 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4583 if( ulStatsAsPercentage > 0UL )
\r
4585 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4587 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4591 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4592 * printf() library can be used. */
\r
4593 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4599 /* If the percentage is zero here then the task has
\r
4600 * consumed less than 1% of the total run time. */
\r
4601 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4603 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4607 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4608 * printf() library can be used. */
\r
4609 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4614 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4619 mtCOVERAGE_TEST_MARKER();
\r
4622 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4623 * is 0 then vPortFree() will be #defined to nothing. */
\r
4624 vPortFree( pxTaskStatusArray );
\r
4628 mtCOVERAGE_TEST_MARKER();
\r
4632 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4633 /*-----------------------------------------------------------*/
\r
4635 TickType_t uxTaskResetEventItemValue( void )
\r
4637 TickType_t uxReturn;
\r
4639 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4641 /* Reset the event list item to its normal value - so it can be used with
\r
4642 * queues and semaphores. */
\r
4643 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4647 /*-----------------------------------------------------------*/
\r
4649 #if ( configUSE_MUTEXES == 1 )
\r
4651 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4653 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4654 * then pxCurrentTCB will be NULL. */
\r
4655 if( pxCurrentTCB != NULL )
\r
4657 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4660 return pxCurrentTCB;
\r
4663 #endif /* configUSE_MUTEXES */
\r
4664 /*-----------------------------------------------------------*/
\r
4666 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4668 uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
\r
4669 BaseType_t xClearCountOnExit,
\r
4670 TickType_t xTicksToWait )
\r
4672 uint32_t ulReturn;
\r
4674 configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4676 taskENTER_CRITICAL();
\r
4678 /* Only block if the notification count is not already non-zero. */
\r
4679 if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL )
\r
4681 /* Mark this task as waiting for a notification. */
\r
4682 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
\r
4684 if( xTicksToWait > ( TickType_t ) 0 )
\r
4686 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4687 traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );
\r
4689 /* All ports are written to allow a yield in a critical
\r
4690 * section (some will yield immediately, others wait until the
\r
4691 * critical section exits) - but it is not something that
\r
4692 * application code should ever do. */
\r
4693 portYIELD_WITHIN_API();
\r
4697 mtCOVERAGE_TEST_MARKER();
\r
4702 mtCOVERAGE_TEST_MARKER();
\r
4705 taskEXIT_CRITICAL();
\r
4707 taskENTER_CRITICAL();
\r
4709 traceTASK_NOTIFY_TAKE( uxIndexToWait );
\r
4710 ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
\r
4712 if( ulReturn != 0UL )
\r
4714 if( xClearCountOnExit != pdFALSE )
\r
4716 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL;
\r
4720 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
\r
4725 mtCOVERAGE_TEST_MARKER();
\r
4728 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
\r
4730 taskEXIT_CRITICAL();
\r
4735 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4736 /*-----------------------------------------------------------*/
\r
4738 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4740 BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
\r
4741 uint32_t ulBitsToClearOnEntry,
\r
4742 uint32_t ulBitsToClearOnExit,
\r
4743 uint32_t * pulNotificationValue,
\r
4744 TickType_t xTicksToWait )
\r
4746 BaseType_t xReturn;
\r
4748 configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4750 taskENTER_CRITICAL();
\r
4752 /* Only block if a notification is not already pending. */
\r
4753 if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
\r
4755 /* Clear bits in the task's notification value as bits may get
\r
4756 * set by the notifying task or interrupt. This can be used to
\r
4757 * clear the value to zero. */
\r
4758 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
\r
4760 /* Mark this task as waiting for a notification. */
\r
4761 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
\r
4763 if( xTicksToWait > ( TickType_t ) 0 )
\r
4765 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4766 traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );
\r
4768 /* All ports are written to allow a yield in a critical
\r
4769 * section (some will yield immediately, others wait until the
\r
4770 * critical section exits) - but it is not something that
\r
4771 * application code should ever do. */
\r
4772 portYIELD_WITHIN_API();
\r
4776 mtCOVERAGE_TEST_MARKER();
\r
4781 mtCOVERAGE_TEST_MARKER();
\r
4784 taskEXIT_CRITICAL();
\r
4786 taskENTER_CRITICAL();
\r
4788 traceTASK_NOTIFY_WAIT( uxIndexToWait );
\r
4790 if( pulNotificationValue != NULL )
\r
4792 /* Output the current notification value, which may or may not
\r
4793 * have changed. */
\r
4794 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
\r
4797 /* If ucNotifyValue is set then either the task never entered the
\r
4798 * blocked state (because a notification was already pending) or the
\r
4799 * task unblocked because of a notification. Otherwise the task
\r
4800 * unblocked because of a timeout. */
\r
4801 if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
\r
4803 /* A notification was not received. */
\r
4804 xReturn = pdFALSE;
\r
4808 /* A notification was already pending or a notification was
\r
4809 * received while the task was waiting. */
\r
4810 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
\r
4814 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
\r
4816 taskEXIT_CRITICAL();
\r
4821 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4822 /*-----------------------------------------------------------*/
\r
4824 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4826 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
\r
4827 UBaseType_t uxIndexToNotify,
\r
4829 eNotifyAction eAction,
\r
4830 uint32_t * pulPreviousNotificationValue )
\r
4833 BaseType_t xReturn = pdPASS;
\r
4834 uint8_t ucOriginalNotifyState;
\r
4836 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4837 configASSERT( xTaskToNotify );
\r
4838 pxTCB = xTaskToNotify;
\r
4840 taskENTER_CRITICAL();
\r
4842 if( pulPreviousNotificationValue != NULL )
\r
4844 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
\r
4847 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
4849 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
4854 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
\r
4858 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
4861 case eSetValueWithOverwrite:
\r
4862 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
4865 case eSetValueWithoutOverwrite:
\r
4867 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4869 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
4873 /* The value could not be written to the task. */
\r
4881 /* The task is being notified without its notify value being
\r
4887 /* Should not get here if all enums are handled.
\r
4888 * Artificially force an assert by testing a value the
\r
4889 * compiler can't assume is const. */
\r
4890 configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );
\r
4895 traceTASK_NOTIFY( uxIndexToNotify );
\r
4897 /* If the task is in the blocked state specifically to wait for a
\r
4898 * notification then unblock it now. */
\r
4899 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4901 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
4902 prvAddTaskToReadyList( pxTCB );
\r
4904 /* The task should not have been on an event list. */
\r
4905 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4907 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
4909 /* If a task is blocked waiting for a notification then
\r
4910 * xNextTaskUnblockTime might be set to the blocked task's time
\r
4911 * out time. If the task is unblocked for a reason other than
\r
4912 * a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4913 * because it will automatically get reset to a new value when
\r
4914 * the tick count equals xNextTaskUnblockTime. However if
\r
4915 * tickless idling is used it might be more important to enter
\r
4916 * sleep mode at the earliest possible time - so reset
\r
4917 * xNextTaskUnblockTime here to ensure it is updated at the
\r
4918 * earliest possible time. */
\r
4919 prvResetNextTaskUnblockTime();
\r
4923 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4925 /* The notified task has a priority above the currently
\r
4926 * executing task so a yield is required. */
\r
4927 taskYIELD_IF_USING_PREEMPTION();
\r
4931 mtCOVERAGE_TEST_MARKER();
\r
4936 mtCOVERAGE_TEST_MARKER();
\r
4939 taskEXIT_CRITICAL();
\r
4944 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4945 /*-----------------------------------------------------------*/
\r
4947 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4949 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
\r
4950 UBaseType_t uxIndexToNotify,
\r
4952 eNotifyAction eAction,
\r
4953 uint32_t * pulPreviousNotificationValue,
\r
4954 BaseType_t * pxHigherPriorityTaskWoken )
\r
4957 uint8_t ucOriginalNotifyState;
\r
4958 BaseType_t xReturn = pdPASS;
\r
4959 UBaseType_t uxSavedInterruptStatus;
\r
4961 configASSERT( xTaskToNotify );
\r
4962 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4964 /* RTOS ports that support interrupt nesting have the concept of a
\r
4965 * maximum system call (or maximum API call) interrupt priority.
\r
4966 * Interrupts that are above the maximum system call priority are keep
\r
4967 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
4968 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4969 * is defined in FreeRTOSConfig.h then
\r
4970 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4971 * failure if a FreeRTOS API function is called from an interrupt that has
\r
4972 * been assigned a priority above the configured maximum system call
\r
4973 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
4974 * from interrupts that have been assigned a priority at or (logically)
\r
4975 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4976 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4977 * simple as possible. More information (albeit Cortex-M specific) is
\r
4978 * provided on the following link:
\r
4979 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
4980 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4982 pxTCB = xTaskToNotify;
\r
4984 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4986 if( pulPreviousNotificationValue != NULL )
\r
4988 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
\r
4991 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
4992 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
4997 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
\r
5001 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
5004 case eSetValueWithOverwrite:
\r
5005 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
5008 case eSetValueWithoutOverwrite:
\r
5010 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
5012 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
5016 /* The value could not be written to the task. */
\r
5024 /* The task is being notified without its notify value being
\r
5030 /* Should not get here if all enums are handled.
\r
5031 * Artificially force an assert by testing a value the
\r
5032 * compiler can't assume is const. */
\r
5033 configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );
\r
5037 traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
\r
5039 /* If the task is in the blocked state specifically to wait for a
\r
5040 * notification then unblock it now. */
\r
5041 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5043 /* The task should not have been on an event list. */
\r
5044 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5046 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5048 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5049 prvAddTaskToReadyList( pxTCB );
\r
5053 /* The delayed and ready lists cannot be accessed, so hold
\r
5054 * this task pending until the scheduler is resumed. */
\r
5055 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5058 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5060 /* The notified task has a priority above the currently
\r
5061 * executing task so a yield is required. */
\r
5062 if( pxHigherPriorityTaskWoken != NULL )
\r
5064 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5067 /* Mark that a yield is pending in case the user is not
\r
5068 * using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
5069 * safe FreeRTOS function. */
\r
5070 xYieldPending = pdTRUE;
\r
5074 mtCOVERAGE_TEST_MARKER();
\r
5078 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5083 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5084 /*-----------------------------------------------------------*/
\r
5086 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5088 void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
\r
5089 UBaseType_t uxIndexToNotify,
\r
5090 BaseType_t * pxHigherPriorityTaskWoken )
\r
5093 uint8_t ucOriginalNotifyState;
\r
5094 UBaseType_t uxSavedInterruptStatus;
\r
5096 configASSERT( xTaskToNotify );
\r
5097 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
5099 /* RTOS ports that support interrupt nesting have the concept of a
\r
5100 * maximum system call (or maximum API call) interrupt priority.
\r
5101 * Interrupts that are above the maximum system call priority are keep
\r
5102 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
5103 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5104 * is defined in FreeRTOSConfig.h then
\r
5105 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5106 * failure if a FreeRTOS API function is called from an interrupt that has
\r
5107 * been assigned a priority above the configured maximum system call
\r
5108 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
5109 * from interrupts that have been assigned a priority at or (logically)
\r
5110 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5111 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5112 * simple as possible. More information (albeit Cortex-M specific) is
\r
5113 * provided on the following link:
\r
5114 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
5115 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5117 pxTCB = xTaskToNotify;
\r
5119 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5121 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
5122 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
5124 /* 'Giving' is equivalent to incrementing a count in a counting
\r
5126 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
5128 traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
\r
5130 /* If the task is in the blocked state specifically to wait for a
\r
5131 * notification then unblock it now. */
\r
5132 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5134 /* The task should not have been on an event list. */
\r
5135 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5137 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5139 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
5140 prvAddTaskToReadyList( pxTCB );
\r
5144 /* The delayed and ready lists cannot be accessed, so hold
\r
5145 * this task pending until the scheduler is resumed. */
\r
5146 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5149 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5151 /* The notified task has a priority above the currently
\r
5152 * executing task so a yield is required. */
\r
5153 if( pxHigherPriorityTaskWoken != NULL )
\r
5155 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5158 /* Mark that a yield is pending in case the user is not
\r
5159 * using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5160 * safe FreeRTOS function. */
\r
5161 xYieldPending = pdTRUE;
\r
5165 mtCOVERAGE_TEST_MARKER();
\r
5169 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5172 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5173 /*-----------------------------------------------------------*/
\r
5175 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5177 BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
\r
5178 UBaseType_t uxIndexToClear )
\r
5181 BaseType_t xReturn;
\r
5183 configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
5185 /* If null is passed in here then it is the calling task that is having
\r
5186 * its notification state cleared. */
\r
5187 pxTCB = prvGetTCBFromHandle( xTask );
\r
5189 taskENTER_CRITICAL();
\r
5191 if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
\r
5193 pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
\r
5201 taskEXIT_CRITICAL();
\r
5206 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5207 /*-----------------------------------------------------------*/
\r
5209 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5211 uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
\r
5212 UBaseType_t uxIndexToClear,
\r
5213 uint32_t ulBitsToClear )
\r
5216 uint32_t ulReturn;
\r
5218 /* If null is passed in here then it is the calling task that is having
\r
5219 * its notification state cleared. */
\r
5220 pxTCB = prvGetTCBFromHandle( xTask );
\r
5222 taskENTER_CRITICAL();
\r
5224 /* Return the notification as it was before the bits were cleared,
\r
5225 * then clear the bit mask. */
\r
5226 ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
\r
5227 pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
\r
5229 taskEXIT_CRITICAL();
\r
5234 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5235 /*-----------------------------------------------------------*/
\r
5237 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5239 uint32_t ulTaskGetIdleRunTimeCounter( void )
\r
5241 return xIdleTaskHandle->ulRunTimeCounter;
\r
5245 /*-----------------------------------------------------------*/
\r
5247 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
\r
5248 const BaseType_t xCanBlockIndefinitely )
\r
5250 TickType_t xTimeToWake;
\r
5251 const TickType_t xConstTickCount = xTickCount;
\r
5253 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
5255 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5256 * reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5257 * when the task leaves the Blocked state. */
\r
5258 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5262 /* Remove the task from the ready list before adding it to the blocked list
\r
5263 * as the same list item is used for both lists. */
\r
5264 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5266 /* The current task must be in a ready list, so there is no need to
\r
5267 * check, and the port reset macro can be called directly. */
\r
5268 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5272 mtCOVERAGE_TEST_MARKER();
\r
5275 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5277 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5279 /* Add the task to the suspended task list instead of a delayed task
\r
5280 * list to ensure it is not woken by a timing event. It will block
\r
5281 * indefinitely. */
\r
5282 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5286 /* Calculate the time at which the task should be woken if the event
\r
5287 * does not occur. This may overflow but this doesn't matter, the
\r
5288 * kernel will manage it correctly. */
\r
5289 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5291 /* The list item will be inserted in wake time order. */
\r
5292 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5294 if( xTimeToWake < xConstTickCount )
\r
5296 /* Wake time has overflowed. Place this item in the overflow
\r
5298 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5302 /* The wake time has not overflowed, so the current block list
\r
5304 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5306 /* If the task entering the blocked state was placed at the
\r
5307 * head of the list of blocked tasks then xNextTaskUnblockTime
\r
5308 * needs to be updated too. */
\r
5309 if( xTimeToWake < xNextTaskUnblockTime )
\r
5311 xNextTaskUnblockTime = xTimeToWake;
\r
5315 mtCOVERAGE_TEST_MARKER();
\r
5320 #else /* INCLUDE_vTaskSuspend */
\r
5322 /* Calculate the time at which the task should be woken if the event
\r
5323 * does not occur. This may overflow but this doesn't matter, the kernel
\r
5324 * will manage it correctly. */
\r
5325 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5327 /* The list item will be inserted in wake time order. */
\r
5328 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5330 if( xTimeToWake < xConstTickCount )
\r
5332 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5333 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5337 /* The wake time has not overflowed, so the current block list is used. */
\r
5338 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5340 /* If the task entering the blocked state was placed at the head of the
\r
5341 * list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5343 if( xTimeToWake < xNextTaskUnblockTime )
\r
5345 xNextTaskUnblockTime = xTimeToWake;
\r
5349 mtCOVERAGE_TEST_MARKER();
\r
5353 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5354 ( void ) xCanBlockIndefinitely;
\r
5356 #endif /* INCLUDE_vTaskSuspend */
\r
5359 /* Code below here allows additional code to be inserted into this source file,
\r
5360 * especially where access to file scope functions and data is needed (for example
\r
5361 * when performing module tests). */
\r
5363 #ifdef FREERTOS_MODULE_TEST
\r
5364 #include "tasks_test_access_functions.h"
\r
5368 #if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5370 #include "freertos_tasks_c_additions.h"
\r
5372 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5373 static void freertos_tasks_c_additions_init( void )
\r
5375 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
5379 #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
\r
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