2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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86 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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87 header files above, but not in this file, in order to generate the correct
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88 privileged Vs unprivileged linkage and placement. */
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89 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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91 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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92 functions but without including stdio.h here. */
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93 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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94 /* At the bottom of this file are two optional functions that can be used
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95 to generate human readable text from the raw data generated by the
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96 uxTaskGetSystemState() function. Note the formatting functions are provided
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97 for convenience only, and are NOT considered part of the kernel. */
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99 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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101 /* Sanity check the configuration. */
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102 #if configUSE_TICKLESS_IDLE != 0
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103 #if INCLUDE_vTaskSuspend != 1
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104 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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105 #endif /* INCLUDE_vTaskSuspend */
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106 #endif /* configUSE_TICKLESS_IDLE */
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109 * Defines the size, in words, of the stack allocated to the idle task.
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111 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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113 #if( configUSE_PREEMPTION == 0 )
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114 /* If the cooperative scheduler is being used then a yield should not be
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115 performed just because a higher priority task has been woken. */
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116 #define taskYIELD_IF_USING_PREEMPTION()
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118 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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121 /* Value that can be assigned to the eNotifyState member of the TCB. */
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124 eNotWaitingNotification = 0,
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125 eWaitingNotification,
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130 * Task control block. A task control block (TCB) is allocated for each task,
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131 * and stores task state information, including a pointer to the task's context
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132 * (the task's run time environment, including register values)
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134 typedef struct tskTaskControlBlock
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136 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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138 #if ( portUSING_MPU_WRAPPERS == 1 )
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139 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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140 BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
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143 ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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144 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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145 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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146 StackType_t *pxStack; /*< Points to the start of the stack. */
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147 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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149 #if ( portSTACK_GROWTH > 0 )
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150 StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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153 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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154 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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157 #if ( configUSE_TRACE_FACILITY == 1 )
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158 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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159 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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162 #if ( configUSE_MUTEXES == 1 )
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163 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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164 UBaseType_t uxMutexesHeld;
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167 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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168 TaskHookFunction_t pxTaskTag;
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171 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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172 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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175 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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176 /* Allocate a Newlib reent structure that is specific to this task.
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177 Note Newlib support has been included by popular demand, but is not
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178 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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179 responsible for resulting newlib operation. User must be familiar with
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180 newlib and must provide system-wide implementations of the necessary
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181 stubs. Be warned that (at the time of writing) the current newlib design
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182 implements a system-wide malloc() that must be provided with locks. */
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183 struct _reent xNewLib_reent;
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186 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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187 volatile uint32_t ulNotifiedValue;
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188 volatile eNotifyValue eNotifyState;
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193 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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194 below to enable the use of older kernel aware debuggers. */
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195 typedef tskTCB TCB_t;
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198 * Some kernel aware debuggers require the data the debugger needs access to to
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199 * be global, rather than file scope.
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201 #ifdef portREMOVE_STATIC_QUALIFIER
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205 /*lint -e956 A manual analysis and inspection has been used to determine which
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206 static variables must be declared volatile. */
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208 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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210 /* Lists for ready and blocked tasks. --------------------*/
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211 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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212 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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213 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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214 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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215 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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216 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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218 #if ( INCLUDE_vTaskDelete == 1 )
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220 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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221 PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;
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225 #if ( INCLUDE_vTaskSuspend == 1 )
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227 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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231 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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233 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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237 /* Other file private variables. --------------------------------*/
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238 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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239 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
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240 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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241 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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242 PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
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243 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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244 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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245 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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246 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
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248 /* Context switches are held pending while the scheduler is suspended. Also,
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249 interrupts must not manipulate the xGenericListItem of a TCB, or any of the
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250 lists the xGenericListItem can be referenced from, if the scheduler is suspended.
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251 If an interrupt needs to unblock a task while the scheduler is suspended then it
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252 moves the task's event list item into the xPendingReadyList, ready for the
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253 kernel to move the task from the pending ready list into the real ready list
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254 when the scheduler is unsuspended. The pending ready list itself can only be
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255 accessed from a critical section. */
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256 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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258 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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260 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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261 PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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267 /* Debugging and trace facilities private variables and macros. ------------*/
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270 * The value used to fill the stack of a task when the task is created. This
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271 * is used purely for checking the high water mark for tasks.
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273 #define tskSTACK_FILL_BYTE ( 0xa5U )
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276 * Macros used by vListTask to indicate which state a task is in.
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278 #define tskBLOCKED_CHAR ( 'B' )
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279 #define tskREADY_CHAR ( 'R' )
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280 #define tskDELETED_CHAR ( 'D' )
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281 #define tskSUSPENDED_CHAR ( 'S' )
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283 /*-----------------------------------------------------------*/
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285 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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287 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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288 performed in a generic way that is not optimised to any particular
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289 microcontroller architecture. */
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291 /* uxTopReadyPriority holds the priority of the highest priority ready
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293 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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295 if( ( uxPriority ) > uxTopReadyPriority ) \
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297 uxTopReadyPriority = ( uxPriority ); \
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299 } /* taskRECORD_READY_PRIORITY */
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301 /*-----------------------------------------------------------*/
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303 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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305 /* Find the highest priority queue that contains ready tasks. */ \
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306 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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308 configASSERT( uxTopReadyPriority ); \
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309 --uxTopReadyPriority; \
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312 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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313 the same priority get an equal share of the processor time. */ \
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314 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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315 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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317 /*-----------------------------------------------------------*/
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319 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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320 they are only required when a port optimised method of task selection is
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322 #define taskRESET_READY_PRIORITY( uxPriority )
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323 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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325 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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327 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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328 performed in a way that is tailored to the particular microcontroller
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329 architecture being used. */
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331 /* A port optimised version is provided. Call the port defined macros. */
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332 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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334 /*-----------------------------------------------------------*/
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336 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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338 UBaseType_t uxTopPriority; \
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340 /* Find the highest priority queue that contains ready tasks. */ \
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341 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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342 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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343 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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344 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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346 /*-----------------------------------------------------------*/
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348 /* A port optimised version is provided, call it only if the TCB being reset
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349 is being referenced from a ready list. If it is referenced from a delayed
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350 or suspended list then it won't be in a ready list. */
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351 #define taskRESET_READY_PRIORITY( uxPriority ) \
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353 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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355 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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359 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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361 /*-----------------------------------------------------------*/
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363 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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364 count overflows. */
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365 #define taskSWITCH_DELAYED_LISTS() \
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369 /* The delayed tasks list should be empty when the lists are switched. */ \
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370 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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372 pxTemp = pxDelayedTaskList; \
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373 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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374 pxOverflowDelayedTaskList = pxTemp; \
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375 xNumOfOverflows++; \
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376 prvResetNextTaskUnblockTime(); \
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379 /*-----------------------------------------------------------*/
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382 * Place the task represented by pxTCB into the appropriate ready list for
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383 * the task. It is inserted at the end of the list.
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385 #define prvAddTaskToReadyList( pxTCB ) \
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386 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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387 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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388 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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389 /*-----------------------------------------------------------*/
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392 * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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393 * where NULL is used to indicate that the handle of the currently executing
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394 * task should be used in place of the parameter. This macro simply checks to
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395 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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397 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )
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399 /* The item value of the event list item is normally used to hold the priority
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400 of the task to which it belongs (coded to allow it to be held in reverse
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401 priority order). However, it is occasionally borrowed for other purposes. It
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402 is important its value is not updated due to a task priority change while it is
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403 being used for another purpose. The following bit definition is used to inform
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404 the scheduler that the value should not be changed - in which case it is the
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405 responsibility of whichever module is using the value to ensure it gets set back
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406 to its original value when it is released. */
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407 #if configUSE_16_BIT_TICKS == 1
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408 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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410 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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413 /* Callback function prototypes. --------------------------*/
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414 #if configCHECK_FOR_STACK_OVERFLOW > 0
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415 extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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418 #if configUSE_TICK_HOOK > 0
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419 extern void vApplicationTickHook( void );
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422 /* File private functions. --------------------------------*/
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425 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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426 * into the TCB structure.
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428 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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431 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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432 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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433 * is in any other state.
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435 #if ( INCLUDE_vTaskSuspend == 1 )
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436 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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437 #endif /* INCLUDE_vTaskSuspend */
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440 * Utility to ready all the lists used by the scheduler. This is called
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441 * automatically upon the creation of the first task.
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443 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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446 * The idle task, which as all tasks is implemented as a never ending loop.
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447 * The idle task is automatically created and added to the ready lists upon
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448 * creation of the first user task.
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450 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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451 * language extensions. The equivalent prototype for this function is:
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453 * void prvIdleTask( void *pvParameters );
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456 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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459 * Utility to free all memory allocated by the scheduler to hold a TCB,
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460 * including the stack pointed to by the TCB.
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462 * This does not free memory allocated by the task itself (i.e. memory
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463 * allocated by calls to pvPortMalloc from within the tasks application code).
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465 #if ( INCLUDE_vTaskDelete == 1 )
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467 static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
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472 * Used only by the idle task. This checks to see if anything has been placed
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473 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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474 * and its TCB deleted.
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476 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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479 * The currently executing task is entering the Blocked state. Add the task to
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480 * either the current or the overflow delayed task list.
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482 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
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485 * Allocates memory from the heap for a TCB and associated stack. Checks the
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486 * allocation was successful.
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488 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;
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491 * Fills an TaskStatus_t structure with information on each task that is
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492 * referenced from the pxList list (which may be a ready list, a delayed list,
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493 * a suspended list, etc.).
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495 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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496 * NORMAL APPLICATION CODE.
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498 #if ( configUSE_TRACE_FACILITY == 1 )
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500 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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505 * When a task is created, the stack of the task is filled with a known value.
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506 * This function determines the 'high water mark' of the task stack by
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507 * determining how much of the stack remains at the original preset value.
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509 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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511 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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516 * Return the amount of time, in ticks, that will pass before the kernel will
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517 * next move a task from the Blocked state to the Running state.
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519 * This conditional compilation should use inequality to 0, not equality to 1.
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520 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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521 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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522 * set to a value other than 1.
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524 #if ( configUSE_TICKLESS_IDLE != 0 )
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526 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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531 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
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532 * will exit the Blocked state.
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534 static void prvResetNextTaskUnblockTime( void );
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536 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
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539 * Helper function used to pad task names with spaces when printing out
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540 * human readable tables of task information.
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542 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
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545 /*-----------------------------------------------------------*/
\r
547 BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
549 BaseType_t xReturn;
\r
551 StackType_t *pxTopOfStack;
\r
553 configASSERT( pxTaskCode );
\r
554 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
556 /* Allocate the memory required by the TCB and stack for the new task,
\r
557 checking that the allocation was successful. */
\r
558 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
560 if( pxNewTCB != NULL )
\r
562 #if( portUSING_MPU_WRAPPERS == 1 )
\r
563 /* Should the task be created in privileged mode? */
\r
564 BaseType_t xRunPrivileged;
\r
565 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
567 xRunPrivileged = pdTRUE;
\r
571 xRunPrivileged = pdFALSE;
\r
573 uxPriority &= ~portPRIVILEGE_BIT;
\r
575 if( puxStackBuffer != NULL )
\r
577 /* The application provided its own stack. Note this so no
\r
578 attempt is made to delete the stack should that task be
\r
580 pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
\r
584 /* The stack was allocated dynamically. Note this so it can be
\r
585 deleted again if the task is deleted. */
\r
586 pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
\r
588 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
590 /* Calculate the top of stack address. This depends on whether the
\r
591 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
592 portSTACK_GROWTH is used to make the result positive or negative as
\r
593 required by the port. */
\r
594 #if( portSTACK_GROWTH < 0 )
\r
596 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
\r
597 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
599 /* Check the alignment of the calculated top of stack is correct. */
\r
600 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
602 #else /* portSTACK_GROWTH */
\r
604 pxTopOfStack = pxNewTCB->pxStack;
\r
606 /* Check the alignment of the stack buffer is correct. */
\r
607 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
609 /* If we want to use stack checking on architectures that use
\r
610 a positive stack growth direction then we also need to store the
\r
611 other extreme of the stack space. */
\r
612 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
614 #endif /* portSTACK_GROWTH */
\r
616 /* Setup the newly allocated TCB with the initial state of the task. */
\r
617 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
619 /* Initialize the TCB stack to look as if the task was already running,
\r
620 but had been interrupted by the scheduler. The return address is set
\r
621 to the start of the task function. Once the stack has been initialised
\r
622 the top of stack variable is updated. */
\r
623 #if( portUSING_MPU_WRAPPERS == 1 )
\r
625 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
627 #else /* portUSING_MPU_WRAPPERS */
\r
629 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
631 #endif /* portUSING_MPU_WRAPPERS */
\r
633 if( ( void * ) pxCreatedTask != NULL )
\r
635 /* Pass the TCB out - in an anonymous way. The calling function/
\r
636 task can use this as a handle to delete the task later if
\r
638 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
642 mtCOVERAGE_TEST_MARKER();
\r
645 /* Ensure interrupts don't access the task lists while they are being
\r
647 taskENTER_CRITICAL();
\r
649 uxCurrentNumberOfTasks++;
\r
650 if( pxCurrentTCB == NULL )
\r
652 /* There are no other tasks, or all the other tasks are in
\r
653 the suspended state - make this the current task. */
\r
654 pxCurrentTCB = pxNewTCB;
\r
656 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
658 /* This is the first task to be created so do the preliminary
\r
659 initialisation required. We will not recover if this call
\r
660 fails, but we will report the failure. */
\r
661 prvInitialiseTaskLists();
\r
665 mtCOVERAGE_TEST_MARKER();
\r
670 /* If the scheduler is not already running, make this task the
\r
671 current task if it is the highest priority task to be created
\r
673 if( xSchedulerRunning == pdFALSE )
\r
675 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
677 pxCurrentTCB = pxNewTCB;
\r
681 mtCOVERAGE_TEST_MARKER();
\r
686 mtCOVERAGE_TEST_MARKER();
\r
692 #if ( configUSE_TRACE_FACILITY == 1 )
\r
694 /* Add a counter into the TCB for tracing only. */
\r
695 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
697 #endif /* configUSE_TRACE_FACILITY */
\r
698 traceTASK_CREATE( pxNewTCB );
\r
700 prvAddTaskToReadyList( pxNewTCB );
\r
703 portSETUP_TCB( pxNewTCB );
\r
705 taskEXIT_CRITICAL();
\r
709 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
710 traceTASK_CREATE_FAILED();
\r
713 if( xReturn == pdPASS )
\r
715 if( xSchedulerRunning != pdFALSE )
\r
717 /* If the created task is of a higher priority than the current task
\r
718 then it should run now. */
\r
719 if( pxCurrentTCB->uxPriority < uxPriority )
\r
721 taskYIELD_IF_USING_PREEMPTION();
\r
725 mtCOVERAGE_TEST_MARKER();
\r
730 mtCOVERAGE_TEST_MARKER();
\r
736 /*-----------------------------------------------------------*/
\r
738 #if ( INCLUDE_vTaskDelete == 1 )
\r
740 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
744 taskENTER_CRITICAL();
\r
746 /* If null is passed in here then it is the calling task that is
\r
748 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
750 /* Remove task from the ready list and place in the termination list.
\r
751 This will stop the task from be scheduled. The idle task will check
\r
752 the termination list and free up any memory allocated by the
\r
753 scheduler for the TCB and stack. */
\r
754 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
756 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
760 mtCOVERAGE_TEST_MARKER();
\r
763 /* Is the task waiting on an event also? */
\r
764 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
766 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
770 mtCOVERAGE_TEST_MARKER();
\r
773 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
775 /* Increment the ucTasksDeleted variable so the idle task knows
\r
776 there is a task that has been deleted and that it should therefore
\r
777 check the xTasksWaitingTermination list. */
\r
780 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
781 can detect that the task lists need re-generating. */
\r
784 traceTASK_DELETE( pxTCB );
\r
786 taskEXIT_CRITICAL();
\r
788 /* Force a reschedule if it is the currently running task that has just
\r
790 if( xSchedulerRunning != pdFALSE )
\r
792 if( pxTCB == pxCurrentTCB )
\r
794 configASSERT( uxSchedulerSuspended == 0 );
\r
796 /* The pre-delete hook is primarily for the Windows simulator,
\r
797 in which Windows specific clean up operations are performed,
\r
798 after which it is not possible to yield away from this task -
\r
799 hence xYieldPending is used to latch that a context switch is
\r
801 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
802 portYIELD_WITHIN_API();
\r
806 /* Reset the next expected unblock time in case it referred to
\r
807 the task that has just been deleted. */
\r
808 taskENTER_CRITICAL();
\r
810 prvResetNextTaskUnblockTime();
\r
812 taskEXIT_CRITICAL();
\r
817 #endif /* INCLUDE_vTaskDelete */
\r
818 /*-----------------------------------------------------------*/
\r
820 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
822 void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
\r
824 TickType_t xTimeToWake;
\r
825 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
827 configASSERT( pxPreviousWakeTime );
\r
828 configASSERT( ( xTimeIncrement > 0U ) );
\r
829 configASSERT( uxSchedulerSuspended == 0 );
\r
833 /* Minor optimisation. The tick count cannot change in this
\r
835 const TickType_t xConstTickCount = xTickCount;
\r
837 /* Generate the tick time at which the task wants to wake. */
\r
838 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
840 if( xConstTickCount < *pxPreviousWakeTime )
\r
842 /* The tick count has overflowed since this function was
\r
843 lasted called. In this case the only time we should ever
\r
844 actually delay is if the wake time has also overflowed,
\r
845 and the wake time is greater than the tick time. When this
\r
846 is the case it is as if neither time had overflowed. */
\r
847 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
849 xShouldDelay = pdTRUE;
\r
853 mtCOVERAGE_TEST_MARKER();
\r
858 /* The tick time has not overflowed. In this case we will
\r
859 delay if either the wake time has overflowed, and/or the
\r
860 tick time is less than the wake time. */
\r
861 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
863 xShouldDelay = pdTRUE;
\r
867 mtCOVERAGE_TEST_MARKER();
\r
871 /* Update the wake time ready for the next call. */
\r
872 *pxPreviousWakeTime = xTimeToWake;
\r
874 if( xShouldDelay != pdFALSE )
\r
876 traceTASK_DELAY_UNTIL();
\r
878 /* Remove the task from the ready list before adding it to the
\r
879 blocked list as the same list item is used for both lists. */
\r
880 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
882 /* The current task must be in a ready list, so there is
\r
883 no need to check, and the port reset macro can be called
\r
885 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
889 mtCOVERAGE_TEST_MARKER();
\r
892 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
896 mtCOVERAGE_TEST_MARKER();
\r
899 xAlreadyYielded = xTaskResumeAll();
\r
901 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
902 have put ourselves to sleep. */
\r
903 if( xAlreadyYielded == pdFALSE )
\r
905 portYIELD_WITHIN_API();
\r
909 mtCOVERAGE_TEST_MARKER();
\r
913 #endif /* INCLUDE_vTaskDelayUntil */
\r
914 /*-----------------------------------------------------------*/
\r
916 #if ( INCLUDE_vTaskDelay == 1 )
\r
918 void vTaskDelay( const TickType_t xTicksToDelay )
\r
920 TickType_t xTimeToWake;
\r
921 BaseType_t xAlreadyYielded = pdFALSE;
\r
924 /* A delay time of zero just forces a reschedule. */
\r
925 if( xTicksToDelay > ( TickType_t ) 0U )
\r
927 configASSERT( uxSchedulerSuspended == 0 );
\r
932 /* A task that is removed from the event list while the
\r
933 scheduler is suspended will not get placed in the ready
\r
934 list or removed from the blocked list until the scheduler
\r
937 This task cannot be in an event list as it is the currently
\r
940 /* Calculate the time to wake - this may overflow but this is
\r
942 xTimeToWake = xTickCount + xTicksToDelay;
\r
944 /* We must remove ourselves from the ready list before adding
\r
945 ourselves to the blocked list as the same list item is used for
\r
947 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
949 /* The current task must be in a ready list, so there is
\r
950 no need to check, and the port reset macro can be called
\r
952 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
956 mtCOVERAGE_TEST_MARKER();
\r
958 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
960 xAlreadyYielded = xTaskResumeAll();
\r
964 mtCOVERAGE_TEST_MARKER();
\r
967 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
968 have put ourselves to sleep. */
\r
969 if( xAlreadyYielded == pdFALSE )
\r
971 portYIELD_WITHIN_API();
\r
975 mtCOVERAGE_TEST_MARKER();
\r
979 #endif /* INCLUDE_vTaskDelay */
\r
980 /*-----------------------------------------------------------*/
\r
982 #if ( INCLUDE_eTaskGetState == 1 )
\r
984 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
986 eTaskState eReturn;
\r
987 List_t *pxStateList;
\r
988 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
990 configASSERT( pxTCB );
\r
992 if( pxTCB == pxCurrentTCB )
\r
994 /* The task calling this function is querying its own state. */
\r
995 eReturn = eRunning;
\r
999 taskENTER_CRITICAL();
\r
1001 pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
1003 taskEXIT_CRITICAL();
\r
1005 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
1007 /* The task being queried is referenced from one of the Blocked
\r
1009 eReturn = eBlocked;
\r
1012 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1013 else if( pxStateList == &xSuspendedTaskList )
\r
1015 /* The task being queried is referenced from the suspended
\r
1016 list. Is it genuinely suspended or is it block
\r
1018 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1020 eReturn = eSuspended;
\r
1024 eReturn = eBlocked;
\r
1029 #if ( INCLUDE_vTaskDelete == 1 )
\r
1030 else if( pxStateList == &xTasksWaitingTermination )
\r
1032 /* The task being queried is referenced from the deleted
\r
1034 eReturn = eDeleted;
\r
1038 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1040 /* If the task is not in any other state, it must be in the
\r
1041 Ready (including pending ready) state. */
\r
1047 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1049 #endif /* INCLUDE_eTaskGetState */
\r
1050 /*-----------------------------------------------------------*/
\r
1052 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1054 UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
\r
1057 UBaseType_t uxReturn;
\r
1059 taskENTER_CRITICAL();
\r
1061 /* If null is passed in here then we are changing the
\r
1062 priority of the calling function. */
\r
1063 pxTCB = prvGetTCBFromHandle( xTask );
\r
1064 uxReturn = pxTCB->uxPriority;
\r
1066 taskEXIT_CRITICAL();
\r
1071 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1072 /*-----------------------------------------------------------*/
\r
1074 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1076 UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
\r
1079 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1081 /* RTOS ports that support interrupt nesting have the concept of a
\r
1082 maximum system call (or maximum API call) interrupt priority.
\r
1083 Interrupts that are above the maximum system call priority are keep
\r
1084 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1085 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1086 is defined in FreeRTOSConfig.h then
\r
1087 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1088 failure if a FreeRTOS API function is called from an interrupt that has
\r
1089 been assigned a priority above the configured maximum system call
\r
1090 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1091 from interrupts that have been assigned a priority at or (logically)
\r
1092 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1093 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1094 simple as possible. More information (albeit Cortex-M specific) is
\r
1095 provided on the following link:
\r
1096 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1097 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1099 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1101 /* If null is passed in here then it is the priority of the calling
\r
1102 task that is being queried. */
\r
1103 pxTCB = prvGetTCBFromHandle( xTask );
\r
1104 uxReturn = pxTCB->uxPriority;
\r
1106 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1111 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1112 /*-----------------------------------------------------------*/
\r
1114 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1116 void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
\r
1119 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1120 BaseType_t xYieldRequired = pdFALSE;
\r
1122 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
1124 /* Ensure the new priority is valid. */
\r
1125 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1127 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1131 mtCOVERAGE_TEST_MARKER();
\r
1134 taskENTER_CRITICAL();
\r
1136 /* If null is passed in here then it is the priority of the calling
\r
1137 task that is being changed. */
\r
1138 pxTCB = prvGetTCBFromHandle( xTask );
\r
1140 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1142 #if ( configUSE_MUTEXES == 1 )
\r
1144 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1148 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1152 if( uxCurrentBasePriority != uxNewPriority )
\r
1154 /* The priority change may have readied a task of higher
\r
1155 priority than the calling task. */
\r
1156 if( uxNewPriority > uxCurrentBasePriority )
\r
1158 if( pxTCB != pxCurrentTCB )
\r
1160 /* The priority of a task other than the currently
\r
1161 running task is being raised. Is the priority being
\r
1162 raised above that of the running task? */
\r
1163 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1165 xYieldRequired = pdTRUE;
\r
1169 mtCOVERAGE_TEST_MARKER();
\r
1174 /* The priority of the running task is being raised,
\r
1175 but the running task must already be the highest
\r
1176 priority task able to run so no yield is required. */
\r
1179 else if( pxTCB == pxCurrentTCB )
\r
1181 /* Setting the priority of the running task down means
\r
1182 there may now be another task of higher priority that
\r
1183 is ready to execute. */
\r
1184 xYieldRequired = pdTRUE;
\r
1188 /* Setting the priority of any other task down does not
\r
1189 require a yield as the running task must be above the
\r
1190 new priority of the task being modified. */
\r
1193 /* Remember the ready list the task might be referenced from
\r
1194 before its uxPriority member is changed so the
\r
1195 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1196 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1198 #if ( configUSE_MUTEXES == 1 )
\r
1200 /* Only change the priority being used if the task is not
\r
1201 currently using an inherited priority. */
\r
1202 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1204 pxTCB->uxPriority = uxNewPriority;
\r
1208 mtCOVERAGE_TEST_MARKER();
\r
1211 /* The base priority gets set whatever. */
\r
1212 pxTCB->uxBasePriority = uxNewPriority;
\r
1216 pxTCB->uxPriority = uxNewPriority;
\r
1220 /* Only reset the event list item value if the value is not
\r
1221 being used for anything else. */
\r
1222 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1224 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
1228 mtCOVERAGE_TEST_MARKER();
\r
1231 /* If the task is in the blocked or suspended list we need do
\r
1232 nothing more than change it's priority variable. However, if
\r
1233 the task is in a ready list it needs to be removed and placed
\r
1234 in the list appropriate to its new priority. */
\r
1235 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1237 /* The task is currently in its ready list - remove before adding
\r
1238 it to it's new ready list. As we are in a critical section we
\r
1239 can do this even if the scheduler is suspended. */
\r
1240 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1242 /* It is known that the task is in its ready list so
\r
1243 there is no need to check again and the port level
\r
1244 reset macro can be called directly. */
\r
1245 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1249 mtCOVERAGE_TEST_MARKER();
\r
1251 prvAddTaskToReadyList( pxTCB );
\r
1255 mtCOVERAGE_TEST_MARKER();
\r
1258 if( xYieldRequired == pdTRUE )
\r
1260 taskYIELD_IF_USING_PREEMPTION();
\r
1264 mtCOVERAGE_TEST_MARKER();
\r
1267 /* Remove compiler warning about unused variables when the port
\r
1268 optimised task selection is not being used. */
\r
1269 ( void ) uxPriorityUsedOnEntry;
\r
1272 taskEXIT_CRITICAL();
\r
1275 #endif /* INCLUDE_vTaskPrioritySet */
\r
1276 /*-----------------------------------------------------------*/
\r
1278 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1280 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1284 taskENTER_CRITICAL();
\r
1286 /* If null is passed in here then it is the running task that is
\r
1287 being suspended. */
\r
1288 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1290 traceTASK_SUSPEND( pxTCB );
\r
1292 /* Remove task from the ready/delayed list and place in the
\r
1293 suspended list. */
\r
1294 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
1296 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1300 mtCOVERAGE_TEST_MARKER();
\r
1303 /* Is the task waiting on an event also? */
\r
1304 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1306 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1310 mtCOVERAGE_TEST_MARKER();
\r
1313 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1315 taskEXIT_CRITICAL();
\r
1317 if( pxTCB == pxCurrentTCB )
\r
1319 if( xSchedulerRunning != pdFALSE )
\r
1321 /* The current task has just been suspended. */
\r
1322 configASSERT( uxSchedulerSuspended == 0 );
\r
1323 portYIELD_WITHIN_API();
\r
1327 /* The scheduler is not running, but the task that was pointed
\r
1328 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1329 must be adjusted to point to a different task. */
\r
1330 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1332 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1333 NULL so when the next task is created pxCurrentTCB will
\r
1334 be set to point to it no matter what its relative priority
\r
1336 pxCurrentTCB = NULL;
\r
1340 vTaskSwitchContext();
\r
1346 if( xSchedulerRunning != pdFALSE )
\r
1348 /* A task other than the currently running task was suspended,
\r
1349 reset the next expected unblock time in case it referred to the
\r
1350 task that is now in the Suspended state. */
\r
1351 taskENTER_CRITICAL();
\r
1353 prvResetNextTaskUnblockTime();
\r
1355 taskEXIT_CRITICAL();
\r
1359 mtCOVERAGE_TEST_MARKER();
\r
1364 #endif /* INCLUDE_vTaskSuspend */
\r
1365 /*-----------------------------------------------------------*/
\r
1367 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1369 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1371 BaseType_t xReturn = pdFALSE;
\r
1372 const TCB_t * const pxTCB = ( TCB_t * ) xTask;
\r
1374 /* Accesses xPendingReadyList so must be called from a critical
\r
1377 /* It does not make sense to check if the calling task is suspended. */
\r
1378 configASSERT( xTask );
\r
1380 /* Is the task being resumed actually in the suspended list? */
\r
1381 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1383 /* Has the task already been resumed from within an ISR? */
\r
1384 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1386 /* Is it in the suspended list because it is in the Suspended
\r
1387 state, or because is is blocked with no timeout? */
\r
1388 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1394 mtCOVERAGE_TEST_MARKER();
\r
1399 mtCOVERAGE_TEST_MARKER();
\r
1404 mtCOVERAGE_TEST_MARKER();
\r
1408 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1410 #endif /* INCLUDE_vTaskSuspend */
\r
1411 /*-----------------------------------------------------------*/
\r
1413 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1415 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1417 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1419 /* It does not make sense to resume the calling task. */
\r
1420 configASSERT( xTaskToResume );
\r
1422 /* The parameter cannot be NULL as it is impossible to resume the
\r
1423 currently executing task. */
\r
1424 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1426 taskENTER_CRITICAL();
\r
1428 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1430 traceTASK_RESUME( pxTCB );
\r
1432 /* As we are in a critical section we can access the ready
\r
1433 lists even if the scheduler is suspended. */
\r
1434 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1435 prvAddTaskToReadyList( pxTCB );
\r
1437 /* We may have just resumed a higher priority task. */
\r
1438 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1440 /* This yield may not cause the task just resumed to run,
\r
1441 but will leave the lists in the correct state for the
\r
1443 taskYIELD_IF_USING_PREEMPTION();
\r
1447 mtCOVERAGE_TEST_MARKER();
\r
1452 mtCOVERAGE_TEST_MARKER();
\r
1455 taskEXIT_CRITICAL();
\r
1459 mtCOVERAGE_TEST_MARKER();
\r
1463 #endif /* INCLUDE_vTaskSuspend */
\r
1465 /*-----------------------------------------------------------*/
\r
1467 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1469 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1471 BaseType_t xYieldRequired = pdFALSE;
\r
1472 TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;
\r
1473 UBaseType_t uxSavedInterruptStatus;
\r
1475 configASSERT( xTaskToResume );
\r
1477 /* RTOS ports that support interrupt nesting have the concept of a
\r
1478 maximum system call (or maximum API call) interrupt priority.
\r
1479 Interrupts that are above the maximum system call priority are keep
\r
1480 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1481 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1482 is defined in FreeRTOSConfig.h then
\r
1483 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1484 failure if a FreeRTOS API function is called from an interrupt that has
\r
1485 been assigned a priority above the configured maximum system call
\r
1486 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1487 from interrupts that have been assigned a priority at or (logically)
\r
1488 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1489 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1490 simple as possible. More information (albeit Cortex-M specific) is
\r
1491 provided on the following link:
\r
1492 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1493 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1495 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1497 if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1499 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1501 /* Check the ready lists can be accessed. */
\r
1502 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1504 /* Ready lists can be accessed so move the task from the
\r
1505 suspended list to the ready list directly. */
\r
1506 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1508 xYieldRequired = pdTRUE;
\r
1512 mtCOVERAGE_TEST_MARKER();
\r
1515 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1516 prvAddTaskToReadyList( pxTCB );
\r
1520 /* The delayed or ready lists cannot be accessed so the task
\r
1521 is held in the pending ready list until the scheduler is
\r
1523 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1528 mtCOVERAGE_TEST_MARKER();
\r
1531 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1533 return xYieldRequired;
\r
1536 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1537 /*-----------------------------------------------------------*/
\r
1539 void vTaskStartScheduler( void )
\r
1541 BaseType_t xReturn;
\r
1543 /* Add the idle task at the lowest priority. */
\r
1544 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1546 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1547 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1548 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1552 /* Create the idle task without storing its handle. */
\r
1553 xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1555 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1557 #if ( configUSE_TIMERS == 1 )
\r
1559 if( xReturn == pdPASS )
\r
1561 xReturn = xTimerCreateTimerTask();
\r
1565 mtCOVERAGE_TEST_MARKER();
\r
1568 #endif /* configUSE_TIMERS */
\r
1570 if( xReturn == pdPASS )
\r
1572 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1573 before or during the call to xPortStartScheduler(). The stacks of
\r
1574 the created tasks contain a status word with interrupts switched on
\r
1575 so interrupts will automatically get re-enabled when the first task
\r
1577 portDISABLE_INTERRUPTS();
\r
1579 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1581 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1582 structure specific to the task that will run first. */
\r
1583 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1585 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1587 xSchedulerRunning = pdTRUE;
\r
1588 xTickCount = ( TickType_t ) 0U;
\r
1590 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1591 macro must be defined to configure the timer/counter used to generate
\r
1592 the run time counter time base. */
\r
1593 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1595 /* Setting up the timer tick is hardware specific and thus in the
\r
1596 portable interface. */
\r
1597 if( xPortStartScheduler() != pdFALSE )
\r
1599 /* Should not reach here as if the scheduler is running the
\r
1600 function will not return. */
\r
1604 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1609 /* This line will only be reached if the kernel could not be started,
\r
1610 because there was not enough FreeRTOS heap to create the idle task
\r
1611 or the timer task. */
\r
1612 configASSERT( xReturn );
\r
1615 /*-----------------------------------------------------------*/
\r
1617 void vTaskEndScheduler( void )
\r
1619 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1620 routine so the original ISRs can be restored if necessary. The port
\r
1621 layer must ensure interrupts enable bit is left in the correct state. */
\r
1622 portDISABLE_INTERRUPTS();
\r
1623 xSchedulerRunning = pdFALSE;
\r
1624 vPortEndScheduler();
\r
1626 /*----------------------------------------------------------*/
\r
1628 void vTaskSuspendAll( void )
\r
1630 /* A critical section is not required as the variable is of type
\r
1631 BaseType_t. Please read Richard Barry's reply in the following link to a
\r
1632 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1633 http://goo.gl/wu4acr */
\r
1634 ++uxSchedulerSuspended;
\r
1636 /*----------------------------------------------------------*/
\r
1638 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1640 static TickType_t prvGetExpectedIdleTime( void )
\r
1642 TickType_t xReturn;
\r
1644 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1648 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1650 /* There are other idle priority tasks in the ready state. If
\r
1651 time slicing is used then the very next tick interrupt must be
\r
1657 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1663 #endif /* configUSE_TICKLESS_IDLE */
\r
1664 /*----------------------------------------------------------*/
\r
1666 BaseType_t xTaskResumeAll( void )
\r
1669 BaseType_t xAlreadyYielded = pdFALSE;
\r
1671 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1672 previous call to vTaskSuspendAll(). */
\r
1673 configASSERT( uxSchedulerSuspended );
\r
1675 /* It is possible that an ISR caused a task to be removed from an event
\r
1676 list while the scheduler was suspended. If this was the case then the
\r
1677 removed task will have been added to the xPendingReadyList. Once the
\r
1678 scheduler has been resumed it is safe to move all the pending ready
\r
1679 tasks from this list into their appropriate ready list. */
\r
1680 taskENTER_CRITICAL();
\r
1682 --uxSchedulerSuspended;
\r
1684 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1686 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
1688 /* Move any readied tasks from the pending list into the
\r
1689 appropriate ready list. */
\r
1690 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1692 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1693 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1694 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1695 prvAddTaskToReadyList( pxTCB );
\r
1697 /* If the moved task has a priority higher than the current
\r
1698 task then a yield must be performed. */
\r
1699 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1701 xYieldPending = pdTRUE;
\r
1705 mtCOVERAGE_TEST_MARKER();
\r
1709 /* If any ticks occurred while the scheduler was suspended then
\r
1710 they should be processed now. This ensures the tick count does
\r
1711 not slip, and that any delayed tasks are resumed at the correct
\r
1713 if( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1715 while( uxPendedTicks > ( UBaseType_t ) 0U )
\r
1717 if( xTaskIncrementTick() != pdFALSE )
\r
1719 xYieldPending = pdTRUE;
\r
1723 mtCOVERAGE_TEST_MARKER();
\r
1730 mtCOVERAGE_TEST_MARKER();
\r
1733 if( xYieldPending == pdTRUE )
\r
1735 #if( configUSE_PREEMPTION != 0 )
\r
1737 xAlreadyYielded = pdTRUE;
\r
1740 taskYIELD_IF_USING_PREEMPTION();
\r
1744 mtCOVERAGE_TEST_MARKER();
\r
1750 mtCOVERAGE_TEST_MARKER();
\r
1753 taskEXIT_CRITICAL();
\r
1755 return xAlreadyYielded;
\r
1757 /*-----------------------------------------------------------*/
\r
1759 TickType_t xTaskGetTickCount( void )
\r
1761 TickType_t xTicks;
\r
1763 /* Critical section required if running on a 16 bit processor. */
\r
1764 portTICK_TYPE_ENTER_CRITICAL();
\r
1766 xTicks = xTickCount;
\r
1768 portTICK_TYPE_EXIT_CRITICAL();
\r
1772 /*-----------------------------------------------------------*/
\r
1774 TickType_t xTaskGetTickCountFromISR( void )
\r
1776 TickType_t xReturn;
\r
1777 UBaseType_t uxSavedInterruptStatus;
\r
1779 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1780 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1781 above the maximum system call priority are kept permanently enabled, even
\r
1782 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1783 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1784 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1785 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1786 assigned a priority above the configured maximum system call priority.
\r
1787 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1788 that have been assigned a priority at or (logically) below the maximum
\r
1789 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1790 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1791 More information (albeit Cortex-M specific) is provided on the following
\r
1792 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1793 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1795 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
1797 xReturn = xTickCount;
\r
1799 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1803 /*-----------------------------------------------------------*/
\r
1805 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
1807 /* A critical section is not required because the variables are of type
\r
1809 return uxCurrentNumberOfTasks;
\r
1811 /*-----------------------------------------------------------*/
\r
1813 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1815 char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
1819 /* If null is passed in here then the name of the calling task is being queried. */
\r
1820 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1821 configASSERT( pxTCB );
\r
1822 return &( pxTCB->pcTaskName[ 0 ] );
\r
1825 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1826 /*-----------------------------------------------------------*/
\r
1828 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1830 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
\r
1832 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1834 vTaskSuspendAll();
\r
1836 /* Is there a space in the array for each task in the system? */
\r
1837 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1839 /* Fill in an TaskStatus_t structure with information on each
\r
1840 task in the Ready state. */
\r
1844 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1846 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1848 /* Fill in an TaskStatus_t structure with information on each
\r
1849 task in the Blocked state. */
\r
1850 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
1851 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
1853 #if( INCLUDE_vTaskDelete == 1 )
\r
1855 /* Fill in an TaskStatus_t structure with information on
\r
1856 each task that has been deleted but not yet cleaned up. */
\r
1857 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1861 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1863 /* Fill in an TaskStatus_t structure with information on
\r
1864 each task in the Suspended state. */
\r
1865 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1869 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1871 if( pulTotalRunTime != NULL )
\r
1873 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1874 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1876 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1882 if( pulTotalRunTime != NULL )
\r
1884 *pulTotalRunTime = 0;
\r
1891 mtCOVERAGE_TEST_MARKER();
\r
1894 ( void ) xTaskResumeAll();
\r
1899 #endif /* configUSE_TRACE_FACILITY */
\r
1900 /*----------------------------------------------------------*/
\r
1902 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1904 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
1906 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1907 started, then xIdleTaskHandle will be NULL. */
\r
1908 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1909 return xIdleTaskHandle;
\r
1912 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1913 /*----------------------------------------------------------*/
\r
1915 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1916 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1917 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1919 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1921 void vTaskStepTick( const TickType_t xTicksToJump )
\r
1923 /* Correct the tick count value after a period during which the tick
\r
1924 was suppressed. Note this does *not* call the tick hook function for
\r
1925 each stepped tick. */
\r
1926 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1927 xTickCount += xTicksToJump;
\r
1928 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1931 #endif /* configUSE_TICKLESS_IDLE */
\r
1932 /*----------------------------------------------------------*/
\r
1934 BaseType_t xTaskIncrementTick( void )
\r
1937 TickType_t xItemValue;
\r
1938 BaseType_t xSwitchRequired = pdFALSE;
\r
1940 /* Called by the portable layer each time a tick interrupt occurs.
\r
1941 Increments the tick then checks to see if the new tick value will cause any
\r
1942 tasks to be unblocked. */
\r
1943 traceTASK_INCREMENT_TICK( xTickCount );
\r
1944 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1946 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1947 delayed lists if it wraps to 0. */
\r
1951 /* Minor optimisation. The tick count cannot change in this
\r
1953 const TickType_t xConstTickCount = xTickCount;
\r
1955 if( xConstTickCount == ( TickType_t ) 0U )
\r
1957 taskSWITCH_DELAYED_LISTS();
\r
1961 mtCOVERAGE_TEST_MARKER();
\r
1964 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1965 the queue in the order of their wake time - meaning once one task
\r
1966 has been found whose block time has not expired there is no need to
\r
1967 look any further down the list. */
\r
1968 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1972 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1974 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1975 to the maximum possible value so it is extremely
\r
1977 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1978 next time through. */
\r
1979 xNextTaskUnblockTime = portMAX_DELAY;
\r
1984 /* The delayed list is not empty, get the value of the
\r
1985 item at the head of the delayed list. This is the time
\r
1986 at which the task at the head of the delayed list must
\r
1987 be removed from the Blocked state. */
\r
1988 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1989 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1991 if( xConstTickCount < xItemValue )
\r
1993 /* It is not time to unblock this item yet, but the
\r
1994 item value is the time at which the task at the head
\r
1995 of the blocked list must be removed from the Blocked
\r
1996 state - so record the item value in
\r
1997 xNextTaskUnblockTime. */
\r
1998 xNextTaskUnblockTime = xItemValue;
\r
2003 mtCOVERAGE_TEST_MARKER();
\r
2006 /* It is time to remove the item from the Blocked state. */
\r
2007 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2009 /* Is the task waiting on an event also? If so remove
\r
2010 it from the event list. */
\r
2011 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2013 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2017 mtCOVERAGE_TEST_MARKER();
\r
2020 /* Place the unblocked task into the appropriate ready
\r
2022 prvAddTaskToReadyList( pxTCB );
\r
2024 /* A task being unblocked cannot cause an immediate
\r
2025 context switch if preemption is turned off. */
\r
2026 #if ( configUSE_PREEMPTION == 1 )
\r
2028 /* Preemption is on, but a context switch should
\r
2029 only be performed if the unblocked task has a
\r
2030 priority that is equal to or higher than the
\r
2031 currently executing task. */
\r
2032 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2034 xSwitchRequired = pdTRUE;
\r
2038 mtCOVERAGE_TEST_MARKER();
\r
2041 #endif /* configUSE_PREEMPTION */
\r
2047 /* Tasks of equal priority to the currently running task will share
\r
2048 processing time (time slice) if preemption is on, and the application
\r
2049 writer has not explicitly turned time slicing off. */
\r
2050 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2052 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2054 xSwitchRequired = pdTRUE;
\r
2058 mtCOVERAGE_TEST_MARKER();
\r
2061 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2063 #if ( configUSE_TICK_HOOK == 1 )
\r
2065 /* Guard against the tick hook being called when the pended tick
\r
2066 count is being unwound (when the scheduler is being unlocked). */
\r
2067 if( uxPendedTicks == ( UBaseType_t ) 0U )
\r
2069 vApplicationTickHook();
\r
2073 mtCOVERAGE_TEST_MARKER();
\r
2076 #endif /* configUSE_TICK_HOOK */
\r
2082 /* The tick hook gets called at regular intervals, even if the
\r
2083 scheduler is locked. */
\r
2084 #if ( configUSE_TICK_HOOK == 1 )
\r
2086 vApplicationTickHook();
\r
2091 #if ( configUSE_PREEMPTION == 1 )
\r
2093 if( xYieldPending != pdFALSE )
\r
2095 xSwitchRequired = pdTRUE;
\r
2099 mtCOVERAGE_TEST_MARKER();
\r
2102 #endif /* configUSE_PREEMPTION */
\r
2104 return xSwitchRequired;
\r
2106 /*-----------------------------------------------------------*/
\r
2108 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2110 void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
\r
2114 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2116 if( xTask == NULL )
\r
2118 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2122 xTCB = ( TCB_t * ) xTask;
\r
2125 /* Save the hook function in the TCB. A critical section is required as
\r
2126 the value can be accessed from an interrupt. */
\r
2127 taskENTER_CRITICAL();
\r
2128 xTCB->pxTaskTag = pxHookFunction;
\r
2129 taskEXIT_CRITICAL();
\r
2132 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2133 /*-----------------------------------------------------------*/
\r
2135 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2137 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2140 TaskHookFunction_t xReturn;
\r
2142 /* If xTask is NULL then we are setting our own task hook. */
\r
2143 if( xTask == NULL )
\r
2145 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2149 xTCB = ( TCB_t * ) xTask;
\r
2152 /* Save the hook function in the TCB. A critical section is required as
\r
2153 the value can be accessed from an interrupt. */
\r
2154 taskENTER_CRITICAL();
\r
2156 xReturn = xTCB->pxTaskTag;
\r
2158 taskEXIT_CRITICAL();
\r
2163 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2164 /*-----------------------------------------------------------*/
\r
2166 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2168 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
\r
2171 BaseType_t xReturn;
\r
2173 /* If xTask is NULL then we are calling our own task hook. */
\r
2174 if( xTask == NULL )
\r
2176 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2180 xTCB = ( TCB_t * ) xTask;
\r
2183 if( xTCB->pxTaskTag != NULL )
\r
2185 xReturn = xTCB->pxTaskTag( pvParameter );
\r
2195 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2196 /*-----------------------------------------------------------*/
\r
2198 void vTaskSwitchContext( void )
\r
2200 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
2202 /* The scheduler is currently suspended - do not allow a context
\r
2204 xYieldPending = pdTRUE;
\r
2208 xYieldPending = pdFALSE;
\r
2209 traceTASK_SWITCHED_OUT();
\r
2211 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2213 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2214 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
2216 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2219 /* Add the amount of time the task has been running to the
\r
2220 accumulated time so far. The time the task started running was
\r
2221 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
2222 protection here so count values are only valid until the timer
\r
2223 overflows. The guard against negative values is to protect
\r
2224 against suspect run time stat counter implementations - which
\r
2225 are provided by the application, not the kernel. */
\r
2226 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
2228 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
2232 mtCOVERAGE_TEST_MARKER();
\r
2234 ulTaskSwitchedInTime = ulTotalRunTime;
\r
2236 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2238 /* Check for stack overflow, if configured. */
\r
2239 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
2240 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
2242 /* Select a new task to run using either the generic C or port
\r
2243 optimised asm code. */
\r
2244 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
2245 traceTASK_SWITCHED_IN();
\r
2247 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2249 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2250 structure specific to this task. */
\r
2251 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2253 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2256 /*-----------------------------------------------------------*/
\r
2258 void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2260 TickType_t xTimeToWake;
\r
2262 configASSERT( pxEventList );
\r
2264 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
2265 SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
2267 /* Place the event list item of the TCB in the appropriate event list.
\r
2268 This is placed in the list in priority order so the highest priority task
\r
2269 is the first to be woken by the event. The queue that contains the event
\r
2270 list is locked, preventing simultaneous access from interrupts. */
\r
2271 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2273 /* The task must be removed from from the ready list before it is added to
\r
2274 the blocked list as the same list item is used for both lists. Exclusive
\r
2275 access to the ready lists guaranteed because the scheduler is locked. */
\r
2276 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2278 /* The current task must be in a ready list, so there is no need to
\r
2279 check, and the port reset macro can be called directly. */
\r
2280 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2284 mtCOVERAGE_TEST_MARKER();
\r
2287 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2289 if( xTicksToWait == portMAX_DELAY )
\r
2291 /* Add the task to the suspended task list instead of a delayed task
\r
2292 list to ensure the task is not woken by a timing event. It will
\r
2293 block indefinitely. */
\r
2294 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2298 /* Calculate the time at which the task should be woken if the event
\r
2299 does not occur. This may overflow but this doesn't matter, the
\r
2300 scheduler will handle it. */
\r
2301 xTimeToWake = xTickCount + xTicksToWait;
\r
2302 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2305 #else /* INCLUDE_vTaskSuspend */
\r
2307 /* Calculate the time at which the task should be woken if the event does
\r
2308 not occur. This may overflow but this doesn't matter, the scheduler
\r
2309 will handle it. */
\r
2310 xTimeToWake = xTickCount + xTicksToWait;
\r
2311 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2313 #endif /* INCLUDE_vTaskSuspend */
\r
2315 /*-----------------------------------------------------------*/
\r
2317 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
\r
2319 TickType_t xTimeToWake;
\r
2321 configASSERT( pxEventList );
\r
2323 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2324 the event groups implementation. */
\r
2325 configASSERT( uxSchedulerSuspended != 0 );
\r
2327 /* Store the item value in the event list item. It is safe to access the
\r
2328 event list item here as interrupts won't access the event list item of a
\r
2329 task that is not in the Blocked state. */
\r
2330 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2332 /* Place the event list item of the TCB at the end of the appropriate event
\r
2333 list. It is safe to access the event list here because it is part of an
\r
2334 event group implementation - and interrupts don't access event groups
\r
2335 directly (instead they access them indirectly by pending function calls to
\r
2336 the task level). */
\r
2337 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2339 /* The task must be removed from the ready list before it is added to the
\r
2340 blocked list. Exclusive access can be assured to the ready list as the
\r
2341 scheduler is locked. */
\r
2342 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2344 /* The current task must be in a ready list, so there is no need to
\r
2345 check, and the port reset macro can be called directly. */
\r
2346 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2350 mtCOVERAGE_TEST_MARKER();
\r
2353 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2355 if( xTicksToWait == portMAX_DELAY )
\r
2357 /* Add the task to the suspended task list instead of a delayed task
\r
2358 list to ensure it is not woken by a timing event. It will block
\r
2360 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2364 /* Calculate the time at which the task should be woken if the event
\r
2365 does not occur. This may overflow but this doesn't matter, the
\r
2366 kernel will manage it correctly. */
\r
2367 xTimeToWake = xTickCount + xTicksToWait;
\r
2368 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2371 #else /* INCLUDE_vTaskSuspend */
\r
2373 /* Calculate the time at which the task should be woken if the event does
\r
2374 not occur. This may overflow but this doesn't matter, the kernel
\r
2375 will manage it correctly. */
\r
2376 xTimeToWake = xTickCount + xTicksToWait;
\r
2377 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2379 #endif /* INCLUDE_vTaskSuspend */
\r
2381 /*-----------------------------------------------------------*/
\r
2383 #if configUSE_TIMERS == 1
\r
2385 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
\r
2387 TickType_t xTimeToWake;
\r
2389 configASSERT( pxEventList );
\r
2391 /* This function should not be called by application code hence the
\r
2392 'Restricted' in its name. It is not part of the public API. It is
\r
2393 designed for use by kernel code, and has special calling requirements -
\r
2394 it should be called from a critical section. */
\r
2397 /* Place the event list item of the TCB in the appropriate event list.
\r
2398 In this case it is assume that this is the only task that is going to
\r
2399 be waiting on this event list, so the faster vListInsertEnd() function
\r
2400 can be used in place of vListInsert. */
\r
2401 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2403 /* We must remove this task from the ready list before adding it to the
\r
2404 blocked list as the same list item is used for both lists. This
\r
2405 function is called form a critical section. */
\r
2406 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
2408 /* The current task must be in a ready list, so there is no need to
\r
2409 check, and the port reset macro can be called directly. */
\r
2410 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2414 mtCOVERAGE_TEST_MARKER();
\r
2417 /* Calculate the time at which the task should be woken if the event does
\r
2418 not occur. This may overflow but this doesn't matter. */
\r
2419 xTimeToWake = xTickCount + xTicksToWait;
\r
2421 traceTASK_DELAY_UNTIL();
\r
2422 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2425 #endif /* configUSE_TIMERS */
\r
2426 /*-----------------------------------------------------------*/
\r
2428 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
2430 TCB_t *pxUnblockedTCB;
\r
2431 BaseType_t xReturn;
\r
2433 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
2434 called from a critical section within an ISR. */
\r
2436 /* The event list is sorted in priority order, so the first in the list can
\r
2437 be removed as it is known to be the highest priority. Remove the TCB from
\r
2438 the delayed list, and add it to the ready list.
\r
2440 If an event is for a queue that is locked then this function will never
\r
2441 get called - the lock count on the queue will get modified instead. This
\r
2442 means exclusive access to the event list is guaranteed here.
\r
2444 This function assumes that a check has already been made to ensure that
\r
2445 pxEventList is not empty. */
\r
2446 pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2447 configASSERT( pxUnblockedTCB );
\r
2448 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2450 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2452 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2453 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2457 /* The delayed and ready lists cannot be accessed, so hold this task
\r
2458 pending until the scheduler is resumed. */
\r
2459 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2462 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2464 /* Return true if the task removed from the event list has a higher
\r
2465 priority than the calling task. This allows the calling task to know if
\r
2466 it should force a context switch now. */
\r
2469 /* Mark that a yield is pending in case the user is not using the
\r
2470 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2471 xYieldPending = pdTRUE;
\r
2475 xReturn = pdFALSE;
\r
2478 #if( configUSE_TICKLESS_IDLE == 1 )
\r
2480 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
2481 might be set to the blocked task's time out time. If the task is
\r
2482 unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
2483 normally left unchanged, because it is automatically get reset to a new
\r
2484 value when the tick count equals xNextTaskUnblockTime. However if
\r
2485 tickless idling is used it might be more important to enter sleep mode
\r
2486 at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
2487 ensure it is updated at the earliest possible time. */
\r
2488 prvResetNextTaskUnblockTime();
\r
2494 /*-----------------------------------------------------------*/
\r
2496 BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
\r
2498 TCB_t *pxUnblockedTCB;
\r
2499 BaseType_t xReturn;
\r
2501 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
2502 the event flags implementation. */
\r
2503 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
2505 /* Store the new item value in the event list. */
\r
2506 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
2508 /* Remove the event list form the event flag. Interrupts do not access
\r
2510 pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2511 configASSERT( pxUnblockedTCB );
\r
2512 ( void ) uxListRemove( pxEventListItem );
\r
2514 /* Remove the task from the delayed list and add it to the ready list. The
\r
2515 scheduler is suspended so interrupts will not be accessing the ready
\r
2517 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2518 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2520 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2522 /* Return true if the task removed from the event list has
\r
2523 a higher priority than the calling task. This allows
\r
2524 the calling task to know if it should force a context
\r
2528 /* Mark that a yield is pending in case the user is not using the
\r
2529 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2530 xYieldPending = pdTRUE;
\r
2534 xReturn = pdFALSE;
\r
2539 /*-----------------------------------------------------------*/
\r
2541 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
2543 configASSERT( pxTimeOut );
\r
2544 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2545 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2547 /*-----------------------------------------------------------*/
\r
2549 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
\r
2551 BaseType_t xReturn;
\r
2553 configASSERT( pxTimeOut );
\r
2554 configASSERT( pxTicksToWait );
\r
2556 taskENTER_CRITICAL();
\r
2558 /* Minor optimisation. The tick count cannot change in this block. */
\r
2559 const TickType_t xConstTickCount = xTickCount;
\r
2561 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2562 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2563 the maximum block time then the task should block indefinitely, and
\r
2564 therefore never time out. */
\r
2565 if( *pxTicksToWait == portMAX_DELAY )
\r
2567 xReturn = pdFALSE;
\r
2569 else /* We are not blocking indefinitely, perform the checks below. */
\r
2572 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2574 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2575 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2576 It must have wrapped all the way around and gone past us again. This
\r
2577 passed since vTaskSetTimeout() was called. */
\r
2580 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2582 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2583 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2584 vTaskSetTimeOutState( pxTimeOut );
\r
2585 xReturn = pdFALSE;
\r
2592 taskEXIT_CRITICAL();
\r
2596 /*-----------------------------------------------------------*/
\r
2598 void vTaskMissedYield( void )
\r
2600 xYieldPending = pdTRUE;
\r
2602 /*-----------------------------------------------------------*/
\r
2604 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2606 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
2608 UBaseType_t uxReturn;
\r
2611 if( xTask != NULL )
\r
2613 pxTCB = ( TCB_t * ) xTask;
\r
2614 uxReturn = pxTCB->uxTaskNumber;
\r
2624 #endif /* configUSE_TRACE_FACILITY */
\r
2625 /*-----------------------------------------------------------*/
\r
2627 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2629 void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
\r
2633 if( xTask != NULL )
\r
2635 pxTCB = ( TCB_t * ) xTask;
\r
2636 pxTCB->uxTaskNumber = uxHandle;
\r
2640 #endif /* configUSE_TRACE_FACILITY */
\r
2643 * -----------------------------------------------------------
\r
2645 * ----------------------------------------------------------
\r
2647 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2648 * language extensions. The equivalent prototype for this function is:
\r
2650 * void prvIdleTask( void *pvParameters );
\r
2653 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2655 /* Stop warnings. */
\r
2656 ( void ) pvParameters;
\r
2660 /* See if any tasks have been deleted. */
\r
2661 prvCheckTasksWaitingTermination();
\r
2663 #if ( configUSE_PREEMPTION == 0 )
\r
2665 /* If we are not using preemption we keep forcing a task switch to
\r
2666 see if any other task has become available. If we are using
\r
2667 preemption we don't need to do this as any task becoming available
\r
2668 will automatically get the processor anyway. */
\r
2671 #endif /* configUSE_PREEMPTION */
\r
2673 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2675 /* When using preemption tasks of equal priority will be
\r
2676 timesliced. If a task that is sharing the idle priority is ready
\r
2677 to run then the idle task should yield before the end of the
\r
2680 A critical region is not required here as we are just reading from
\r
2681 the list, and an occasional incorrect value will not matter. If
\r
2682 the ready list at the idle priority contains more than one task
\r
2683 then a task other than the idle task is ready to execute. */
\r
2684 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
2690 mtCOVERAGE_TEST_MARKER();
\r
2693 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2695 #if ( configUSE_IDLE_HOOK == 1 )
\r
2697 extern void vApplicationIdleHook( void );
\r
2699 /* Call the user defined function from within the idle task. This
\r
2700 allows the application designer to add background functionality
\r
2701 without the overhead of a separate task.
\r
2702 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2703 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2704 vApplicationIdleHook();
\r
2706 #endif /* configUSE_IDLE_HOOK */
\r
2708 /* This conditional compilation should use inequality to 0, not equality
\r
2709 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2710 user defined low power mode implementations require
\r
2711 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2712 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2714 TickType_t xExpectedIdleTime;
\r
2716 /* It is not desirable to suspend then resume the scheduler on
\r
2717 each iteration of the idle task. Therefore, a preliminary
\r
2718 test of the expected idle time is performed without the
\r
2719 scheduler suspended. The result here is not necessarily
\r
2721 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2723 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2725 vTaskSuspendAll();
\r
2727 /* Now the scheduler is suspended, the expected idle
\r
2728 time can be sampled again, and this time its value can
\r
2730 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2731 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2733 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2735 traceLOW_POWER_IDLE_BEGIN();
\r
2736 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2737 traceLOW_POWER_IDLE_END();
\r
2741 mtCOVERAGE_TEST_MARKER();
\r
2744 ( void ) xTaskResumeAll();
\r
2748 mtCOVERAGE_TEST_MARKER();
\r
2751 #endif /* configUSE_TICKLESS_IDLE */
\r
2754 /*-----------------------------------------------------------*/
\r
2756 #if configUSE_TICKLESS_IDLE != 0
\r
2758 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2760 eSleepModeStatus eReturn = eStandardSleep;
\r
2762 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2764 /* A task was made ready while the scheduler was suspended. */
\r
2765 eReturn = eAbortSleep;
\r
2767 else if( xYieldPending != pdFALSE )
\r
2769 /* A yield was pended while the scheduler was suspended. */
\r
2770 eReturn = eAbortSleep;
\r
2774 #if configUSE_TIMERS == 0
\r
2776 /* The idle task exists in addition to the application tasks. */
\r
2777 const UBaseType_t uxNonApplicationTasks = 1;
\r
2779 /* If timers are not being used and all the tasks are in the
\r
2780 suspended list (which might mean they have an infinite block
\r
2781 time rather than actually being suspended) then it is safe to
\r
2782 turn all clocks off and just wait for external interrupts. */
\r
2783 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2785 eReturn = eNoTasksWaitingTimeout;
\r
2789 mtCOVERAGE_TEST_MARKER();
\r
2792 #endif /* configUSE_TIMERS */
\r
2797 #endif /* configUSE_TICKLESS_IDLE */
\r
2798 /*-----------------------------------------------------------*/
\r
2800 static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2804 /* Store the task name in the TCB. */
\r
2805 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2807 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2809 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2810 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2811 string is not accessible (extremely unlikely). */
\r
2812 if( pcName[ x ] == 0x00 )
\r
2818 mtCOVERAGE_TEST_MARKER();
\r
2822 /* Ensure the name string is terminated in the case that the string length
\r
2823 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2824 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
2826 /* This is used as an array index so must ensure it's not too large. First
\r
2827 remove the privilege bit if one is present. */
\r
2828 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
2830 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
2834 mtCOVERAGE_TEST_MARKER();
\r
2837 pxTCB->uxPriority = uxPriority;
\r
2838 #if ( configUSE_MUTEXES == 1 )
\r
2840 pxTCB->uxBasePriority = uxPriority;
\r
2841 pxTCB->uxMutexesHeld = 0;
\r
2843 #endif /* configUSE_MUTEXES */
\r
2845 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2846 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2848 /* Set the pxTCB as a link back from the ListItem_t. This is so we can get
\r
2849 back to the containing TCB from a generic item in a list. */
\r
2850 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2852 /* Event lists are always in priority order. */
\r
2853 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2854 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2856 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2858 pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
2860 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2862 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2864 pxTCB->pxTaskTag = NULL;
\r
2866 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2868 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2870 pxTCB->ulRunTimeCounter = 0UL;
\r
2872 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2874 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2876 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2878 #else /* portUSING_MPU_WRAPPERS */
\r
2880 ( void ) xRegions;
\r
2881 ( void ) usStackDepth;
\r
2883 #endif /* portUSING_MPU_WRAPPERS */
\r
2885 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
2887 pxTCB->ulNotifiedValue = 0;
\r
2888 pxTCB->eNotifyState = eNotWaitingNotification;
\r
2892 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2894 /* Initialise this task's Newlib reent structure. */
\r
2895 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2897 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2899 /*-----------------------------------------------------------*/
\r
2901 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2903 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
\r
2907 /* If null is passed in here then we are deleting ourselves. */
\r
2908 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2910 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2913 #endif /* portUSING_MPU_WRAPPERS */
\r
2914 /*-----------------------------------------------------------*/
\r
2916 static void prvInitialiseTaskLists( void )
\r
2918 UBaseType_t uxPriority;
\r
2920 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
2922 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2925 vListInitialise( &xDelayedTaskList1 );
\r
2926 vListInitialise( &xDelayedTaskList2 );
\r
2927 vListInitialise( &xPendingReadyList );
\r
2929 #if ( INCLUDE_vTaskDelete == 1 )
\r
2931 vListInitialise( &xTasksWaitingTermination );
\r
2933 #endif /* INCLUDE_vTaskDelete */
\r
2935 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2937 vListInitialise( &xSuspendedTaskList );
\r
2939 #endif /* INCLUDE_vTaskSuspend */
\r
2941 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2943 pxDelayedTaskList = &xDelayedTaskList1;
\r
2944 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2946 /*-----------------------------------------------------------*/
\r
2948 static void prvCheckTasksWaitingTermination( void )
\r
2950 #if ( INCLUDE_vTaskDelete == 1 )
\r
2952 BaseType_t xListIsEmpty;
\r
2954 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2955 too often in the idle task. */
\r
2956 while( uxTasksDeleted > ( UBaseType_t ) 0U )
\r
2958 vTaskSuspendAll();
\r
2960 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2962 ( void ) xTaskResumeAll();
\r
2964 if( xListIsEmpty == pdFALSE )
\r
2968 taskENTER_CRITICAL();
\r
2970 pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2971 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2972 --uxCurrentNumberOfTasks;
\r
2975 taskEXIT_CRITICAL();
\r
2977 prvDeleteTCB( pxTCB );
\r
2981 mtCOVERAGE_TEST_MARKER();
\r
2985 #endif /* vTaskDelete */
\r
2987 /*-----------------------------------------------------------*/
\r
2989 static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
\r
2991 /* The list item will be inserted in wake time order. */
\r
2992 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2994 if( xTimeToWake < xTickCount )
\r
2996 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2997 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3001 /* The wake time has not overflowed, so the current block list is used. */
\r
3002 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3004 /* If the task entering the blocked state was placed at the head of the
\r
3005 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
3007 if( xTimeToWake < xNextTaskUnblockTime )
\r
3009 xNextTaskUnblockTime = xTimeToWake;
\r
3013 mtCOVERAGE_TEST_MARKER();
\r
3017 /*-----------------------------------------------------------*/
\r
3019 static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
\r
3023 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
3024 does not grow into the TCB. Likewise if the stack grows up then allocate
\r
3025 the TCB then the stack. */
\r
3026 #if( portSTACK_GROWTH > 0 )
\r
3028 /* Allocate space for the TCB. Where the memory comes from depends on
\r
3029 the implementation of the port malloc function. */
\r
3030 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3032 if( pxNewTCB != NULL )
\r
3034 /* Allocate space for the stack used by the task being created.
\r
3035 The base of the stack memory stored in the TCB so the task can
\r
3036 be deleted later if required. */
\r
3037 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3039 if( pxNewTCB->pxStack == NULL )
\r
3041 /* Could not allocate the stack. Delete the allocated TCB. */
\r
3042 vPortFree( pxNewTCB );
\r
3047 #else /* portSTACK_GROWTH */
\r
3049 StackType_t *pxStack;
\r
3051 /* Allocate space for the stack used by the task being created. */
\r
3052 pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3054 if( pxStack != NULL )
\r
3056 /* Allocate space for the TCB. Where the memory comes from depends
\r
3057 on the implementation of the port malloc function. */
\r
3058 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
3060 if( pxNewTCB != NULL )
\r
3062 /* Store the stack location in the TCB. */
\r
3063 pxNewTCB->pxStack = pxStack;
\r
3067 /* The stack cannot be used as the TCB was not created. Free it
\r
3069 vPortFree( pxStack );
\r
3077 #endif /* portSTACK_GROWTH */
\r
3079 if( pxNewTCB != NULL )
\r
3081 /* Avoid dependency on memset() if it is not required. */
\r
3082 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3084 /* Just to help debugging. */
\r
3085 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
\r
3087 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
3092 /*-----------------------------------------------------------*/
\r
3094 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3096 static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
\r
3098 volatile TCB_t *pxNextTCB, *pxFirstTCB;
\r
3099 UBaseType_t uxTask = 0;
\r
3101 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3103 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
3105 /* Populate an TaskStatus_t structure within the
\r
3106 pxTaskStatusArray array for each task that is referenced from
\r
3107 pxList. See the definition of TaskStatus_t in task.h for the
\r
3108 meaning of each TaskStatus_t structure member. */
\r
3111 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
3113 pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
\r
3114 pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
3115 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
3116 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
3117 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
3119 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3121 /* If the task is in the suspended list then there is a chance
\r
3122 it is actually just blocked indefinitely - so really it should
\r
3123 be reported as being in the Blocked state. */
\r
3124 if( eState == eSuspended )
\r
3126 if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
\r
3128 pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
\r
3132 #endif /* INCLUDE_vTaskSuspend */
\r
3134 #if ( configUSE_MUTEXES == 1 )
\r
3136 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
3140 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
3144 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3146 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
3150 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
3154 #if ( portSTACK_GROWTH > 0 )
\r
3156 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
\r
3160 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
\r
3166 } while( pxNextTCB != pxFirstTCB );
\r
3170 mtCOVERAGE_TEST_MARKER();
\r
3176 #endif /* configUSE_TRACE_FACILITY */
\r
3177 /*-----------------------------------------------------------*/
\r
3179 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
3181 static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3183 uint32_t ulCount = 0U;
\r
3185 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3187 pucStackByte -= portSTACK_GROWTH;
\r
3191 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3193 return ( uint16_t ) ulCount;
\r
3196 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
3197 /*-----------------------------------------------------------*/
\r
3199 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3201 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3204 uint8_t *pucEndOfStack;
\r
3205 UBaseType_t uxReturn;
\r
3207 pxTCB = prvGetTCBFromHandle( xTask );
\r
3209 #if portSTACK_GROWTH < 0
\r
3211 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3215 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3219 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3224 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3225 /*-----------------------------------------------------------*/
\r
3227 #if ( INCLUDE_vTaskDelete == 1 )
\r
3229 static void prvDeleteTCB( TCB_t *pxTCB )
\r
3231 /* This call is required specifically for the TriCore port. It must be
\r
3232 above the vPortFree() calls. The call is also used by ports/demos that
\r
3233 want to allocate and clean RAM statically. */
\r
3234 portCLEAN_UP_TCB( pxTCB );
\r
3236 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3237 to the task to free any memory allocated at the application level. */
\r
3238 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3240 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3242 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3244 #if( portUSING_MPU_WRAPPERS == 1 )
\r
3246 /* Only free the stack if it was allocated dynamically in the first
\r
3248 if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )
\r
3250 vPortFreeAligned( pxTCB->pxStack );
\r
3255 vPortFreeAligned( pxTCB->pxStack );
\r
3259 vPortFree( pxTCB );
\r
3262 #endif /* INCLUDE_vTaskDelete */
\r
3263 /*-----------------------------------------------------------*/
\r
3265 static void prvResetNextTaskUnblockTime( void )
\r
3269 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3271 /* The new current delayed list is empty. Set
\r
3272 xNextTaskUnblockTime to the maximum possible value so it is
\r
3273 extremely unlikely that the
\r
3274 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
3275 there is an item in the delayed list. */
\r
3276 xNextTaskUnblockTime = portMAX_DELAY;
\r
3280 /* The new current delayed list is not empty, get the value of
\r
3281 the item at the head of the delayed list. This is the time at
\r
3282 which the task at the head of the delayed list should be removed
\r
3283 from the Blocked state. */
\r
3284 ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
3285 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
3288 /*-----------------------------------------------------------*/
\r
3290 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
3292 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
3294 TaskHandle_t xReturn;
\r
3296 /* A critical section is not required as this is not called from
\r
3297 an interrupt and the current TCB will always be the same for any
\r
3298 individual execution thread. */
\r
3299 xReturn = pxCurrentTCB;
\r
3304 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
3305 /*-----------------------------------------------------------*/
\r
3307 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
3309 BaseType_t xTaskGetSchedulerState( void )
\r
3311 BaseType_t xReturn;
\r
3313 if( xSchedulerRunning == pdFALSE )
\r
3315 xReturn = taskSCHEDULER_NOT_STARTED;
\r
3319 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3321 xReturn = taskSCHEDULER_RUNNING;
\r
3325 xReturn = taskSCHEDULER_SUSPENDED;
\r
3332 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
3333 /*-----------------------------------------------------------*/
\r
3335 #if ( configUSE_MUTEXES == 1 )
\r
3337 void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
3339 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3341 /* If the mutex was given back by an interrupt while the queue was
\r
3342 locked then the mutex holder might now be NULL. */
\r
3343 if( pxMutexHolder != NULL )
\r
3345 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
3347 /* Adjust the mutex holder state to account for its new
\r
3348 priority. Only reset the event list item value if the value is
\r
3349 not being used for anything else. */
\r
3350 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
3352 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3356 mtCOVERAGE_TEST_MARKER();
\r
3359 /* If the task being modified is in the ready state it will need to
\r
3360 be moved into a new list. */
\r
3361 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
3363 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3365 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3369 mtCOVERAGE_TEST_MARKER();
\r
3372 /* Inherit the priority before being moved into the new list. */
\r
3373 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3374 prvAddTaskToReadyList( pxTCB );
\r
3378 /* Just inherit the priority. */
\r
3379 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
3382 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
3386 mtCOVERAGE_TEST_MARKER();
\r
3391 mtCOVERAGE_TEST_MARKER();
\r
3395 #endif /* configUSE_MUTEXES */
\r
3396 /*-----------------------------------------------------------*/
\r
3398 #if ( configUSE_MUTEXES == 1 )
\r
3400 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
3402 TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
\r
3403 BaseType_t xReturn = pdFALSE;
\r
3405 if( pxMutexHolder != NULL )
\r
3407 configASSERT( pxTCB->uxMutexesHeld );
\r
3408 ( pxTCB->uxMutexesHeld )--;
\r
3410 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
3412 /* Only disinherit if no other mutexes are held. */
\r
3413 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
3415 /* A task can only have an inhertied priority if it holds
\r
3416 the mutex. If the mutex is held by a task then it cannot be
\r
3417 given from an interrupt, and if a mutex is given by the
\r
3418 holding task then it must be the running state task. Remove
\r
3419 the holding task from the ready list. */
\r
3420 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3422 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
3426 mtCOVERAGE_TEST_MARKER();
\r
3429 /* Disinherit the priority before adding the task into the
\r
3430 new ready list. */
\r
3431 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
3432 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
3434 /* Reset the event list item value. It cannot be in use for
\r
3435 any other purpose if this task is running, and it must be
\r
3436 running to give back the mutex. */
\r
3437 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
3438 prvAddTaskToReadyList( pxTCB );
\r
3440 /* Return true to indicate that a context switch is required.
\r
3441 This is only actually required in the corner case whereby
\r
3442 multiple mutexes were held and the mutexes were given back
\r
3443 in an order different to that in which they were taken.
\r
3444 If a context switch did not occur when the first mutex was
\r
3445 returned, even if a task was waiting on it, then a context
\r
3446 switch should occur when the last mutex is returned whether
\r
3447 a task is waiting on it or not. */
\r
3452 mtCOVERAGE_TEST_MARKER();
\r
3457 mtCOVERAGE_TEST_MARKER();
\r
3462 mtCOVERAGE_TEST_MARKER();
\r
3468 #endif /* configUSE_MUTEXES */
\r
3469 /*-----------------------------------------------------------*/
\r
3471 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3473 void vTaskEnterCritical( void )
\r
3475 portDISABLE_INTERRUPTS();
\r
3477 if( xSchedulerRunning != pdFALSE )
\r
3479 ( pxCurrentTCB->uxCriticalNesting )++;
\r
3481 /* This is not the interrupt safe version of the enter critical
\r
3482 function so assert() if it is being called from an interrupt
\r
3483 context. Only API functions that end in "FromISR" can be used in an
\r
3484 interrupt. Only assert if the critical nesting count is 1 to
\r
3485 protect against recursive calls if the assert function also uses a
\r
3486 critical section. */
\r
3487 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
3489 portASSERT_IF_IN_ISR();
\r
3495 mtCOVERAGE_TEST_MARKER();
\r
3499 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3500 /*-----------------------------------------------------------*/
\r
3502 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
3504 void vTaskExitCritical( void )
\r
3506 if( xSchedulerRunning != pdFALSE )
\r
3508 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
3510 ( pxCurrentTCB->uxCriticalNesting )--;
\r
3512 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
3514 portENABLE_INTERRUPTS();
\r
3518 mtCOVERAGE_TEST_MARKER();
\r
3523 mtCOVERAGE_TEST_MARKER();
\r
3528 mtCOVERAGE_TEST_MARKER();
\r
3532 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
3533 /*-----------------------------------------------------------*/
\r
3535 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3537 static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
\r
3541 /* Start by copying the entire string. */
\r
3542 strcpy( pcBuffer, pcTaskName );
\r
3544 /* Pad the end of the string with spaces to ensure columns line up when
\r
3546 for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
3548 pcBuffer[ x ] = ' ';
\r
3552 pcBuffer[ x ] = 0x00;
\r
3554 /* Return the new end of string. */
\r
3555 return &( pcBuffer[ x ] );
\r
3558 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
3559 /*-----------------------------------------------------------*/
\r
3561 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3563 void vTaskList( char * pcWriteBuffer )
\r
3565 TaskStatus_t *pxTaskStatusArray;
\r
3566 volatile UBaseType_t uxArraySize, x;
\r
3572 * This function is provided for convenience only, and is used by many
\r
3573 * of the demo applications. Do not consider it to be part of the
\r
3576 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
3577 * uxTaskGetSystemState() output into a human readable table that
\r
3578 * displays task names, states and stack usage.
\r
3580 * vTaskList() has a dependency on the sprintf() C library function that
\r
3581 * might bloat the code size, use a lot of stack, and provide different
\r
3582 * results on different platforms. An alternative, tiny, third party,
\r
3583 * and limited functionality implementation of sprintf() is provided in
\r
3584 * many of the FreeRTOS/Demo sub-directories in a file called
\r
3585 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
3586 * snprintf() implementation!).
\r
3588 * It is recommended that production systems call uxTaskGetSystemState()
\r
3589 * directly to get access to raw stats data, rather than indirectly
\r
3590 * through a call to vTaskList().
\r
3594 /* Make sure the write buffer does not contain a string. */
\r
3595 *pcWriteBuffer = 0x00;
\r
3597 /* Take a snapshot of the number of tasks in case it changes while this
\r
3598 function is executing. */
\r
3599 uxArraySize = uxCurrentNumberOfTasks;
\r
3601 /* Allocate an array index for each task. */
\r
3602 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3604 if( pxTaskStatusArray != NULL )
\r
3606 /* Generate the (binary) data. */
\r
3607 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
3609 /* Create a human readable table from the binary data. */
\r
3610 for( x = 0; x < uxArraySize; x++ )
\r
3612 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3614 case eReady: cStatus = tskREADY_CHAR;
\r
3617 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3620 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3623 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3626 default: /* Should not get here, but it is included
\r
3627 to prevent static checking errors. */
\r
3632 /* Write the task name to the string, padding with spaces so it
\r
3633 can be printed in tabular form more easily. */
\r
3634 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3636 /* Write the rest of the string. */
\r
3637 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3638 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3641 /* Free the array again. */
\r
3642 vPortFree( pxTaskStatusArray );
\r
3646 mtCOVERAGE_TEST_MARKER();
\r
3650 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3651 /*----------------------------------------------------------*/
\r
3653 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
3655 void vTaskGetRunTimeStats( char *pcWriteBuffer )
\r
3657 TaskStatus_t *pxTaskStatusArray;
\r
3658 volatile UBaseType_t uxArraySize, x;
\r
3659 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
3661 #if( configUSE_TRACE_FACILITY != 1 )
\r
3663 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
3670 * This function is provided for convenience only, and is used by many
\r
3671 * of the demo applications. Do not consider it to be part of the
\r
3674 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3675 * of the uxTaskGetSystemState() output into a human readable table that
\r
3676 * displays the amount of time each task has spent in the Running state
\r
3677 * in both absolute and percentage terms.
\r
3679 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3680 * function that might bloat the code size, use a lot of stack, and
\r
3681 * provide different results on different platforms. An alternative,
\r
3682 * tiny, third party, and limited functionality implementation of
\r
3683 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3684 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3685 * a full snprintf() implementation!).
\r
3687 * It is recommended that production systems call uxTaskGetSystemState()
\r
3688 * directly to get access to raw stats data, rather than indirectly
\r
3689 * through a call to vTaskGetRunTimeStats().
\r
3692 /* Make sure the write buffer does not contain a string. */
\r
3693 *pcWriteBuffer = 0x00;
\r
3695 /* Take a snapshot of the number of tasks in case it changes while this
\r
3696 function is executing. */
\r
3697 uxArraySize = uxCurrentNumberOfTasks;
\r
3699 /* Allocate an array index for each task. */
\r
3700 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
\r
3702 if( pxTaskStatusArray != NULL )
\r
3704 /* Generate the (binary) data. */
\r
3705 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3707 /* For percentage calculations. */
\r
3708 ulTotalTime /= 100UL;
\r
3710 /* Avoid divide by zero errors. */
\r
3711 if( ulTotalTime > 0 )
\r
3713 /* Create a human readable table from the binary data. */
\r
3714 for( x = 0; x < uxArraySize; x++ )
\r
3716 /* What percentage of the total run time has the task used?
\r
3717 This will always be rounded down to the nearest integer.
\r
3718 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3719 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3721 /* Write the task name to the string, padding with
\r
3722 spaces so it can be printed in tabular form more
\r
3724 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
3726 if( ulStatsAsPercentage > 0UL )
\r
3728 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3730 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3734 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3735 printf() library can be used. */
\r
3736 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3742 /* If the percentage is zero here then the task has
\r
3743 consumed less than 1% of the total run time. */
\r
3744 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3746 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3750 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3751 printf() library can be used. */
\r
3752 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3757 pcWriteBuffer += strlen( pcWriteBuffer );
\r
3762 mtCOVERAGE_TEST_MARKER();
\r
3765 /* Free the array again. */
\r
3766 vPortFree( pxTaskStatusArray );
\r
3770 mtCOVERAGE_TEST_MARKER();
\r
3774 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
\r
3775 /*-----------------------------------------------------------*/
\r
3777 TickType_t uxTaskResetEventItemValue( void )
\r
3779 TickType_t uxReturn;
\r
3781 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3783 /* Reset the event list item to its normal value - so it can be used with
\r
3784 queues and semaphores. */
\r
3785 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
3789 /*-----------------------------------------------------------*/
\r
3791 #if ( configUSE_MUTEXES == 1 )
\r
3793 void *pvTaskIncrementMutexHeldCount( void )
\r
3795 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
3796 then pxCurrentTCB will be NULL. */
\r
3797 if( pxCurrentTCB != NULL )
\r
3799 ( pxCurrentTCB->uxMutexesHeld )++;
\r
3802 return pxCurrentTCB;
\r
3805 #endif /* configUSE_MUTEXES */
\r
3806 /*-----------------------------------------------------------*/
\r
3808 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3810 uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
\r
3812 TickType_t xTimeToWake;
\r
3813 uint32_t ulReturn;
\r
3815 taskENTER_CRITICAL();
\r
3817 /* Only block if the notification count is not already non-zero. */
\r
3818 if( pxCurrentTCB->ulNotifiedValue == 0UL )
\r
3820 /* Mark this task as waiting for a notification. */
\r
3821 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3823 if( xTicksToWait > ( TickType_t ) 0 )
\r
3825 /* The task is going to block. First it must be removed
\r
3826 from the ready list. */
\r
3827 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3829 /* The current task must be in a ready list, so there is
\r
3830 no need to check, and the port reset macro can be called
\r
3832 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3836 mtCOVERAGE_TEST_MARKER();
\r
3839 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3841 if( xTicksToWait == portMAX_DELAY )
\r
3843 /* Add the task to the suspended task list instead
\r
3844 of a delayed task list to ensure the task is not
\r
3845 woken by a timing event. It will block
\r
3847 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3851 /* Calculate the time at which the task should be
\r
3852 woken if no notification events occur. This may
\r
3853 overflow but this doesn't matter, the scheduler will
\r
3855 xTimeToWake = xTickCount + xTicksToWait;
\r
3856 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3859 #else /* INCLUDE_vTaskSuspend */
\r
3861 /* Calculate the time at which the task should be
\r
3862 woken if the event does not occur. This may
\r
3863 overflow but this doesn't matter, the scheduler will
\r
3865 xTimeToWake = xTickCount + xTicksToWait;
\r
3866 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3868 #endif /* INCLUDE_vTaskSuspend */
\r
3870 /* All ports are written to allow a yield in a critical
\r
3871 section (some will yield immediately, others wait until the
\r
3872 critical section exits) - but it is not something that
\r
3873 application code should ever do. */
\r
3874 portYIELD_WITHIN_API();
\r
3878 mtCOVERAGE_TEST_MARKER();
\r
3883 mtCOVERAGE_TEST_MARKER();
\r
3886 taskEXIT_CRITICAL();
\r
3888 taskENTER_CRITICAL();
\r
3890 ulReturn = pxCurrentTCB->ulNotifiedValue;
\r
3892 if( ulReturn != 0UL )
\r
3894 if( xClearCountOnExit != pdFALSE )
\r
3896 pxCurrentTCB->ulNotifiedValue = 0UL;
\r
3900 ( pxCurrentTCB->ulNotifiedValue )--;
\r
3905 mtCOVERAGE_TEST_MARKER();
\r
3908 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
3910 taskEXIT_CRITICAL();
\r
3915 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
3916 /*-----------------------------------------------------------*/
\r
3918 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
3920 BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
\r
3922 TickType_t xTimeToWake;
\r
3923 BaseType_t xReturn;
\r
3925 taskENTER_CRITICAL();
\r
3927 /* Only block if a notification is not already pending. */
\r
3928 if( pxCurrentTCB->eNotifyState != eNotified )
\r
3930 /* Clear bits in the task's notification value as bits may get
\r
3931 set by the notifying task or interrupt. This can be used to
\r
3932 clear the value to zero. */
\r
3933 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
\r
3935 /* Mark this task as waiting for a notification. */
\r
3936 pxCurrentTCB->eNotifyState = eWaitingNotification;
\r
3938 if( xTicksToWait > ( TickType_t ) 0 )
\r
3940 /* The task is going to block. First it must be removed
\r
3941 from the ready list. */
\r
3942 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
\r
3944 /* The current task must be in a ready list, so there is
\r
3945 no need to check, and the port reset macro can be called
\r
3947 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
3951 mtCOVERAGE_TEST_MARKER();
\r
3954 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3956 if( xTicksToWait == portMAX_DELAY )
\r
3958 /* Add the task to the suspended task list instead
\r
3959 of a delayed task list to ensure the task is not
\r
3960 woken by a timing event. It will block
\r
3962 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
3966 /* Calculate the time at which the task should be
\r
3967 woken if no notification events occur. This may
\r
3968 overflow but this doesn't matter, the scheduler will
\r
3970 xTimeToWake = xTickCount + xTicksToWait;
\r
3971 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3974 #else /* INCLUDE_vTaskSuspend */
\r
3976 /* Calculate the time at which the task should be
\r
3977 woken if the event does not occur. This may
\r
3978 overflow but this doesn't matter, the scheduler will
\r
3980 xTimeToWake = xTickCount + xTicksToWait;
\r
3981 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
3983 #endif /* INCLUDE_vTaskSuspend */
\r
3985 /* All ports are written to allow a yield in a critical
\r
3986 section (some will yield immediately, others wait until the
\r
3987 critical section exits) - but it is not something that
\r
3988 application code should ever do. */
\r
3989 portYIELD_WITHIN_API();
\r
3993 mtCOVERAGE_TEST_MARKER();
\r
3998 mtCOVERAGE_TEST_MARKER();
\r
4001 taskEXIT_CRITICAL();
\r
4003 taskENTER_CRITICAL();
\r
4005 if( pulNotificationValue != NULL )
\r
4007 /* Output the current notification value, which may or may not
\r
4009 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
\r
4012 /* If eNotifyValue is set then either the task never entered the
\r
4013 blocked state (because a notification was already pending) or the
\r
4014 task unblocked because of a notification. Otherwise the task
\r
4015 unblocked because of a timeout. */
\r
4016 if( pxCurrentTCB->eNotifyState == eWaitingNotification )
\r
4018 /* A notification was not received. */
\r
4019 xReturn = pdFALSE;
\r
4023 /* A notification was already pending or a notification was
\r
4024 received while the task was waiting. */
\r
4025 pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
\r
4029 pxCurrentTCB->eNotifyState = eNotWaitingNotification;
\r
4031 taskEXIT_CRITICAL();
\r
4036 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4037 /*-----------------------------------------------------------*/
\r
4039 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4041 BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
\r
4044 eNotifyValue eOriginalNotifyState;
\r
4045 BaseType_t xReturn = pdPASS;
\r
4047 configASSERT( xTaskToNotify );
\r
4048 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4050 taskENTER_CRITICAL();
\r
4052 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4054 pxTCB->eNotifyState = eNotified;
\r
4059 pxTCB->ulNotifiedValue |= ulValue;
\r
4063 ( pxTCB->ulNotifiedValue )++;
\r
4066 case eSetValueWithOverwrite :
\r
4067 pxTCB->ulNotifiedValue = ulValue;
\r
4070 case eSetValueWithoutOverwrite :
\r
4071 if( eOriginalNotifyState != eNotified )
\r
4073 pxTCB->ulNotifiedValue = ulValue;
\r
4077 /* The value could not be written to the task. */
\r
4083 /* The task is being notified without its notify value being
\r
4089 /* If the task is in the blocked state specifically to wait for a
\r
4090 notification then unblock it now. */
\r
4091 if( eOriginalNotifyState == eWaitingNotification )
\r
4093 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4094 prvAddTaskToReadyList( pxTCB );
\r
4096 /* The task should not have been on an event list. */
\r
4097 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4099 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4101 /* The notified task has a priority above the currently
\r
4102 executing task so a yield is required. */
\r
4103 portYIELD_WITHIN_API();
\r
4107 mtCOVERAGE_TEST_MARKER();
\r
4112 mtCOVERAGE_TEST_MARKER();
\r
4115 taskEXIT_CRITICAL();
\r
4120 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4121 /*-----------------------------------------------------------*/
\r
4123 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4125 BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
\r
4128 eNotifyValue eOriginalNotifyState;
\r
4129 BaseType_t xReturn = pdPASS;
\r
4130 UBaseType_t uxSavedInterruptStatus;
\r
4132 configASSERT( xTaskToNotify );
\r
4134 /* RTOS ports that support interrupt nesting have the concept of a
\r
4135 maximum system call (or maximum API call) interrupt priority.
\r
4136 Interrupts that are above the maximum system call priority are keep
\r
4137 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4138 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4139 is defined in FreeRTOSConfig.h then
\r
4140 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4141 failure if a FreeRTOS API function is called from an interrupt that has
\r
4142 been assigned a priority above the configured maximum system call
\r
4143 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4144 from interrupts that have been assigned a priority at or (logically)
\r
4145 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4146 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4147 simple as possible. More information (albeit Cortex-M specific) is
\r
4148 provided on the following link:
\r
4149 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4150 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4152 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4154 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4156 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4158 pxTCB->eNotifyState = eNotified;
\r
4163 pxTCB->ulNotifiedValue |= ulValue;
\r
4167 ( pxTCB->ulNotifiedValue )++;
\r
4170 case eSetValueWithOverwrite :
\r
4171 pxTCB->ulNotifiedValue = ulValue;
\r
4174 case eSetValueWithoutOverwrite :
\r
4175 if( eOriginalNotifyState != eNotified )
\r
4177 pxTCB->ulNotifiedValue = ulValue;
\r
4181 /* The value could not be written to the task. */
\r
4187 /* The task is being notified without its notify value being
\r
4193 /* If the task is in the blocked state specifically to wait for a
\r
4194 notification then unblock it now. */
\r
4195 if( eOriginalNotifyState == eWaitingNotification )
\r
4197 /* The task should not have been on an event list. */
\r
4198 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4200 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4202 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4203 prvAddTaskToReadyList( pxTCB );
\r
4207 /* The delayed and ready lists cannot be accessed, so hold
\r
4208 this task pending until the scheduler is resumed. */
\r
4209 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4212 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4214 /* The notified task has a priority above the currently
\r
4215 executing task so a yield is required. */
\r
4216 if( pxHigherPriorityTaskWoken != NULL )
\r
4218 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4223 mtCOVERAGE_TEST_MARKER();
\r
4227 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4232 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4233 /*-----------------------------------------------------------*/
\r
4235 #if( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4237 void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
\r
4240 eNotifyValue eOriginalNotifyState;
\r
4241 UBaseType_t uxSavedInterruptStatus;
\r
4243 configASSERT( xTaskToNotify );
\r
4245 /* RTOS ports that support interrupt nesting have the concept of a
\r
4246 maximum system call (or maximum API call) interrupt priority.
\r
4247 Interrupts that are above the maximum system call priority are keep
\r
4248 permanently enabled, even when the RTOS kernel is in a critical section,
\r
4249 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4250 is defined in FreeRTOSConfig.h then
\r
4251 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4252 failure if a FreeRTOS API function is called from an interrupt that has
\r
4253 been assigned a priority above the configured maximum system call
\r
4254 priority. Only FreeRTOS functions that end in FromISR can be called
\r
4255 from interrupts that have been assigned a priority at or (logically)
\r
4256 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
4257 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
4258 simple as possible. More information (albeit Cortex-M specific) is
\r
4259 provided on the following link:
\r
4260 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
4261 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
4263 pxTCB = ( TCB_t * ) xTaskToNotify;
\r
4265 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
4267 eOriginalNotifyState = pxTCB->eNotifyState;
\r
4268 pxTCB->eNotifyState = eNotified;
\r
4270 /* 'Giving' is equivalent to incrementing a count in a counting
\r
4272 ( pxTCB->ulNotifiedValue )++;
\r
4274 /* If the task is in the blocked state specifically to wait for a
\r
4275 notification then unblock it now. */
\r
4276 if( eOriginalNotifyState == eWaitingNotification )
\r
4278 /* The task should not have been on an event list. */
\r
4279 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4281 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4283 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
4284 prvAddTaskToReadyList( pxTCB );
\r
4288 /* The delayed and ready lists cannot be accessed, so hold
\r
4289 this task pending until the scheduler is resumed. */
\r
4290 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
4293 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4295 /* The notified task has a priority above the currently
\r
4296 executing task so a yield is required. */
\r
4297 if( pxHigherPriorityTaskWoken != NULL )
\r
4299 *pxHigherPriorityTaskWoken = pdTRUE;
\r
4304 mtCOVERAGE_TEST_MARKER();
\r
4308 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
4311 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4313 /*-----------------------------------------------------------*/
\r
4316 #ifdef FREERTOS_MODULE_TEST
\r
4317 #include "tasks_test_access_functions.h"
\r
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