2 * FreeRTOS Kernel <DEVELOPMENT BRANCH>
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3 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * https://www.FreeRTOS.org
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23 * https://github.com/FreeRTOS
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27 /* Standard includes. */
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31 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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32 * all the API functions to use the MPU wrappers. That should only be done when
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33 * task.h is included from an application file. */
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34 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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36 /* FreeRTOS includes. */
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37 #include "FreeRTOS.h"
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40 #include "stack_macros.h"
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42 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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43 * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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44 * for the header files above, but not in this file, in order to generate the
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45 * correct privileged Vs unprivileged linkage and placement. */
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46 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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48 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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49 * functions but without including stdio.h here. */
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50 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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52 /* At the bottom of this file are two optional functions that can be used
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53 * to generate human readable text from the raw data generated by the
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54 * uxTaskGetSystemState() function. Note the formatting functions are provided
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55 * for convenience only, and are NOT considered part of the kernel. */
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57 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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59 #if ( configUSE_PREEMPTION == 0 )
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61 /* If the cooperative scheduler is being used then a yield should not be
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62 * performed just because a higher priority task has been woken. */
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63 #define taskYIELD_IF_USING_PREEMPTION()
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65 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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68 /* Values that can be assigned to the ucNotifyState member of the TCB. */
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69 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
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70 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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71 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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74 * The value used to fill the stack of a task when the task is created. This
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75 * is used purely for checking the high water mark for tasks.
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77 #define tskSTACK_FILL_BYTE ( 0xa5U )
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79 /* Bits used to record how a task's stack and TCB were allocated. */
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80 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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81 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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82 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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84 /* If any of the following are set then task stacks are filled with a known
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85 * value so the high water mark can be determined. If none of the following are
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86 * set then don't fill the stack so there is no unnecessary dependency on memset. */
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87 #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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88 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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90 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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94 * Macros used by vListTask to indicate which state a task is in.
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96 #define tskRUNNING_CHAR ( 'X' )
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97 #define tskBLOCKED_CHAR ( 'B' )
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98 #define tskREADY_CHAR ( 'R' )
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99 #define tskDELETED_CHAR ( 'D' )
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100 #define tskSUSPENDED_CHAR ( 'S' )
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103 * Some kernel aware debuggers require the data the debugger needs access to to
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104 * be global, rather than file scope.
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106 #ifdef portREMOVE_STATIC_QUALIFIER
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110 /* The name allocated to the Idle task. This can be overridden by defining
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111 * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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112 #ifndef configIDLE_TASK_NAME
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113 #define configIDLE_TASK_NAME "IDLE"
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116 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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118 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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119 * performed in a generic way that is not optimised to any particular
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120 * microcontroller architecture. */
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122 /* uxTopReadyPriority holds the priority of the highest priority ready
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124 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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126 if( ( uxPriority ) > uxTopReadyPriority ) \
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128 uxTopReadyPriority = ( uxPriority ); \
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130 } /* taskRECORD_READY_PRIORITY */
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132 /*-----------------------------------------------------------*/
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134 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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136 UBaseType_t uxTopPriority = uxTopReadyPriority; \
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138 /* Find the highest priority queue that contains ready tasks. */ \
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139 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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141 configASSERT( uxTopPriority ); \
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145 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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146 * the same priority get an equal share of the processor time. */ \
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147 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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148 uxTopReadyPriority = uxTopPriority; \
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149 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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151 /*-----------------------------------------------------------*/
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153 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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154 * they are only required when a port optimised method of task selection is
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156 #define taskRESET_READY_PRIORITY( uxPriority )
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157 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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159 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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161 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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162 * performed in a way that is tailored to the particular microcontroller
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163 * architecture being used. */
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165 /* A port optimised version is provided. Call the port defined macros. */
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166 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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168 /*-----------------------------------------------------------*/
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170 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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172 UBaseType_t uxTopPriority; \
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174 /* Find the highest priority list that contains ready tasks. */ \
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175 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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176 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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177 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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178 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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180 /*-----------------------------------------------------------*/
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182 /* A port optimised version is provided, call it only if the TCB being reset
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183 * is being referenced from a ready list. If it is referenced from a delayed
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184 * or suspended list then it won't be in a ready list. */
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185 #define taskRESET_READY_PRIORITY( uxPriority ) \
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187 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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189 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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193 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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195 /*-----------------------------------------------------------*/
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197 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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198 * count overflows. */
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199 #define taskSWITCH_DELAYED_LISTS() \
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203 /* The delayed tasks list should be empty when the lists are switched. */ \
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204 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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206 pxTemp = pxDelayedTaskList; \
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207 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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208 pxOverflowDelayedTaskList = pxTemp; \
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209 xNumOfOverflows++; \
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210 prvResetNextTaskUnblockTime(); \
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213 /*-----------------------------------------------------------*/
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216 * Place the task represented by pxTCB into the appropriate ready list for
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217 * the task. It is inserted at the end of the list.
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219 #define prvAddTaskToReadyList( pxTCB ) \
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220 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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221 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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222 listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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223 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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224 /*-----------------------------------------------------------*/
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227 * Several functions take a TaskHandle_t parameter that can optionally be NULL,
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228 * where NULL is used to indicate that the handle of the currently executing
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229 * task should be used in place of the parameter. This macro simply checks to
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230 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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232 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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234 /* The item value of the event list item is normally used to hold the priority
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235 * of the task to which it belongs (coded to allow it to be held in reverse
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236 * priority order). However, it is occasionally borrowed for other purposes. It
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237 * is important its value is not updated due to a task priority change while it is
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238 * being used for another purpose. The following bit definition is used to inform
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239 * the scheduler that the value should not be changed - in which case it is the
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240 * responsibility of whichever module is using the value to ensure it gets set back
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241 * to its original value when it is released. */
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242 #if ( configUSE_16_BIT_TICKS == 1 )
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243 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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245 #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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249 * Task control block. A task control block (TCB) is allocated for each task,
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250 * and stores task state information, including a pointer to the task's context
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251 * (the task's run time environment, including register values)
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253 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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255 volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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257 #if ( portUSING_MPU_WRAPPERS == 1 )
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258 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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261 ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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262 ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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263 UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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264 StackType_t * pxStack; /*< Points to the start of the stack. */
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265 char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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267 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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268 StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
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271 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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272 UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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275 #if ( configUSE_TRACE_FACILITY == 1 )
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276 UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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277 UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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280 #if ( configUSE_MUTEXES == 1 )
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281 UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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282 UBaseType_t uxMutexesHeld;
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285 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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286 TaskHookFunction_t pxTaskTag;
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289 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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290 void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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293 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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294 uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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297 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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298 /* Allocate a Newlib reent structure that is specific to this task.
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299 * Note Newlib support has been included by popular demand, but is not
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300 * used by the FreeRTOS maintainers themselves. FreeRTOS is not
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301 * responsible for resulting newlib operation. User must be familiar with
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302 * newlib and must provide system-wide implementations of the necessary
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303 * stubs. Be warned that (at the time of writing) the current newlib design
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304 * implements a system-wide malloc() that must be provided with locks.
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306 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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307 * for additional information. */
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308 struct _reent xNewLib_reent;
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311 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
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312 volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
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313 volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
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316 /* See the comments in FreeRTOS.h with the definition of
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317 * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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318 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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319 uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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322 #if ( INCLUDE_xTaskAbortDelay == 1 )
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323 uint8_t ucDelayAborted;
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326 #if ( configUSE_POSIX_ERRNO == 1 )
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331 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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332 * below to enable the use of older kernel aware debuggers. */
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333 typedef tskTCB TCB_t;
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335 /*lint -save -e956 A manual analysis and inspection has been used to determine
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336 * which static variables must be declared volatile. */
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337 PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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339 /* Lists for ready and blocked tasks. --------------------
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340 * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
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341 * doing so breaks some kernel aware debuggers and debuggers that rely on removing
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342 * the static qualifier. */
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343 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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344 PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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345 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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346 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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347 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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348 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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350 #if ( INCLUDE_vTaskDelete == 1 )
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352 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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353 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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357 #if ( INCLUDE_vTaskSuspend == 1 )
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359 PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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363 /* Global POSIX errno. Its value is changed upon context switching to match
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364 * the errno of the currently running task. */
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365 #if ( configUSE_POSIX_ERRNO == 1 )
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366 int FreeRTOS_errno = 0;
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369 /* Other file private variables. --------------------------------*/
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370 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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371 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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372 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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373 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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374 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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375 PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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376 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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377 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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378 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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379 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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381 /* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
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382 * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
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383 * to determine the number of priority lists to read back from the remote target. */
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384 const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
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386 /* Context switches are held pending while the scheduler is suspended. Also,
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387 * interrupts must not manipulate the xStateListItem of a TCB, or any of the
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388 * lists the xStateListItem can be referenced from, if the scheduler is suspended.
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389 * If an interrupt needs to unblock a task while the scheduler is suspended then it
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390 * moves the task's event list item into the xPendingReadyList, ready for the
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391 * kernel to move the task from the pending ready list into the real ready list
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392 * when the scheduler is unsuspended. The pending ready list itself can only be
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393 * accessed from a critical section. */
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394 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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396 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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398 /* Do not move these variables to function scope as doing so prevents the
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399 * code working with debuggers that need to remove the static qualifier. */
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400 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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401 PRIVILEGED_DATA static volatile uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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407 /*-----------------------------------------------------------*/
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409 /* File private functions. --------------------------------*/
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412 * Utility task that simply returns pdTRUE if the task referenced by xTask is
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413 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
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414 * is in any other state.
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416 #if ( INCLUDE_vTaskSuspend == 1 )
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418 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
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420 #endif /* INCLUDE_vTaskSuspend */
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423 * Utility to ready all the lists used by the scheduler. This is called
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424 * automatically upon the creation of the first task.
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426 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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429 * The idle task, which as all tasks is implemented as a never ending loop.
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430 * The idle task is automatically created and added to the ready lists upon
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431 * creation of the first user task.
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433 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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434 * language extensions. The equivalent prototype for this function is:
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436 * void prvIdleTask( void *pvParameters );
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439 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
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442 * Utility to free all memory allocated by the scheduler to hold a TCB,
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443 * including the stack pointed to by the TCB.
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445 * This does not free memory allocated by the task itself (i.e. memory
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446 * allocated by calls to pvPortMalloc from within the tasks application code).
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448 #if ( INCLUDE_vTaskDelete == 1 )
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450 static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
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455 * Used only by the idle task. This checks to see if anything has been placed
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456 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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457 * and its TCB deleted.
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459 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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462 * The currently executing task is entering the Blocked state. Add the task to
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463 * either the current or the overflow delayed task list.
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465 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
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466 const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
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469 * Fills an TaskStatus_t structure with information on each task that is
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470 * referenced from the pxList list (which may be a ready list, a delayed list,
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471 * a suspended list, etc.).
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473 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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474 * NORMAL APPLICATION CODE.
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476 #if ( configUSE_TRACE_FACILITY == 1 )
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478 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
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480 eTaskState eState ) PRIVILEGED_FUNCTION;
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485 * Searches pxList for a task with name pcNameToQuery - returning a handle to
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486 * the task if it is found, or NULL if the task is not found.
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488 #if ( INCLUDE_xTaskGetHandle == 1 )
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490 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
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491 const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
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496 * When a task is created, the stack of the task is filled with a known value.
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497 * This function determines the 'high water mark' of the task stack by
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498 * determining how much of the stack remains at the original preset value.
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500 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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502 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
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507 * Return the amount of time, in ticks, that will pass before the kernel will
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508 * next move a task from the Blocked state to the Running state.
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510 * This conditional compilation should use inequality to 0, not equality to 1.
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511 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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512 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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513 * set to a value other than 1.
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515 #if ( configUSE_TICKLESS_IDLE != 0 )
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517 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
522 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
523 * will exit the Blocked state.
\r
525 static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
\r
527 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
530 * Helper function used to pad task names with spaces when printing out
\r
531 * human readable tables of task information.
\r
533 static char * prvWriteNameToBuffer( char * pcBuffer,
\r
534 const char * pcTaskName ) PRIVILEGED_FUNCTION;
\r
539 * Called after a Task_t structure has been allocated either statically or
\r
540 * dynamically to fill in the structure's members.
\r
542 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
543 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
544 const uint32_t ulStackDepth,
\r
545 void * const pvParameters,
\r
546 UBaseType_t uxPriority,
\r
547 TaskHandle_t * const pxCreatedTask,
\r
549 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
\r
552 * Called after a new task has been created and initialised to place the task
\r
553 * under the control of the scheduler.
\r
555 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
\r
558 * freertos_tasks_c_additions_init() should only be called if the user definable
\r
559 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
\r
560 * called by the function.
\r
562 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
564 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
\r
568 /*-----------------------------------------------------------*/
\r
570 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
572 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
\r
573 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
574 const uint32_t ulStackDepth,
\r
575 void * const pvParameters,
\r
576 UBaseType_t uxPriority,
\r
577 StackType_t * const puxStackBuffer,
\r
578 StaticTask_t * const pxTaskBuffer )
\r
581 TaskHandle_t xReturn;
\r
583 configASSERT( puxStackBuffer != NULL );
\r
584 configASSERT( pxTaskBuffer != NULL );
\r
586 #if ( configASSERT_DEFINED == 1 )
\r
588 /* Sanity check that the size of the structure used to declare a
\r
589 * variable of type StaticTask_t equals the size of the real task
\r
591 volatile size_t xSize = sizeof( StaticTask_t );
\r
592 configASSERT( xSize == sizeof( TCB_t ) );
\r
593 ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
\r
595 #endif /* configASSERT_DEFINED */
\r
597 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
\r
599 /* The memory used for the task's TCB and stack are passed into this
\r
600 * function - use them. */
\r
601 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
\r
602 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
\r
604 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
606 /* Tasks can be created statically or dynamically, so note this
\r
607 * task was created statically in case the task is later deleted. */
\r
608 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
610 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
612 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
\r
613 prvAddNewTaskToReadyList( pxNewTCB );
\r
623 #endif /* SUPPORT_STATIC_ALLOCATION */
\r
624 /*-----------------------------------------------------------*/
\r
626 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
\r
628 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
\r
629 TaskHandle_t * pxCreatedTask )
\r
632 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
634 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
\r
635 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
\r
637 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
\r
639 /* Allocate space for the TCB. Where the memory comes from depends
\r
640 * on the implementation of the port malloc function and whether or
\r
641 * not static allocation is being used. */
\r
642 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
\r
644 /* Store the stack location in the TCB. */
\r
645 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
647 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
649 /* Tasks can be created statically or dynamically, so note this
\r
650 * task was created statically in case the task is later deleted. */
\r
651 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
\r
653 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
655 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
656 pxTaskDefinition->pcName,
\r
657 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
658 pxTaskDefinition->pvParameters,
\r
659 pxTaskDefinition->uxPriority,
\r
660 pxCreatedTask, pxNewTCB,
\r
661 pxTaskDefinition->xRegions );
\r
663 prvAddNewTaskToReadyList( pxNewTCB );
\r
670 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
671 /*-----------------------------------------------------------*/
\r
673 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
675 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
\r
676 TaskHandle_t * pxCreatedTask )
\r
679 BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
681 configASSERT( pxTaskDefinition->puxStackBuffer );
\r
683 if( pxTaskDefinition->puxStackBuffer != NULL )
\r
685 /* Allocate space for the TCB. Where the memory comes from depends
\r
686 * on the implementation of the port malloc function and whether or
\r
687 * not static allocation is being used. */
\r
688 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
690 if( pxNewTCB != NULL )
\r
692 /* Store the stack location in the TCB. */
\r
693 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
\r
695 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
\r
697 /* Tasks can be created statically or dynamically, so note
\r
698 * this task had a statically allocated stack in case it is
\r
699 * later deleted. The TCB was allocated dynamically. */
\r
700 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
\r
702 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
704 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
\r
705 pxTaskDefinition->pcName,
\r
706 ( uint32_t ) pxTaskDefinition->usStackDepth,
\r
707 pxTaskDefinition->pvParameters,
\r
708 pxTaskDefinition->uxPriority,
\r
709 pxCreatedTask, pxNewTCB,
\r
710 pxTaskDefinition->xRegions );
\r
712 prvAddNewTaskToReadyList( pxNewTCB );
\r
720 #endif /* portUSING_MPU_WRAPPERS */
\r
721 /*-----------------------------------------------------------*/
\r
723 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
\r
725 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
\r
726 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
727 const configSTACK_DEPTH_TYPE usStackDepth,
\r
728 void * const pvParameters,
\r
729 UBaseType_t uxPriority,
\r
730 TaskHandle_t * const pxCreatedTask )
\r
733 BaseType_t xReturn;
\r
735 /* If the stack grows down then allocate the stack then the TCB so the stack
\r
736 * does not grow into the TCB. Likewise if the stack grows up then allocate
\r
737 * the TCB then the stack. */
\r
738 #if ( portSTACK_GROWTH > 0 )
\r
740 /* Allocate space for the TCB. Where the memory comes from depends on
\r
741 * the implementation of the port malloc function and whether or not static
\r
742 * allocation is being used. */
\r
743 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
\r
745 if( pxNewTCB != NULL )
\r
747 /* Allocate space for the stack used by the task being created.
\r
748 * The base of the stack memory stored in the TCB so the task can
\r
749 * be deleted later if required. */
\r
750 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
752 if( pxNewTCB->pxStack == NULL )
\r
754 /* Could not allocate the stack. Delete the allocated TCB. */
\r
755 vPortFree( pxNewTCB );
\r
760 #else /* portSTACK_GROWTH */
\r
762 StackType_t * pxStack;
\r
764 /* Allocate space for the stack used by the task being created. */
\r
765 pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
\r
767 if( pxStack != NULL )
\r
769 /* Allocate space for the TCB. */
\r
770 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
\r
772 if( pxNewTCB != NULL )
\r
774 /* Store the stack location in the TCB. */
\r
775 pxNewTCB->pxStack = pxStack;
\r
779 /* The stack cannot be used as the TCB was not created. Free
\r
781 vPortFreeStack( pxStack );
\r
789 #endif /* portSTACK_GROWTH */
\r
791 if( pxNewTCB != NULL )
\r
793 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
\r
795 /* Tasks can be created statically or dynamically, so note this
\r
796 * task was created dynamically in case it is later deleted. */
\r
797 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
\r
799 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
\r
801 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
\r
802 prvAddNewTaskToReadyList( pxNewTCB );
\r
807 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
813 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
814 /*-----------------------------------------------------------*/
\r
816 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
\r
817 const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
818 const uint32_t ulStackDepth,
\r
819 void * const pvParameters,
\r
820 UBaseType_t uxPriority,
\r
821 TaskHandle_t * const pxCreatedTask,
\r
823 const MemoryRegion_t * const xRegions )
\r
825 StackType_t * pxTopOfStack;
\r
828 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
829 /* Should the task be created in privileged mode? */
\r
830 BaseType_t xRunPrivileged;
\r
832 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
834 xRunPrivileged = pdTRUE;
\r
838 xRunPrivileged = pdFALSE;
\r
840 uxPriority &= ~portPRIVILEGE_BIT;
\r
841 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
843 /* Avoid dependency on memset() if it is not required. */
\r
844 #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
\r
846 /* Fill the stack with a known value to assist debugging. */
\r
847 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
\r
849 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
\r
851 /* Calculate the top of stack address. This depends on whether the stack
\r
852 * grows from high memory to low (as per the 80x86) or vice versa.
\r
853 * portSTACK_GROWTH is used to make the result positive or negative as required
\r
855 #if ( portSTACK_GROWTH < 0 )
\r
857 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
\r
858 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
\r
860 /* Check the alignment of the calculated top of stack is correct. */
\r
861 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
863 #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
\r
865 /* Also record the stack's high address, which may assist
\r
867 pxNewTCB->pxEndOfStack = pxTopOfStack;
\r
869 #endif /* configRECORD_STACK_HIGH_ADDRESS */
\r
871 #else /* portSTACK_GROWTH */
\r
873 pxTopOfStack = pxNewTCB->pxStack;
\r
875 /* Check the alignment of the stack buffer is correct. */
\r
876 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
878 /* The other extreme of the stack space is required if stack checking is
\r
880 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
\r
882 #endif /* portSTACK_GROWTH */
\r
884 /* Store the task name in the TCB. */
\r
885 if( pcName != NULL )
\r
887 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
889 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
\r
891 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
892 * configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
893 * string is not accessible (extremely unlikely). */
\r
894 if( pcName[ x ] == ( char ) 0x00 )
\r
900 mtCOVERAGE_TEST_MARKER();
\r
904 /* Ensure the name string is terminated in the case that the string length
\r
905 * was greater or equal to configMAX_TASK_NAME_LEN. */
\r
906 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
\r
910 /* The task has not been given a name, so just ensure there is a NULL
\r
911 * terminator when it is read out. */
\r
912 pxNewTCB->pcTaskName[ 0 ] = 0x00;
\r
915 /* This is used as an array index so must ensure it's not too large. */
\r
916 configASSERT( uxPriority < configMAX_PRIORITIES );
\r
917 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
919 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
923 mtCOVERAGE_TEST_MARKER();
\r
926 pxNewTCB->uxPriority = uxPriority;
\r
927 #if ( configUSE_MUTEXES == 1 )
\r
929 pxNewTCB->uxBasePriority = uxPriority;
\r
930 pxNewTCB->uxMutexesHeld = 0;
\r
932 #endif /* configUSE_MUTEXES */
\r
934 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
\r
935 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
\r
937 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
\r
938 * back to the containing TCB from a generic item in a list. */
\r
939 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
\r
941 /* Event lists are always in priority order. */
\r
942 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
943 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
\r
945 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
947 pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
\r
949 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
951 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
953 pxNewTCB->pxTaskTag = NULL;
\r
955 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
957 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
959 pxNewTCB->ulRunTimeCounter = 0UL;
\r
961 #endif /* configGENERATE_RUN_TIME_STATS */
\r
963 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
965 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
\r
969 /* Avoid compiler warning about unreferenced parameter. */
\r
974 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
976 memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) );
\r
980 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
982 memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
\r
983 memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
\r
987 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
989 /* Initialise this task's Newlib reent structure.
\r
990 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
991 * for additional information. */
\r
992 _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
\r
996 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
998 pxNewTCB->ucDelayAborted = pdFALSE;
\r
1002 /* Initialize the TCB stack to look as if the task was already running,
\r
1003 * but had been interrupted by the scheduler. The return address is set
\r
1004 * to the start of the task function. Once the stack has been initialised
\r
1005 * the top of stack variable is updated. */
\r
1006 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1008 /* If the port has capability to detect stack overflow,
\r
1009 * pass the stack end address to the stack initialization
\r
1010 * function as well. */
\r
1011 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1013 #if ( portSTACK_GROWTH < 0 )
\r
1015 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1017 #else /* portSTACK_GROWTH */
\r
1019 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1021 #endif /* portSTACK_GROWTH */
\r
1023 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1025 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
1027 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1029 #else /* portUSING_MPU_WRAPPERS */
\r
1031 /* If the port has capability to detect stack overflow,
\r
1032 * pass the stack end address to the stack initialization
\r
1033 * function as well. */
\r
1034 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
\r
1036 #if ( portSTACK_GROWTH < 0 )
\r
1038 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
\r
1040 #else /* portSTACK_GROWTH */
\r
1042 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
\r
1044 #endif /* portSTACK_GROWTH */
\r
1046 #else /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1048 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
1050 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
\r
1052 #endif /* portUSING_MPU_WRAPPERS */
\r
1054 if( pxCreatedTask != NULL )
\r
1056 /* Pass the handle out in an anonymous way. The handle can be used to
\r
1057 * change the created task's priority, delete the created task, etc.*/
\r
1058 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
\r
1062 mtCOVERAGE_TEST_MARKER();
\r
1065 /*-----------------------------------------------------------*/
\r
1067 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
\r
1069 /* Ensure interrupts don't access the task lists while the lists are being
\r
1071 taskENTER_CRITICAL();
\r
1073 uxCurrentNumberOfTasks++;
\r
1075 if( pxCurrentTCB == NULL )
\r
1077 /* There are no other tasks, or all the other tasks are in
\r
1078 * the suspended state - make this the current task. */
\r
1079 pxCurrentTCB = pxNewTCB;
\r
1081 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
\r
1083 /* This is the first task to be created so do the preliminary
\r
1084 * initialisation required. We will not recover if this call
\r
1085 * fails, but we will report the failure. */
\r
1086 prvInitialiseTaskLists();
\r
1090 mtCOVERAGE_TEST_MARKER();
\r
1095 /* If the scheduler is not already running, make this task the
\r
1096 * current task if it is the highest priority task to be created
\r
1098 if( xSchedulerRunning == pdFALSE )
\r
1100 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
\r
1102 pxCurrentTCB = pxNewTCB;
\r
1106 mtCOVERAGE_TEST_MARKER();
\r
1111 mtCOVERAGE_TEST_MARKER();
\r
1117 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1119 /* Add a counter into the TCB for tracing only. */
\r
1120 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
1122 #endif /* configUSE_TRACE_FACILITY */
\r
1123 traceTASK_CREATE( pxNewTCB );
\r
1125 prvAddTaskToReadyList( pxNewTCB );
\r
1127 portSETUP_TCB( pxNewTCB );
\r
1129 taskEXIT_CRITICAL();
\r
1131 if( xSchedulerRunning != pdFALSE )
\r
1133 /* If the created task is of a higher priority than the current task
\r
1134 * then it should run now. */
\r
1135 if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
\r
1137 taskYIELD_IF_USING_PREEMPTION();
\r
1141 mtCOVERAGE_TEST_MARKER();
\r
1146 mtCOVERAGE_TEST_MARKER();
\r
1149 /*-----------------------------------------------------------*/
\r
1151 #if ( INCLUDE_vTaskDelete == 1 )
\r
1153 void vTaskDelete( TaskHandle_t xTaskToDelete )
\r
1157 taskENTER_CRITICAL();
\r
1159 /* If null is passed in here then it is the calling task that is
\r
1160 * being deleted. */
\r
1161 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
1163 /* Remove task from the ready/delayed list. */
\r
1164 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1166 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1170 mtCOVERAGE_TEST_MARKER();
\r
1173 /* Is the task waiting on an event also? */
\r
1174 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1176 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1180 mtCOVERAGE_TEST_MARKER();
\r
1183 /* Increment the uxTaskNumber also so kernel aware debuggers can
\r
1184 * detect that the task lists need re-generating. This is done before
\r
1185 * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
\r
1189 if( pxTCB == pxCurrentTCB )
\r
1191 /* A task is deleting itself. This cannot complete within the
\r
1192 * task itself, as a context switch to another task is required.
\r
1193 * Place the task in the termination list. The idle task will
\r
1194 * check the termination list and free up any memory allocated by
\r
1195 * the scheduler for the TCB and stack of the deleted task. */
\r
1196 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
\r
1198 /* Increment the ucTasksDeleted variable so the idle task knows
\r
1199 * there is a task that has been deleted and that it should therefore
\r
1200 * check the xTasksWaitingTermination list. */
\r
1201 ++uxDeletedTasksWaitingCleanUp;
\r
1203 /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
\r
1204 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
\r
1205 traceTASK_DELETE( pxTCB );
\r
1207 /* The pre-delete hook is primarily for the Windows simulator,
\r
1208 * in which Windows specific clean up operations are performed,
\r
1209 * after which it is not possible to yield away from this task -
\r
1210 * hence xYieldPending is used to latch that a context switch is
\r
1212 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
1216 --uxCurrentNumberOfTasks;
\r
1217 traceTASK_DELETE( pxTCB );
\r
1218 prvDeleteTCB( pxTCB );
\r
1220 /* Reset the next expected unblock time in case it referred to
\r
1221 * the task that has just been deleted. */
\r
1222 prvResetNextTaskUnblockTime();
\r
1225 taskEXIT_CRITICAL();
\r
1227 /* Force a reschedule if it is the currently running task that has just
\r
1228 * been deleted. */
\r
1229 if( xSchedulerRunning != pdFALSE )
\r
1231 if( pxTCB == pxCurrentTCB )
\r
1233 configASSERT( uxSchedulerSuspended == 0 );
\r
1234 portYIELD_WITHIN_API();
\r
1238 mtCOVERAGE_TEST_MARKER();
\r
1243 #endif /* INCLUDE_vTaskDelete */
\r
1244 /*-----------------------------------------------------------*/
\r
1246 #if ( INCLUDE_xTaskDelayUntil == 1 )
\r
1248 BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
\r
1249 const TickType_t xTimeIncrement )
\r
1251 TickType_t xTimeToWake;
\r
1252 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
\r
1254 configASSERT( pxPreviousWakeTime );
\r
1255 configASSERT( ( xTimeIncrement > 0U ) );
\r
1256 configASSERT( uxSchedulerSuspended == 0 );
\r
1258 vTaskSuspendAll();
\r
1260 /* Minor optimisation. The tick count cannot change in this
\r
1262 const TickType_t xConstTickCount = xTickCount;
\r
1264 /* Generate the tick time at which the task wants to wake. */
\r
1265 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
1267 if( xConstTickCount < *pxPreviousWakeTime )
\r
1269 /* The tick count has overflowed since this function was
\r
1270 * lasted called. In this case the only time we should ever
\r
1271 * actually delay is if the wake time has also overflowed,
\r
1272 * and the wake time is greater than the tick time. When this
\r
1273 * is the case it is as if neither time had overflowed. */
\r
1274 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
1276 xShouldDelay = pdTRUE;
\r
1280 mtCOVERAGE_TEST_MARKER();
\r
1285 /* The tick time has not overflowed. In this case we will
\r
1286 * delay if either the wake time has overflowed, and/or the
\r
1287 * tick time is less than the wake time. */
\r
1288 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
1290 xShouldDelay = pdTRUE;
\r
1294 mtCOVERAGE_TEST_MARKER();
\r
1298 /* Update the wake time ready for the next call. */
\r
1299 *pxPreviousWakeTime = xTimeToWake;
\r
1301 if( xShouldDelay != pdFALSE )
\r
1303 traceTASK_DELAY_UNTIL( xTimeToWake );
\r
1305 /* prvAddCurrentTaskToDelayedList() needs the block time, not
\r
1306 * the time to wake, so subtract the current tick count. */
\r
1307 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
\r
1311 mtCOVERAGE_TEST_MARKER();
\r
1314 xAlreadyYielded = xTaskResumeAll();
\r
1316 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1317 * have put ourselves to sleep. */
\r
1318 if( xAlreadyYielded == pdFALSE )
\r
1320 portYIELD_WITHIN_API();
\r
1324 mtCOVERAGE_TEST_MARKER();
\r
1327 return xShouldDelay;
\r
1330 #endif /* INCLUDE_xTaskDelayUntil */
\r
1331 /*-----------------------------------------------------------*/
\r
1333 #if ( INCLUDE_vTaskDelay == 1 )
\r
1335 void vTaskDelay( const TickType_t xTicksToDelay )
\r
1337 BaseType_t xAlreadyYielded = pdFALSE;
\r
1339 /* A delay time of zero just forces a reschedule. */
\r
1340 if( xTicksToDelay > ( TickType_t ) 0U )
\r
1342 configASSERT( uxSchedulerSuspended == 0 );
\r
1343 vTaskSuspendAll();
\r
1345 traceTASK_DELAY();
\r
1347 /* A task that is removed from the event list while the
\r
1348 * scheduler is suspended will not get placed in the ready
\r
1349 * list or removed from the blocked list until the scheduler
\r
1352 * This task cannot be in an event list as it is the currently
\r
1353 * executing task. */
\r
1354 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
\r
1356 xAlreadyYielded = xTaskResumeAll();
\r
1360 mtCOVERAGE_TEST_MARKER();
\r
1363 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
1364 * have put ourselves to sleep. */
\r
1365 if( xAlreadyYielded == pdFALSE )
\r
1367 portYIELD_WITHIN_API();
\r
1371 mtCOVERAGE_TEST_MARKER();
\r
1375 #endif /* INCLUDE_vTaskDelay */
\r
1376 /*-----------------------------------------------------------*/
\r
1378 #if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
\r
1380 eTaskState eTaskGetState( TaskHandle_t xTask )
\r
1382 eTaskState eReturn;
\r
1383 List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList;
\r
1384 const TCB_t * const pxTCB = xTask;
\r
1386 configASSERT( pxTCB );
\r
1388 if( pxTCB == pxCurrentTCB )
\r
1390 /* The task calling this function is querying its own state. */
\r
1391 eReturn = eRunning;
\r
1395 taskENTER_CRITICAL();
\r
1397 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
\r
1398 pxDelayedList = pxDelayedTaskList;
\r
1399 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
\r
1401 taskEXIT_CRITICAL();
\r
1403 if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
\r
1405 /* The task being queried is referenced from one of the Blocked
\r
1407 eReturn = eBlocked;
\r
1410 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1411 else if( pxStateList == &xSuspendedTaskList )
\r
1413 /* The task being queried is referenced from the suspended
\r
1414 * list. Is it genuinely suspended or is it blocked
\r
1415 * indefinitely? */
\r
1416 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
1418 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1422 /* The task does not appear on the event list item of
\r
1423 * and of the RTOS objects, but could still be in the
\r
1424 * blocked state if it is waiting on its notification
\r
1425 * rather than waiting on an object. If not, is
\r
1427 eReturn = eSuspended;
\r
1429 for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
\r
1431 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
\r
1433 eReturn = eBlocked;
\r
1438 #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1440 eReturn = eSuspended;
\r
1442 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1446 eReturn = eBlocked;
\r
1449 #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
\r
1451 #if ( INCLUDE_vTaskDelete == 1 )
\r
1452 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
\r
1454 /* The task being queried is referenced from the deleted
\r
1455 * tasks list, or it is not referenced from any lists at
\r
1457 eReturn = eDeleted;
\r
1461 else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
\r
1463 /* If the task is not in any other state, it must be in the
\r
1464 * Ready (including pending ready) state. */
\r
1470 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1472 #endif /* INCLUDE_eTaskGetState */
\r
1473 /*-----------------------------------------------------------*/
\r
1475 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1477 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
\r
1479 TCB_t const * pxTCB;
\r
1480 UBaseType_t uxReturn;
\r
1482 taskENTER_CRITICAL();
\r
1484 /* If null is passed in here then it is the priority of the task
\r
1485 * that called uxTaskPriorityGet() that is being queried. */
\r
1486 pxTCB = prvGetTCBFromHandle( xTask );
\r
1487 uxReturn = pxTCB->uxPriority;
\r
1489 taskEXIT_CRITICAL();
\r
1494 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1495 /*-----------------------------------------------------------*/
\r
1497 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
1499 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
\r
1501 TCB_t const * pxTCB;
\r
1502 UBaseType_t uxReturn, uxSavedInterruptState;
\r
1504 /* RTOS ports that support interrupt nesting have the concept of a
\r
1505 * maximum system call (or maximum API call) interrupt priority.
\r
1506 * Interrupts that are above the maximum system call priority are keep
\r
1507 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
1508 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1509 * is defined in FreeRTOSConfig.h then
\r
1510 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1511 * failure if a FreeRTOS API function is called from an interrupt that has
\r
1512 * been assigned a priority above the configured maximum system call
\r
1513 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
1514 * from interrupts that have been assigned a priority at or (logically)
\r
1515 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1516 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1517 * simple as possible. More information (albeit Cortex-M specific) is
\r
1518 * provided on the following link:
\r
1519 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
1520 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1522 uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1524 /* If null is passed in here then it is the priority of the calling
\r
1525 * task that is being queried. */
\r
1526 pxTCB = prvGetTCBFromHandle( xTask );
\r
1527 uxReturn = pxTCB->uxPriority;
\r
1529 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
\r
1534 #endif /* INCLUDE_uxTaskPriorityGet */
\r
1535 /*-----------------------------------------------------------*/
\r
1537 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
1539 void vTaskPrioritySet( TaskHandle_t xTask,
\r
1540 UBaseType_t uxNewPriority )
\r
1543 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
1544 BaseType_t xYieldRequired = pdFALSE;
\r
1546 configASSERT( uxNewPriority < configMAX_PRIORITIES );
\r
1548 /* Ensure the new priority is valid. */
\r
1549 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
\r
1551 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
\r
1555 mtCOVERAGE_TEST_MARKER();
\r
1558 taskENTER_CRITICAL();
\r
1560 /* If null is passed in here then it is the priority of the calling
\r
1561 * task that is being changed. */
\r
1562 pxTCB = prvGetTCBFromHandle( xTask );
\r
1564 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
1566 #if ( configUSE_MUTEXES == 1 )
\r
1568 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
1572 uxCurrentBasePriority = pxTCB->uxPriority;
\r
1576 if( uxCurrentBasePriority != uxNewPriority )
\r
1578 /* The priority change may have readied a task of higher
\r
1579 * priority than the calling task. */
\r
1580 if( uxNewPriority > uxCurrentBasePriority )
\r
1582 if( pxTCB != pxCurrentTCB )
\r
1584 /* The priority of a task other than the currently
\r
1585 * running task is being raised. Is the priority being
\r
1586 * raised above that of the running task? */
\r
1587 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
1589 xYieldRequired = pdTRUE;
\r
1593 mtCOVERAGE_TEST_MARKER();
\r
1598 /* The priority of the running task is being raised,
\r
1599 * but the running task must already be the highest
\r
1600 * priority task able to run so no yield is required. */
\r
1603 else if( pxTCB == pxCurrentTCB )
\r
1605 /* Setting the priority of the running task down means
\r
1606 * there may now be another task of higher priority that
\r
1607 * is ready to execute. */
\r
1608 xYieldRequired = pdTRUE;
\r
1612 /* Setting the priority of any other task down does not
\r
1613 * require a yield as the running task must be above the
\r
1614 * new priority of the task being modified. */
\r
1617 /* Remember the ready list the task might be referenced from
\r
1618 * before its uxPriority member is changed so the
\r
1619 * taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1620 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1622 #if ( configUSE_MUTEXES == 1 )
\r
1624 /* Only change the priority being used if the task is not
\r
1625 * currently using an inherited priority. */
\r
1626 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1628 pxTCB->uxPriority = uxNewPriority;
\r
1632 mtCOVERAGE_TEST_MARKER();
\r
1635 /* The base priority gets set whatever. */
\r
1636 pxTCB->uxBasePriority = uxNewPriority;
\r
1638 #else /* if ( configUSE_MUTEXES == 1 ) */
\r
1640 pxTCB->uxPriority = uxNewPriority;
\r
1642 #endif /* if ( configUSE_MUTEXES == 1 ) */
\r
1644 /* Only reset the event list item value if the value is not
\r
1645 * being used for anything else. */
\r
1646 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
1648 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
1652 mtCOVERAGE_TEST_MARKER();
\r
1655 /* If the task is in the blocked or suspended list we need do
\r
1656 * nothing more than change its priority variable. However, if
\r
1657 * the task is in a ready list it needs to be removed and placed
\r
1658 * in the list appropriate to its new priority. */
\r
1659 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1661 /* The task is currently in its ready list - remove before
\r
1662 * adding it to its new ready list. As we are in a critical
\r
1663 * section we can do this even if the scheduler is suspended. */
\r
1664 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1666 /* It is known that the task is in its ready list so
\r
1667 * there is no need to check again and the port level
\r
1668 * reset macro can be called directly. */
\r
1669 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1673 mtCOVERAGE_TEST_MARKER();
\r
1676 prvAddTaskToReadyList( pxTCB );
\r
1680 mtCOVERAGE_TEST_MARKER();
\r
1683 if( xYieldRequired != pdFALSE )
\r
1685 taskYIELD_IF_USING_PREEMPTION();
\r
1689 mtCOVERAGE_TEST_MARKER();
\r
1692 /* Remove compiler warning about unused variables when the port
\r
1693 * optimised task selection is not being used. */
\r
1694 ( void ) uxPriorityUsedOnEntry;
\r
1697 taskEXIT_CRITICAL();
\r
1700 #endif /* INCLUDE_vTaskPrioritySet */
\r
1701 /*-----------------------------------------------------------*/
\r
1703 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1705 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
\r
1709 taskENTER_CRITICAL();
\r
1711 /* If null is passed in here then it is the running task that is
\r
1712 * being suspended. */
\r
1713 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1715 traceTASK_SUSPEND( pxTCB );
\r
1717 /* Remove task from the ready/delayed list and place in the
\r
1718 * suspended list. */
\r
1719 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
1721 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1725 mtCOVERAGE_TEST_MARKER();
\r
1728 /* Is the task waiting on an event also? */
\r
1729 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1731 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1735 mtCOVERAGE_TEST_MARKER();
\r
1738 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
\r
1740 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
1744 for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
\r
1746 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
\r
1748 /* The task was blocked to wait for a notification, but is
\r
1749 * now suspended, so no notification was received. */
\r
1750 pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
\r
1754 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
\r
1756 taskEXIT_CRITICAL();
\r
1758 if( xSchedulerRunning != pdFALSE )
\r
1760 /* Reset the next expected unblock time in case it referred to the
\r
1761 * task that is now in the Suspended state. */
\r
1762 taskENTER_CRITICAL();
\r
1764 prvResetNextTaskUnblockTime();
\r
1766 taskEXIT_CRITICAL();
\r
1770 mtCOVERAGE_TEST_MARKER();
\r
1773 if( pxTCB == pxCurrentTCB )
\r
1775 if( xSchedulerRunning != pdFALSE )
\r
1777 /* The current task has just been suspended. */
\r
1778 configASSERT( uxSchedulerSuspended == 0 );
\r
1779 portYIELD_WITHIN_API();
\r
1783 /* The scheduler is not running, but the task that was pointed
\r
1784 * to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1785 * must be adjusted to point to a different task. */
\r
1786 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
\r
1788 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1789 * NULL so when the next task is created pxCurrentTCB will
\r
1790 * be set to point to it no matter what its relative priority
\r
1792 pxCurrentTCB = NULL;
\r
1796 vTaskSwitchContext();
\r
1802 mtCOVERAGE_TEST_MARKER();
\r
1806 #endif /* INCLUDE_vTaskSuspend */
\r
1807 /*-----------------------------------------------------------*/
\r
1809 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1811 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
\r
1813 BaseType_t xReturn = pdFALSE;
\r
1814 const TCB_t * const pxTCB = xTask;
\r
1816 /* Accesses xPendingReadyList so must be called from a critical
\r
1819 /* It does not make sense to check if the calling task is suspended. */
\r
1820 configASSERT( xTask );
\r
1822 /* Is the task being resumed actually in the suspended list? */
\r
1823 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
1825 /* Has the task already been resumed from within an ISR? */
\r
1826 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1828 /* Is it in the suspended list because it is in the Suspended
\r
1829 * state, or because is is blocked with no timeout? */
\r
1830 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
\r
1836 mtCOVERAGE_TEST_MARKER();
\r
1841 mtCOVERAGE_TEST_MARKER();
\r
1846 mtCOVERAGE_TEST_MARKER();
\r
1850 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1852 #endif /* INCLUDE_vTaskSuspend */
\r
1853 /*-----------------------------------------------------------*/
\r
1855 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1857 void vTaskResume( TaskHandle_t xTaskToResume )
\r
1859 TCB_t * const pxTCB = xTaskToResume;
\r
1861 /* It does not make sense to resume the calling task. */
\r
1862 configASSERT( xTaskToResume );
\r
1864 /* The parameter cannot be NULL as it is impossible to resume the
\r
1865 * currently executing task. */
\r
1866 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
\r
1868 taskENTER_CRITICAL();
\r
1870 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1872 traceTASK_RESUME( pxTCB );
\r
1874 /* The ready list can be accessed even if the scheduler is
\r
1875 * suspended because this is inside a critical section. */
\r
1876 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1877 prvAddTaskToReadyList( pxTCB );
\r
1879 /* A higher priority task may have just been resumed. */
\r
1880 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1882 /* This yield may not cause the task just resumed to run,
\r
1883 * but will leave the lists in the correct state for the
\r
1885 taskYIELD_IF_USING_PREEMPTION();
\r
1889 mtCOVERAGE_TEST_MARKER();
\r
1894 mtCOVERAGE_TEST_MARKER();
\r
1897 taskEXIT_CRITICAL();
\r
1901 mtCOVERAGE_TEST_MARKER();
\r
1905 #endif /* INCLUDE_vTaskSuspend */
\r
1907 /*-----------------------------------------------------------*/
\r
1909 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1911 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
\r
1913 BaseType_t xYieldRequired = pdFALSE;
\r
1914 TCB_t * const pxTCB = xTaskToResume;
\r
1915 UBaseType_t uxSavedInterruptStatus;
\r
1917 configASSERT( xTaskToResume );
\r
1919 /* RTOS ports that support interrupt nesting have the concept of a
\r
1920 * maximum system call (or maximum API call) interrupt priority.
\r
1921 * Interrupts that are above the maximum system call priority are keep
\r
1922 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
1923 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1924 * is defined in FreeRTOSConfig.h then
\r
1925 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1926 * failure if a FreeRTOS API function is called from an interrupt that has
\r
1927 * been assigned a priority above the configured maximum system call
\r
1928 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
1929 * from interrupts that have been assigned a priority at or (logically)
\r
1930 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1931 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1932 * simple as possible. More information (albeit Cortex-M specific) is
\r
1933 * provided on the following link:
\r
1934 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
1935 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1937 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1939 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
\r
1941 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1943 /* Check the ready lists can be accessed. */
\r
1944 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
1946 /* Ready lists can be accessed so move the task from the
\r
1947 * suspended list to the ready list directly. */
\r
1948 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1950 xYieldRequired = pdTRUE;
\r
1952 /* Mark that a yield is pending in case the user is not
\r
1953 * using the return value to initiate a context switch
\r
1954 * from the ISR using portYIELD_FROM_ISR. */
\r
1955 xYieldPending = pdTRUE;
\r
1959 mtCOVERAGE_TEST_MARKER();
\r
1962 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
1963 prvAddTaskToReadyList( pxTCB );
\r
1967 /* The delayed or ready lists cannot be accessed so the task
\r
1968 * is held in the pending ready list until the scheduler is
\r
1970 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1975 mtCOVERAGE_TEST_MARKER();
\r
1978 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1980 return xYieldRequired;
\r
1983 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1984 /*-----------------------------------------------------------*/
\r
1986 void vTaskStartScheduler( void )
\r
1988 BaseType_t xReturn;
\r
1990 /* Add the idle task at the lowest priority. */
\r
1991 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
\r
1993 StaticTask_t * pxIdleTaskTCBBuffer = NULL;
\r
1994 StackType_t * pxIdleTaskStackBuffer = NULL;
\r
1995 uint32_t ulIdleTaskStackSize;
\r
1997 /* The Idle task is created using user provided RAM - obtain the
\r
1998 * address of the RAM then create the idle task. */
\r
1999 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
\r
2000 xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
\r
2001 configIDLE_TASK_NAME,
\r
2002 ulIdleTaskStackSize,
\r
2003 ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
\r
2004 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2005 pxIdleTaskStackBuffer,
\r
2006 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2008 if( xIdleTaskHandle != NULL )
\r
2017 #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
\r
2019 /* The Idle task is being created using dynamically allocated RAM. */
\r
2020 xReturn = xTaskCreate( prvIdleTask,
\r
2021 configIDLE_TASK_NAME,
\r
2022 configMINIMAL_STACK_SIZE,
\r
2024 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
\r
2025 &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
2027 #endif /* configSUPPORT_STATIC_ALLOCATION */
\r
2029 #if ( configUSE_TIMERS == 1 )
\r
2031 if( xReturn == pdPASS )
\r
2033 xReturn = xTimerCreateTimerTask();
\r
2037 mtCOVERAGE_TEST_MARKER();
\r
2040 #endif /* configUSE_TIMERS */
\r
2042 if( xReturn == pdPASS )
\r
2044 /* freertos_tasks_c_additions_init() should only be called if the user
\r
2045 * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
\r
2046 * the only macro called by the function. */
\r
2047 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
2049 freertos_tasks_c_additions_init();
\r
2053 /* Interrupts are turned off here, to ensure a tick does not occur
\r
2054 * before or during the call to xPortStartScheduler(). The stacks of
\r
2055 * the created tasks contain a status word with interrupts switched on
\r
2056 * so interrupts will automatically get re-enabled when the first task
\r
2057 * starts to run. */
\r
2058 portDISABLE_INTERRUPTS();
\r
2060 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2062 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
2063 * structure specific to the task that will run first.
\r
2064 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
2065 * for additional information. */
\r
2066 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
2068 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2070 xNextTaskUnblockTime = portMAX_DELAY;
\r
2071 xSchedulerRunning = pdTRUE;
\r
2072 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
\r
2074 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
2075 * macro must be defined to configure the timer/counter used to generate
\r
2076 * the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
\r
2077 * is set to 0 and the following line fails to build then ensure you do not
\r
2078 * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
\r
2079 * FreeRTOSConfig.h file. */
\r
2080 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
2082 traceTASK_SWITCHED_IN();
\r
2084 /* Setting up the timer tick is hardware specific and thus in the
\r
2085 * portable interface. */
\r
2086 if( xPortStartScheduler() != pdFALSE )
\r
2088 /* Should not reach here as if the scheduler is running the
\r
2089 * function will not return. */
\r
2093 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
2098 /* This line will only be reached if the kernel could not be started,
\r
2099 * because there was not enough FreeRTOS heap to create the idle task
\r
2100 * or the timer task. */
\r
2101 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
\r
2104 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
\r
2105 * meaning xIdleTaskHandle is not used anywhere else. */
\r
2106 ( void ) xIdleTaskHandle;
\r
2108 /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
\r
2109 * from getting optimized out as it is no longer used by the kernel. */
\r
2110 ( void ) uxTopUsedPriority;
\r
2112 /*-----------------------------------------------------------*/
\r
2114 void vTaskEndScheduler( void )
\r
2116 /* Stop the scheduler interrupts and call the portable scheduler end
\r
2117 * routine so the original ISRs can be restored if necessary. The port
\r
2118 * layer must ensure interrupts enable bit is left in the correct state. */
\r
2119 portDISABLE_INTERRUPTS();
\r
2120 xSchedulerRunning = pdFALSE;
\r
2121 vPortEndScheduler();
\r
2123 /*----------------------------------------------------------*/
\r
2125 void vTaskSuspendAll( void )
\r
2127 /* A critical section is not required as the variable is of type
\r
2128 * BaseType_t. Please read Richard Barry's reply in the following link to a
\r
2129 * post in the FreeRTOS support forum before reporting this as a bug! -
\r
2130 * https://goo.gl/wu4acr */
\r
2132 /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
\r
2133 * do not otherwise exhibit real time behaviour. */
\r
2134 portSOFTWARE_BARRIER();
\r
2136 /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
\r
2137 * is used to allow calls to vTaskSuspendAll() to nest. */
\r
2138 ++uxSchedulerSuspended;
\r
2140 /* Enforces ordering for ports and optimised compilers that may otherwise place
\r
2141 * the above increment elsewhere. */
\r
2142 portMEMORY_BARRIER();
\r
2144 /*----------------------------------------------------------*/
\r
2146 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2148 static TickType_t prvGetExpectedIdleTime( void )
\r
2150 TickType_t xReturn;
\r
2151 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
\r
2153 /* uxHigherPriorityReadyTasks takes care of the case where
\r
2154 * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
\r
2155 * task that are in the Ready state, even though the idle task is
\r
2157 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
2159 if( uxTopReadyPriority > tskIDLE_PRIORITY )
\r
2161 uxHigherPriorityReadyTasks = pdTRUE;
\r
2166 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
\r
2168 /* When port optimised task selection is used the uxTopReadyPriority
\r
2169 * variable is used as a bit map. If bits other than the least
\r
2170 * significant bit are set then there are tasks that have a priority
\r
2171 * above the idle priority that are in the Ready state. This takes
\r
2172 * care of the case where the co-operative scheduler is in use. */
\r
2173 if( uxTopReadyPriority > uxLeastSignificantBit )
\r
2175 uxHigherPriorityReadyTasks = pdTRUE;
\r
2178 #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
\r
2180 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
2184 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
2186 /* There are other idle priority tasks in the ready state. If
\r
2187 * time slicing is used then the very next tick interrupt must be
\r
2191 else if( uxHigherPriorityReadyTasks != pdFALSE )
\r
2193 /* There are tasks in the Ready state that have a priority above the
\r
2194 * idle priority. This path can only be reached if
\r
2195 * configUSE_PREEMPTION is 0. */
\r
2200 xReturn = xNextTaskUnblockTime - xTickCount;
\r
2206 #endif /* configUSE_TICKLESS_IDLE */
\r
2207 /*----------------------------------------------------------*/
\r
2209 BaseType_t xTaskResumeAll( void )
\r
2211 TCB_t * pxTCB = NULL;
\r
2212 BaseType_t xAlreadyYielded = pdFALSE;
\r
2214 /* If uxSchedulerSuspended is zero then this function does not match a
\r
2215 * previous call to vTaskSuspendAll(). */
\r
2216 configASSERT( uxSchedulerSuspended );
\r
2218 /* It is possible that an ISR caused a task to be removed from an event
\r
2219 * list while the scheduler was suspended. If this was the case then the
\r
2220 * removed task will have been added to the xPendingReadyList. Once the
\r
2221 * scheduler has been resumed it is safe to move all the pending ready
\r
2222 * tasks from this list into their appropriate ready list. */
\r
2223 taskENTER_CRITICAL();
\r
2225 --uxSchedulerSuspended;
\r
2227 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2229 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
\r
2231 /* Move any readied tasks from the pending list into the
\r
2232 * appropriate ready list. */
\r
2233 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
2235 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2236 listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
\r
2237 portMEMORY_BARRIER();
\r
2238 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
\r
2239 prvAddTaskToReadyList( pxTCB );
\r
2241 /* If the moved task has a priority higher than or equal to
\r
2242 * the current task then a yield must be performed. */
\r
2243 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2245 xYieldPending = pdTRUE;
\r
2249 mtCOVERAGE_TEST_MARKER();
\r
2253 if( pxTCB != NULL )
\r
2255 /* A task was unblocked while the scheduler was suspended,
\r
2256 * which may have prevented the next unblock time from being
\r
2257 * re-calculated, in which case re-calculate it now. Mainly
\r
2258 * important for low power tickless implementations, where
\r
2259 * this can prevent an unnecessary exit from low power
\r
2261 prvResetNextTaskUnblockTime();
\r
2264 /* If any ticks occurred while the scheduler was suspended then
\r
2265 * they should be processed now. This ensures the tick count does
\r
2266 * not slip, and that any delayed tasks are resumed at the correct
\r
2269 TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
\r
2271 if( xPendedCounts > ( TickType_t ) 0U )
\r
2275 if( xTaskIncrementTick() != pdFALSE )
\r
2277 xYieldPending = pdTRUE;
\r
2281 mtCOVERAGE_TEST_MARKER();
\r
2285 } while( xPendedCounts > ( TickType_t ) 0U );
\r
2291 mtCOVERAGE_TEST_MARKER();
\r
2295 if( xYieldPending != pdFALSE )
\r
2297 #if ( configUSE_PREEMPTION != 0 )
\r
2299 xAlreadyYielded = pdTRUE;
\r
2302 taskYIELD_IF_USING_PREEMPTION();
\r
2306 mtCOVERAGE_TEST_MARKER();
\r
2312 mtCOVERAGE_TEST_MARKER();
\r
2315 taskEXIT_CRITICAL();
\r
2317 return xAlreadyYielded;
\r
2319 /*-----------------------------------------------------------*/
\r
2321 TickType_t xTaskGetTickCount( void )
\r
2323 TickType_t xTicks;
\r
2325 /* Critical section required if running on a 16 bit processor. */
\r
2326 portTICK_TYPE_ENTER_CRITICAL();
\r
2328 xTicks = xTickCount;
\r
2330 portTICK_TYPE_EXIT_CRITICAL();
\r
2334 /*-----------------------------------------------------------*/
\r
2336 TickType_t xTaskGetTickCountFromISR( void )
\r
2338 TickType_t xReturn;
\r
2339 UBaseType_t uxSavedInterruptStatus;
\r
2341 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
2342 * system call (or maximum API call) interrupt priority. Interrupts that are
\r
2343 * above the maximum system call priority are kept permanently enabled, even
\r
2344 * when the RTOS kernel is in a critical section, but cannot make any calls to
\r
2345 * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
2346 * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
2347 * failure if a FreeRTOS API function is called from an interrupt that has been
\r
2348 * assigned a priority above the configured maximum system call priority.
\r
2349 * Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
2350 * that have been assigned a priority at or (logically) below the maximum
\r
2351 * system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
2352 * safe API to ensure interrupt entry is as fast and as simple as possible.
\r
2353 * More information (albeit Cortex-M specific) is provided on the following
\r
2354 * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
2355 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
2357 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
\r
2359 xReturn = xTickCount;
\r
2361 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2365 /*-----------------------------------------------------------*/
\r
2367 UBaseType_t uxTaskGetNumberOfTasks( void )
\r
2369 /* A critical section is not required because the variables are of type
\r
2371 return uxCurrentNumberOfTasks;
\r
2373 /*-----------------------------------------------------------*/
\r
2375 char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2379 /* If null is passed in here then the name of the calling task is being
\r
2381 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
2382 configASSERT( pxTCB );
\r
2383 return &( pxTCB->pcTaskName[ 0 ] );
\r
2385 /*-----------------------------------------------------------*/
\r
2387 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2389 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
\r
2390 const char pcNameToQuery[] )
\r
2392 TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL;
\r
2395 BaseType_t xBreakLoop;
\r
2397 /* This function is called with the scheduler suspended. */
\r
2399 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
2401 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2405 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2407 /* Check each character in the name looking for a match or
\r
2409 xBreakLoop = pdFALSE;
\r
2411 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
\r
2413 cNextChar = pxNextTCB->pcTaskName[ x ];
\r
2415 if( cNextChar != pcNameToQuery[ x ] )
\r
2417 /* Characters didn't match. */
\r
2418 xBreakLoop = pdTRUE;
\r
2420 else if( cNextChar == ( char ) 0x00 )
\r
2422 /* Both strings terminated, a match must have been
\r
2424 pxReturn = pxNextTCB;
\r
2425 xBreakLoop = pdTRUE;
\r
2429 mtCOVERAGE_TEST_MARKER();
\r
2432 if( xBreakLoop != pdFALSE )
\r
2438 if( pxReturn != NULL )
\r
2440 /* The handle has been found. */
\r
2443 } while( pxNextTCB != pxFirstTCB );
\r
2447 mtCOVERAGE_TEST_MARKER();
\r
2453 #endif /* INCLUDE_xTaskGetHandle */
\r
2454 /*-----------------------------------------------------------*/
\r
2456 #if ( INCLUDE_xTaskGetHandle == 1 )
\r
2458 TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
\r
2460 UBaseType_t uxQueue = configMAX_PRIORITIES;
\r
2463 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
\r
2464 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
\r
2466 vTaskSuspendAll();
\r
2468 /* Search the ready lists. */
\r
2472 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
\r
2474 if( pxTCB != NULL )
\r
2476 /* Found the handle. */
\r
2479 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2481 /* Search the delayed lists. */
\r
2482 if( pxTCB == NULL )
\r
2484 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
\r
2487 if( pxTCB == NULL )
\r
2489 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
\r
2492 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2494 if( pxTCB == NULL )
\r
2496 /* Search the suspended list. */
\r
2497 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
\r
2502 #if ( INCLUDE_vTaskDelete == 1 )
\r
2504 if( pxTCB == NULL )
\r
2506 /* Search the deleted list. */
\r
2507 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
\r
2512 ( void ) xTaskResumeAll();
\r
2517 #endif /* INCLUDE_xTaskGetHandle */
\r
2518 /*-----------------------------------------------------------*/
\r
2520 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2522 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
\r
2523 const UBaseType_t uxArraySize,
\r
2524 uint32_t * const pulTotalRunTime )
\r
2526 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
2528 vTaskSuspendAll();
\r
2530 /* Is there a space in the array for each task in the system? */
\r
2531 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
2533 /* Fill in an TaskStatus_t structure with information on each
\r
2534 * task in the Ready state. */
\r
2538 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
2539 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2541 /* Fill in an TaskStatus_t structure with information on each
\r
2542 * task in the Blocked state. */
\r
2543 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
\r
2544 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
\r
2546 #if ( INCLUDE_vTaskDelete == 1 )
\r
2548 /* Fill in an TaskStatus_t structure with information on
\r
2549 * each task that has been deleted but not yet cleaned up. */
\r
2550 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
2554 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2556 /* Fill in an TaskStatus_t structure with information on
\r
2557 * each task in the Suspended state. */
\r
2558 uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
2562 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2564 if( pulTotalRunTime != NULL )
\r
2566 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
2567 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
2569 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
2573 #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
\r
2575 if( pulTotalRunTime != NULL )
\r
2577 *pulTotalRunTime = 0;
\r
2580 #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
\r
2584 mtCOVERAGE_TEST_MARKER();
\r
2587 ( void ) xTaskResumeAll();
\r
2592 #endif /* configUSE_TRACE_FACILITY */
\r
2593 /*----------------------------------------------------------*/
\r
2595 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
2597 TaskHandle_t xTaskGetIdleTaskHandle( void )
\r
2599 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
2600 * started, then xIdleTaskHandle will be NULL. */
\r
2601 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
2602 return xIdleTaskHandle;
\r
2605 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
2606 /*----------------------------------------------------------*/
\r
2608 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
2609 * This is to ensure vTaskStepTick() is available when user defined low power mode
\r
2610 * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
2612 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2614 void vTaskStepTick( const TickType_t xTicksToJump )
\r
2616 /* Correct the tick count value after a period during which the tick
\r
2617 * was suppressed. Note this does *not* call the tick hook function for
\r
2618 * each stepped tick. */
\r
2619 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
2620 xTickCount += xTicksToJump;
\r
2621 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
2624 #endif /* configUSE_TICKLESS_IDLE */
\r
2625 /*----------------------------------------------------------*/
\r
2627 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
\r
2629 BaseType_t xYieldOccurred;
\r
2631 /* Must not be called with the scheduler suspended as the implementation
\r
2632 * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
\r
2633 configASSERT( uxSchedulerSuspended == 0 );
\r
2635 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
\r
2636 * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
\r
2637 vTaskSuspendAll();
\r
2638 xPendedTicks += xTicksToCatchUp;
\r
2639 xYieldOccurred = xTaskResumeAll();
\r
2641 return xYieldOccurred;
\r
2643 /*----------------------------------------------------------*/
\r
2645 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
2647 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
\r
2649 TCB_t * pxTCB = xTask;
\r
2650 BaseType_t xReturn;
\r
2652 configASSERT( pxTCB );
\r
2654 vTaskSuspendAll();
\r
2656 /* A task can only be prematurely removed from the Blocked state if
\r
2657 * it is actually in the Blocked state. */
\r
2658 if( eTaskGetState( xTask ) == eBlocked )
\r
2662 /* Remove the reference to the task from the blocked list. An
\r
2663 * interrupt won't touch the xStateListItem because the
\r
2664 * scheduler is suspended. */
\r
2665 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
2667 /* Is the task waiting on an event also? If so remove it from
\r
2668 * the event list too. Interrupts can touch the event list item,
\r
2669 * even though the scheduler is suspended, so a critical section
\r
2671 taskENTER_CRITICAL();
\r
2673 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2675 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
2677 /* This lets the task know it was forcibly removed from the
\r
2678 * blocked state so it should not re-evaluate its block time and
\r
2679 * then block again. */
\r
2680 pxTCB->ucDelayAborted = pdTRUE;
\r
2684 mtCOVERAGE_TEST_MARKER();
\r
2687 taskEXIT_CRITICAL();
\r
2689 /* Place the unblocked task into the appropriate ready list. */
\r
2690 prvAddTaskToReadyList( pxTCB );
\r
2692 /* A task being unblocked cannot cause an immediate context
\r
2693 * switch if preemption is turned off. */
\r
2694 #if ( configUSE_PREEMPTION == 1 )
\r
2696 /* Preemption is on, but a context switch should only be
\r
2697 * performed if the unblocked task has a priority that is
\r
2698 * higher than the currently executing task. */
\r
2699 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
2701 /* Pend the yield to be performed when the scheduler
\r
2702 * is unsuspended. */
\r
2703 xYieldPending = pdTRUE;
\r
2707 mtCOVERAGE_TEST_MARKER();
\r
2710 #endif /* configUSE_PREEMPTION */
\r
2717 ( void ) xTaskResumeAll();
\r
2722 #endif /* INCLUDE_xTaskAbortDelay */
\r
2723 /*----------------------------------------------------------*/
\r
2725 BaseType_t xTaskIncrementTick( void )
\r
2728 TickType_t xItemValue;
\r
2729 BaseType_t xSwitchRequired = pdFALSE;
\r
2731 /* Called by the portable layer each time a tick interrupt occurs.
\r
2732 * Increments the tick then checks to see if the new tick value will cause any
\r
2733 * tasks to be unblocked. */
\r
2734 traceTASK_INCREMENT_TICK( xTickCount );
\r
2736 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
2738 /* Minor optimisation. The tick count cannot change in this
\r
2740 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
\r
2742 /* Increment the RTOS tick, switching the delayed and overflowed
\r
2743 * delayed lists if it wraps to 0. */
\r
2744 xTickCount = xConstTickCount;
\r
2746 if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
\r
2748 taskSWITCH_DELAYED_LISTS();
\r
2752 mtCOVERAGE_TEST_MARKER();
\r
2755 /* See if this tick has made a timeout expire. Tasks are stored in
\r
2756 * the queue in the order of their wake time - meaning once one task
\r
2757 * has been found whose block time has not expired there is no need to
\r
2758 * look any further down the list. */
\r
2759 if( xConstTickCount >= xNextTaskUnblockTime )
\r
2763 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2765 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
2766 * to the maximum possible value so it is extremely
\r
2767 * unlikely that the
\r
2768 * if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
2769 * next time through. */
\r
2770 xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2775 /* The delayed list is not empty, get the value of the
\r
2776 * item at the head of the delayed list. This is the time
\r
2777 * at which the task at the head of the delayed list must
\r
2778 * be removed from the Blocked state. */
\r
2779 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
2780 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
\r
2782 if( xConstTickCount < xItemValue )
\r
2784 /* It is not time to unblock this item yet, but the
\r
2785 * item value is the time at which the task at the head
\r
2786 * of the blocked list must be removed from the Blocked
\r
2787 * state - so record the item value in
\r
2788 * xNextTaskUnblockTime. */
\r
2789 xNextTaskUnblockTime = xItemValue;
\r
2790 break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */
\r
2794 mtCOVERAGE_TEST_MARKER();
\r
2797 /* It is time to remove the item from the Blocked state. */
\r
2798 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
\r
2800 /* Is the task waiting on an event also? If so remove
\r
2801 * it from the event list. */
\r
2802 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
2804 listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
\r
2808 mtCOVERAGE_TEST_MARKER();
\r
2811 /* Place the unblocked task into the appropriate ready
\r
2813 prvAddTaskToReadyList( pxTCB );
\r
2815 /* A task being unblocked cannot cause an immediate
\r
2816 * context switch if preemption is turned off. */
\r
2817 #if ( configUSE_PREEMPTION == 1 )
\r
2819 /* Preemption is on, but a context switch should
\r
2820 * only be performed if the unblocked task has a
\r
2821 * priority that is equal to or higher than the
\r
2822 * currently executing task. */
\r
2823 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2825 xSwitchRequired = pdTRUE;
\r
2829 mtCOVERAGE_TEST_MARKER();
\r
2832 #endif /* configUSE_PREEMPTION */
\r
2837 /* Tasks of equal priority to the currently running task will share
\r
2838 * processing time (time slice) if preemption is on, and the application
\r
2839 * writer has not explicitly turned time slicing off. */
\r
2840 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
2842 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
\r
2844 xSwitchRequired = pdTRUE;
\r
2848 mtCOVERAGE_TEST_MARKER();
\r
2851 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
2853 #if ( configUSE_TICK_HOOK == 1 )
\r
2855 /* Guard against the tick hook being called when the pended tick
\r
2856 * count is being unwound (when the scheduler is being unlocked). */
\r
2857 if( xPendedTicks == ( TickType_t ) 0 )
\r
2859 vApplicationTickHook();
\r
2863 mtCOVERAGE_TEST_MARKER();
\r
2866 #endif /* configUSE_TICK_HOOK */
\r
2868 #if ( configUSE_PREEMPTION == 1 )
\r
2870 if( xYieldPending != pdFALSE )
\r
2872 xSwitchRequired = pdTRUE;
\r
2876 mtCOVERAGE_TEST_MARKER();
\r
2879 #endif /* configUSE_PREEMPTION */
\r
2885 /* The tick hook gets called at regular intervals, even if the
\r
2886 * scheduler is locked. */
\r
2887 #if ( configUSE_TICK_HOOK == 1 )
\r
2889 vApplicationTickHook();
\r
2894 return xSwitchRequired;
\r
2896 /*-----------------------------------------------------------*/
\r
2898 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2900 void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
\r
2901 TaskHookFunction_t pxHookFunction )
\r
2905 /* If xTask is NULL then it is the task hook of the calling task that is
\r
2907 if( xTask == NULL )
\r
2909 xTCB = ( TCB_t * ) pxCurrentTCB;
\r
2916 /* Save the hook function in the TCB. A critical section is required as
\r
2917 * the value can be accessed from an interrupt. */
\r
2918 taskENTER_CRITICAL();
\r
2920 xTCB->pxTaskTag = pxHookFunction;
\r
2922 taskEXIT_CRITICAL();
\r
2925 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2926 /*-----------------------------------------------------------*/
\r
2928 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2930 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
\r
2933 TaskHookFunction_t xReturn;
\r
2935 /* If xTask is NULL then set the calling task's hook. */
\r
2936 pxTCB = prvGetTCBFromHandle( xTask );
\r
2938 /* Save the hook function in the TCB. A critical section is required as
\r
2939 * the value can be accessed from an interrupt. */
\r
2940 taskENTER_CRITICAL();
\r
2942 xReturn = pxTCB->pxTaskTag;
\r
2944 taskEXIT_CRITICAL();
\r
2949 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2950 /*-----------------------------------------------------------*/
\r
2952 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2954 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
\r
2957 TaskHookFunction_t xReturn;
\r
2958 UBaseType_t uxSavedInterruptStatus;
\r
2960 /* If xTask is NULL then set the calling task's hook. */
\r
2961 pxTCB = prvGetTCBFromHandle( xTask );
\r
2963 /* Save the hook function in the TCB. A critical section is required as
\r
2964 * the value can be accessed from an interrupt. */
\r
2965 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
2967 xReturn = pxTCB->pxTaskTag;
\r
2969 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
2974 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2975 /*-----------------------------------------------------------*/
\r
2977 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2979 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
\r
2980 void * pvParameter )
\r
2983 BaseType_t xReturn;
\r
2985 /* If xTask is NULL then we are calling our own task hook. */
\r
2986 if( xTask == NULL )
\r
2988 xTCB = pxCurrentTCB;
\r
2995 if( xTCB->pxTaskTag != NULL )
\r
2997 xReturn = xTCB->pxTaskTag( pvParameter );
\r
3007 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
3008 /*-----------------------------------------------------------*/
\r
3010 void vTaskSwitchContext( void )
\r
3012 if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
\r
3014 /* The scheduler is currently suspended - do not allow a context
\r
3016 xYieldPending = pdTRUE;
\r
3020 xYieldPending = pdFALSE;
\r
3021 traceTASK_SWITCHED_OUT();
\r
3023 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3025 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
3026 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
3028 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
3031 /* Add the amount of time the task has been running to the
\r
3032 * accumulated time so far. The time the task started running was
\r
3033 * stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
3034 * protection here so count values are only valid until the timer
\r
3035 * overflows. The guard against negative values is to protect
\r
3036 * against suspect run time stat counter implementations - which
\r
3037 * are provided by the application, not the kernel. */
\r
3038 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
3040 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
3044 mtCOVERAGE_TEST_MARKER();
\r
3047 ulTaskSwitchedInTime = ulTotalRunTime;
\r
3049 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3051 /* Check for stack overflow, if configured. */
\r
3052 taskCHECK_FOR_STACK_OVERFLOW();
\r
3054 /* Before the currently running task is switched out, save its errno. */
\r
3055 #if ( configUSE_POSIX_ERRNO == 1 )
\r
3057 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
\r
3061 /* Select a new task to run using either the generic C or port
\r
3062 * optimised asm code. */
\r
3063 taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3064 traceTASK_SWITCHED_IN();
\r
3066 /* After the new task is switched in, update the global errno. */
\r
3067 #if ( configUSE_POSIX_ERRNO == 1 )
\r
3069 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
\r
3073 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3075 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
3076 * structure specific to this task.
\r
3077 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
3078 * for additional information. */
\r
3079 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
3081 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3084 /*-----------------------------------------------------------*/
\r
3086 void vTaskPlaceOnEventList( List_t * const pxEventList,
\r
3087 const TickType_t xTicksToWait )
\r
3089 configASSERT( pxEventList );
\r
3091 /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
\r
3092 * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
\r
3094 /* Place the event list item of the TCB in the appropriate event list.
\r
3095 * This is placed in the list in priority order so the highest priority task
\r
3096 * is the first to be woken by the event.
\r
3098 * Note: Lists are sorted in ascending order by ListItem_t.xItemValue.
\r
3099 * Normally, the xItemValue of a TCB's ListItem_t members is:
\r
3100 * xItemValue = ( configMAX_PRIORITIES - uxPriority )
\r
3101 * Therefore, the event list is sorted in descending priority order.
\r
3103 * The queue that contains the event list is locked, preventing
\r
3104 * simultaneous access from interrupts. */
\r
3105 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3107 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3109 /*-----------------------------------------------------------*/
\r
3111 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
\r
3112 const TickType_t xItemValue,
\r
3113 const TickType_t xTicksToWait )
\r
3115 configASSERT( pxEventList );
\r
3117 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3118 * the event groups implementation. */
\r
3119 configASSERT( uxSchedulerSuspended != 0 );
\r
3121 /* Store the item value in the event list item. It is safe to access the
\r
3122 * event list item here as interrupts won't access the event list item of a
\r
3123 * task that is not in the Blocked state. */
\r
3124 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3126 /* Place the event list item of the TCB at the end of the appropriate event
\r
3127 * list. It is safe to access the event list here because it is part of an
\r
3128 * event group implementation - and interrupts don't access event groups
\r
3129 * directly (instead they access them indirectly by pending function calls to
\r
3130 * the task level). */
\r
3131 listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3133 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
3135 /*-----------------------------------------------------------*/
\r
3137 #if ( configUSE_TIMERS == 1 )
\r
3139 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
\r
3140 TickType_t xTicksToWait,
\r
3141 const BaseType_t xWaitIndefinitely )
\r
3143 configASSERT( pxEventList );
\r
3145 /* This function should not be called by application code hence the
\r
3146 * 'Restricted' in its name. It is not part of the public API. It is
\r
3147 * designed for use by kernel code, and has special calling requirements -
\r
3148 * it should be called with the scheduler suspended. */
\r
3151 /* Place the event list item of the TCB in the appropriate event list.
\r
3152 * In this case it is assume that this is the only task that is going to
\r
3153 * be waiting on this event list, so the faster vListInsertEnd() function
\r
3154 * can be used in place of vListInsert. */
\r
3155 listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
3157 /* If the task should block indefinitely then set the block time to a
\r
3158 * value that will be recognised as an indefinite delay inside the
\r
3159 * prvAddCurrentTaskToDelayedList() function. */
\r
3160 if( xWaitIndefinitely != pdFALSE )
\r
3162 xTicksToWait = portMAX_DELAY;
\r
3165 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
\r
3166 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
\r
3169 #endif /* configUSE_TIMERS */
\r
3170 /*-----------------------------------------------------------*/
\r
3172 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
\r
3174 TCB_t * pxUnblockedTCB;
\r
3175 BaseType_t xReturn;
\r
3177 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
\r
3178 * called from a critical section within an ISR. */
\r
3180 /* The event list is sorted in priority order, so the first in the list can
\r
3181 * be removed as it is known to be the highest priority. Remove the TCB from
\r
3182 * the delayed list, and add it to the ready list.
\r
3184 * If an event is for a queue that is locked then this function will never
\r
3185 * get called - the lock count on the queue will get modified instead. This
\r
3186 * means exclusive access to the event list is guaranteed here.
\r
3188 * This function assumes that a check has already been made to ensure that
\r
3189 * pxEventList is not empty. */
\r
3190 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3191 configASSERT( pxUnblockedTCB );
\r
3192 listREMOVE_ITEM( &( pxUnblockedTCB->xEventListItem ) );
\r
3194 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
3196 listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
\r
3197 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3199 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3201 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3202 * might be set to the blocked task's time out time. If the task is
\r
3203 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3204 * normally left unchanged, because it is automatically reset to a new
\r
3205 * value when the tick count equals xNextTaskUnblockTime. However if
\r
3206 * tickless idling is used it might be more important to enter sleep mode
\r
3207 * at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3208 * ensure it is updated at the earliest possible time. */
\r
3209 prvResetNextTaskUnblockTime();
\r
3215 /* The delayed and ready lists cannot be accessed, so hold this task
\r
3216 * pending until the scheduler is resumed. */
\r
3217 listINSERT_END( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
3220 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3222 /* Return true if the task removed from the event list has a higher
\r
3223 * priority than the calling task. This allows the calling task to know if
\r
3224 * it should force a context switch now. */
\r
3227 /* Mark that a yield is pending in case the user is not using the
\r
3228 * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
3229 xYieldPending = pdTRUE;
\r
3233 xReturn = pdFALSE;
\r
3238 /*-----------------------------------------------------------*/
\r
3240 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
\r
3241 const TickType_t xItemValue )
\r
3243 TCB_t * pxUnblockedTCB;
\r
3245 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
\r
3246 * the event flags implementation. */
\r
3247 configASSERT( uxSchedulerSuspended != pdFALSE );
\r
3249 /* Store the new item value in the event list. */
\r
3250 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
\r
3252 /* Remove the event list form the event flag. Interrupts do not access
\r
3254 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3255 configASSERT( pxUnblockedTCB );
\r
3256 listREMOVE_ITEM( pxEventListItem );
\r
3258 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3260 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
\r
3261 * might be set to the blocked task's time out time. If the task is
\r
3262 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
\r
3263 * normally left unchanged, because it is automatically reset to a new
\r
3264 * value when the tick count equals xNextTaskUnblockTime. However if
\r
3265 * tickless idling is used it might be more important to enter sleep mode
\r
3266 * at the earliest possible time - so reset xNextTaskUnblockTime here to
\r
3267 * ensure it is updated at the earliest possible time. */
\r
3268 prvResetNextTaskUnblockTime();
\r
3272 /* Remove the task from the delayed list and add it to the ready list. The
\r
3273 * scheduler is suspended so interrupts will not be accessing the ready
\r
3275 listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
\r
3276 prvAddTaskToReadyList( pxUnblockedTCB );
\r
3278 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
3280 /* The unblocked task has a priority above that of the calling task, so
\r
3281 * a context switch is required. This function is called with the
\r
3282 * scheduler suspended so xYieldPending is set so the context switch
\r
3283 * occurs immediately that the scheduler is resumed (unsuspended). */
\r
3284 xYieldPending = pdTRUE;
\r
3287 /*-----------------------------------------------------------*/
\r
3289 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3291 configASSERT( pxTimeOut );
\r
3292 taskENTER_CRITICAL();
\r
3294 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3295 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3297 taskEXIT_CRITICAL();
\r
3299 /*-----------------------------------------------------------*/
\r
3301 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
\r
3303 /* For internal use only as it does not use a critical section. */
\r
3304 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
3305 pxTimeOut->xTimeOnEntering = xTickCount;
\r
3307 /*-----------------------------------------------------------*/
\r
3309 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
\r
3310 TickType_t * const pxTicksToWait )
\r
3312 BaseType_t xReturn;
\r
3314 configASSERT( pxTimeOut );
\r
3315 configASSERT( pxTicksToWait );
\r
3317 taskENTER_CRITICAL();
\r
3319 /* Minor optimisation. The tick count cannot change in this block. */
\r
3320 const TickType_t xConstTickCount = xTickCount;
\r
3321 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
\r
3323 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
3324 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
\r
3326 /* The delay was aborted, which is not the same as a time out,
\r
3327 * but has the same result. */
\r
3328 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
3334 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3335 if( *pxTicksToWait == portMAX_DELAY )
\r
3337 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
\r
3338 * specified is the maximum block time then the task should block
\r
3339 * indefinitely, and therefore never time out. */
\r
3340 xReturn = pdFALSE;
\r
3345 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
3347 /* The tick count is greater than the time at which
\r
3348 * vTaskSetTimeout() was called, but has also overflowed since
\r
3349 * vTaskSetTimeOut() was called. It must have wrapped all the way
\r
3350 * around and gone past again. This passed since vTaskSetTimeout()
\r
3353 *pxTicksToWait = ( TickType_t ) 0;
\r
3355 else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
\r
3357 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
3358 *pxTicksToWait -= xElapsedTime;
\r
3359 vTaskInternalSetTimeOutState( pxTimeOut );
\r
3360 xReturn = pdFALSE;
\r
3364 *pxTicksToWait = ( TickType_t ) 0;
\r
3368 taskEXIT_CRITICAL();
\r
3372 /*-----------------------------------------------------------*/
\r
3374 void vTaskMissedYield( void )
\r
3376 xYieldPending = pdTRUE;
\r
3378 /*-----------------------------------------------------------*/
\r
3380 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3382 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
\r
3384 UBaseType_t uxReturn;
\r
3385 TCB_t const * pxTCB;
\r
3387 if( xTask != NULL )
\r
3390 uxReturn = pxTCB->uxTaskNumber;
\r
3400 #endif /* configUSE_TRACE_FACILITY */
\r
3401 /*-----------------------------------------------------------*/
\r
3403 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3405 void vTaskSetTaskNumber( TaskHandle_t xTask,
\r
3406 const UBaseType_t uxHandle )
\r
3410 if( xTask != NULL )
\r
3413 pxTCB->uxTaskNumber = uxHandle;
\r
3417 #endif /* configUSE_TRACE_FACILITY */
\r
3420 * -----------------------------------------------------------
\r
3422 * ----------------------------------------------------------
\r
3424 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
3425 * language extensions. The equivalent prototype for this function is:
\r
3427 * void prvIdleTask( void *pvParameters );
\r
3430 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
3432 /* Stop warnings. */
\r
3433 ( void ) pvParameters;
\r
3435 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
\r
3436 * SCHEDULER IS STARTED. **/
\r
3438 /* In case a task that has a secure context deletes itself, in which case
\r
3439 * the idle task is responsible for deleting the task's secure context, if
\r
3441 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
\r
3445 /* See if any tasks have deleted themselves - if so then the idle task
\r
3446 * is responsible for freeing the deleted task's TCB and stack. */
\r
3447 prvCheckTasksWaitingTermination();
\r
3449 #if ( configUSE_PREEMPTION == 0 )
\r
3451 /* If we are not using preemption we keep forcing a task switch to
\r
3452 * see if any other task has become available. If we are using
\r
3453 * preemption we don't need to do this as any task becoming available
\r
3454 * will automatically get the processor anyway. */
\r
3457 #endif /* configUSE_PREEMPTION */
\r
3459 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
3461 /* When using preemption tasks of equal priority will be
\r
3462 * timesliced. If a task that is sharing the idle priority is ready
\r
3463 * to run then the idle task should yield before the end of the
\r
3466 * A critical region is not required here as we are just reading from
\r
3467 * the list, and an occasional incorrect value will not matter. If
\r
3468 * the ready list at the idle priority contains more than one task
\r
3469 * then a task other than the idle task is ready to execute. */
\r
3470 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
\r
3476 mtCOVERAGE_TEST_MARKER();
\r
3479 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
3481 #if ( configUSE_IDLE_HOOK == 1 )
\r
3483 extern void vApplicationIdleHook( void );
\r
3485 /* Call the user defined function from within the idle task. This
\r
3486 * allows the application designer to add background functionality
\r
3487 * without the overhead of a separate task.
\r
3488 * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
3489 * CALL A FUNCTION THAT MIGHT BLOCK. */
\r
3490 vApplicationIdleHook();
\r
3492 #endif /* configUSE_IDLE_HOOK */
\r
3494 /* This conditional compilation should use inequality to 0, not equality
\r
3495 * to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
3496 * user defined low power mode implementations require
\r
3497 * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
3498 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3500 TickType_t xExpectedIdleTime;
\r
3502 /* It is not desirable to suspend then resume the scheduler on
\r
3503 * each iteration of the idle task. Therefore, a preliminary
\r
3504 * test of the expected idle time is performed without the
\r
3505 * scheduler suspended. The result here is not necessarily
\r
3507 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3509 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3511 vTaskSuspendAll();
\r
3513 /* Now the scheduler is suspended, the expected idle
\r
3514 * time can be sampled again, and this time its value can
\r
3516 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
3517 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
3519 /* Define the following macro to set xExpectedIdleTime to 0
\r
3520 * if the application does not want
\r
3521 * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
\r
3522 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
\r
3524 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
3526 traceLOW_POWER_IDLE_BEGIN();
\r
3527 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
3528 traceLOW_POWER_IDLE_END();
\r
3532 mtCOVERAGE_TEST_MARKER();
\r
3535 ( void ) xTaskResumeAll();
\r
3539 mtCOVERAGE_TEST_MARKER();
\r
3542 #endif /* configUSE_TICKLESS_IDLE */
\r
3545 /*-----------------------------------------------------------*/
\r
3547 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
3549 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
3551 /* The idle task exists in addition to the application tasks. */
\r
3552 const UBaseType_t uxNonApplicationTasks = 1;
\r
3553 eSleepModeStatus eReturn = eStandardSleep;
\r
3555 /* This function must be called from a critical section. */
\r
3557 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
3559 /* A task was made ready while the scheduler was suspended. */
\r
3560 eReturn = eAbortSleep;
\r
3562 else if( xYieldPending != pdFALSE )
\r
3564 /* A yield was pended while the scheduler was suspended. */
\r
3565 eReturn = eAbortSleep;
\r
3567 else if( xPendedTicks != 0 )
\r
3569 /* A tick interrupt has already occurred but was held pending
\r
3570 * because the scheduler is suspended. */
\r
3571 eReturn = eAbortSleep;
\r
3575 /* If all the tasks are in the suspended list (which might mean they
\r
3576 * have an infinite block time rather than actually being suspended)
\r
3577 * then it is safe to turn all clocks off and just wait for external
\r
3579 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
3581 eReturn = eNoTasksWaitingTimeout;
\r
3585 mtCOVERAGE_TEST_MARKER();
\r
3592 #endif /* configUSE_TICKLESS_IDLE */
\r
3593 /*-----------------------------------------------------------*/
\r
3595 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3597 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
\r
3598 BaseType_t xIndex,
\r
3603 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3605 pxTCB = prvGetTCBFromHandle( xTaskToSet );
\r
3606 configASSERT( pxTCB != NULL );
\r
3607 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
\r
3611 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3612 /*-----------------------------------------------------------*/
\r
3614 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
\r
3616 void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
\r
3617 BaseType_t xIndex )
\r
3619 void * pvReturn = NULL;
\r
3622 if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
\r
3624 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
3625 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
\r
3635 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
\r
3636 /*-----------------------------------------------------------*/
\r
3638 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
3640 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
\r
3641 const MemoryRegion_t * const xRegions )
\r
3645 /* If null is passed in here then we are modifying the MPU settings of
\r
3646 * the calling task. */
\r
3647 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
3649 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
3652 #endif /* portUSING_MPU_WRAPPERS */
\r
3653 /*-----------------------------------------------------------*/
\r
3655 static void prvInitialiseTaskLists( void )
\r
3657 UBaseType_t uxPriority;
\r
3659 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
\r
3661 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
3664 vListInitialise( &xDelayedTaskList1 );
\r
3665 vListInitialise( &xDelayedTaskList2 );
\r
3666 vListInitialise( &xPendingReadyList );
\r
3668 #if ( INCLUDE_vTaskDelete == 1 )
\r
3670 vListInitialise( &xTasksWaitingTermination );
\r
3672 #endif /* INCLUDE_vTaskDelete */
\r
3674 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3676 vListInitialise( &xSuspendedTaskList );
\r
3678 #endif /* INCLUDE_vTaskSuspend */
\r
3680 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
3682 pxDelayedTaskList = &xDelayedTaskList1;
\r
3683 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
3685 /*-----------------------------------------------------------*/
\r
3687 static void prvCheckTasksWaitingTermination( void )
\r
3689 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
\r
3691 #if ( INCLUDE_vTaskDelete == 1 )
\r
3695 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
\r
3696 * being called too often in the idle task. */
\r
3697 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
\r
3699 taskENTER_CRITICAL();
\r
3701 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3702 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
\r
3703 --uxCurrentNumberOfTasks;
\r
3704 --uxDeletedTasksWaitingCleanUp;
\r
3706 taskEXIT_CRITICAL();
\r
3708 prvDeleteTCB( pxTCB );
\r
3711 #endif /* INCLUDE_vTaskDelete */
\r
3713 /*-----------------------------------------------------------*/
\r
3715 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3717 void vTaskGetInfo( TaskHandle_t xTask,
\r
3718 TaskStatus_t * pxTaskStatus,
\r
3719 BaseType_t xGetFreeStackSpace,
\r
3720 eTaskState eState )
\r
3724 /* xTask is NULL then get the state of the calling task. */
\r
3725 pxTCB = prvGetTCBFromHandle( xTask );
\r
3727 pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
\r
3728 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
\r
3729 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
\r
3730 pxTaskStatus->pxStackBase = pxTCB->pxStack;
\r
3731 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
\r
3733 #if ( configUSE_MUTEXES == 1 )
\r
3735 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
\r
3739 pxTaskStatus->uxBasePriority = 0;
\r
3743 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
3745 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
\r
3749 pxTaskStatus->ulRunTimeCounter = 0;
\r
3753 /* Obtaining the task state is a little fiddly, so is only done if the
\r
3754 * value of eState passed into this function is eInvalid - otherwise the
\r
3755 * state is just set to whatever is passed in. */
\r
3756 if( eState != eInvalid )
\r
3758 if( pxTCB == pxCurrentTCB )
\r
3760 pxTaskStatus->eCurrentState = eRunning;
\r
3764 pxTaskStatus->eCurrentState = eState;
\r
3766 #if ( INCLUDE_vTaskSuspend == 1 )
\r
3768 /* If the task is in the suspended list then there is a
\r
3769 * chance it is actually just blocked indefinitely - so really
\r
3770 * it should be reported as being in the Blocked state. */
\r
3771 if( eState == eSuspended )
\r
3773 vTaskSuspendAll();
\r
3775 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
3777 pxTaskStatus->eCurrentState = eBlocked;
\r
3780 ( void ) xTaskResumeAll();
\r
3783 #endif /* INCLUDE_vTaskSuspend */
\r
3788 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
\r
3791 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
\r
3792 * parameter is provided to allow it to be skipped. */
\r
3793 if( xGetFreeStackSpace != pdFALSE )
\r
3795 #if ( portSTACK_GROWTH > 0 )
\r
3797 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
\r
3801 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
\r
3807 pxTaskStatus->usStackHighWaterMark = 0;
\r
3811 #endif /* configUSE_TRACE_FACILITY */
\r
3812 /*-----------------------------------------------------------*/
\r
3814 #if ( configUSE_TRACE_FACILITY == 1 )
\r
3816 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
\r
3818 eTaskState eState )
\r
3820 configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB;
\r
3821 UBaseType_t uxTask = 0;
\r
3823 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
\r
3825 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3827 /* Populate an TaskStatus_t structure within the
\r
3828 * pxTaskStatusArray array for each task that is referenced from
\r
3829 * pxList. See the definition of TaskStatus_t in task.h for the
\r
3830 * meaning of each TaskStatus_t structure member. */
\r
3833 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
\r
3834 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
\r
3836 } while( pxNextTCB != pxFirstTCB );
\r
3840 mtCOVERAGE_TEST_MARKER();
\r
3846 #endif /* configUSE_TRACE_FACILITY */
\r
3847 /*-----------------------------------------------------------*/
\r
3849 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
\r
3851 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
\r
3853 uint32_t ulCount = 0U;
\r
3855 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
\r
3857 pucStackByte -= portSTACK_GROWTH;
\r
3861 ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
\r
3863 return ( configSTACK_DEPTH_TYPE ) ulCount;
\r
3866 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
\r
3867 /*-----------------------------------------------------------*/
\r
3869 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
\r
3871 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
\r
3872 * same except for their return type. Using configSTACK_DEPTH_TYPE allows the
\r
3873 * user to determine the return type. It gets around the problem of the value
\r
3874 * overflowing on 8-bit types without breaking backward compatibility for
\r
3875 * applications that expect an 8-bit return type. */
\r
3876 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
\r
3879 uint8_t * pucEndOfStack;
\r
3880 configSTACK_DEPTH_TYPE uxReturn;
\r
3882 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
\r
3883 * the same except for their return type. Using configSTACK_DEPTH_TYPE
\r
3884 * allows the user to determine the return type. It gets around the
\r
3885 * problem of the value overflowing on 8-bit types without breaking
\r
3886 * backward compatibility for applications that expect an 8-bit return
\r
3889 pxTCB = prvGetTCBFromHandle( xTask );
\r
3891 #if portSTACK_GROWTH < 0
\r
3893 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3897 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3901 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3906 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
\r
3907 /*-----------------------------------------------------------*/
\r
3909 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
3911 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
\r
3914 uint8_t * pucEndOfStack;
\r
3915 UBaseType_t uxReturn;
\r
3917 pxTCB = prvGetTCBFromHandle( xTask );
\r
3919 #if portSTACK_GROWTH < 0
\r
3921 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
\r
3925 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
\r
3929 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
\r
3934 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
3935 /*-----------------------------------------------------------*/
\r
3937 #if ( INCLUDE_vTaskDelete == 1 )
\r
3939 static void prvDeleteTCB( TCB_t * pxTCB )
\r
3941 /* This call is required specifically for the TriCore port. It must be
\r
3942 * above the vPortFree() calls. The call is also used by ports/demos that
\r
3943 * want to allocate and clean RAM statically. */
\r
3944 portCLEAN_UP_TCB( pxTCB );
\r
3946 /* Free up the memory allocated by the scheduler for the task. It is up
\r
3947 * to the task to free any memory allocated at the application level.
\r
3948 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
\r
3949 * for additional information. */
\r
3950 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
3952 _reclaim_reent( &( pxTCB->xNewLib_reent ) );
\r
3954 #endif /* configUSE_NEWLIB_REENTRANT */
\r
3956 #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
\r
3958 /* The task can only have been allocated dynamically - free both
\r
3959 * the stack and TCB. */
\r
3960 vPortFreeStack( pxTCB->pxStack );
\r
3961 vPortFree( pxTCB );
\r
3963 #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
\r
3965 /* The task could have been allocated statically or dynamically, so
\r
3966 * check what was statically allocated before trying to free the
\r
3968 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
\r
3970 /* Both the stack and TCB were allocated dynamically, so both
\r
3971 * must be freed. */
\r
3972 vPortFreeStack( pxTCB->pxStack );
\r
3973 vPortFree( pxTCB );
\r
3975 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
\r
3977 /* Only the stack was statically allocated, so the TCB is the
\r
3978 * only memory that must be freed. */
\r
3979 vPortFree( pxTCB );
\r
3983 /* Neither the stack nor the TCB were allocated dynamically, so
\r
3984 * nothing needs to be freed. */
\r
3985 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
\r
3986 mtCOVERAGE_TEST_MARKER();
\r
3989 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
\r
3992 #endif /* INCLUDE_vTaskDelete */
\r
3993 /*-----------------------------------------------------------*/
\r
3995 static void prvResetNextTaskUnblockTime( void )
\r
3997 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
3999 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
\r
4000 * the maximum possible value so it is extremely unlikely that the
\r
4001 * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
4002 * there is an item in the delayed list. */
\r
4003 xNextTaskUnblockTime = portMAX_DELAY;
\r
4007 /* The new current delayed list is not empty, get the value of
\r
4008 * the item at the head of the delayed list. This is the time at
\r
4009 * which the task at the head of the delayed list should be removed
\r
4010 * from the Blocked state. */
\r
4011 xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
4014 /*-----------------------------------------------------------*/
\r
4016 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
4018 TaskHandle_t xTaskGetCurrentTaskHandle( void )
\r
4020 TaskHandle_t xReturn;
\r
4022 /* A critical section is not required as this is not called from
\r
4023 * an interrupt and the current TCB will always be the same for any
\r
4024 * individual execution thread. */
\r
4025 xReturn = pxCurrentTCB;
\r
4030 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
4031 /*-----------------------------------------------------------*/
\r
4033 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
4035 BaseType_t xTaskGetSchedulerState( void )
\r
4037 BaseType_t xReturn;
\r
4039 if( xSchedulerRunning == pdFALSE )
\r
4041 xReturn = taskSCHEDULER_NOT_STARTED;
\r
4045 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
4047 xReturn = taskSCHEDULER_RUNNING;
\r
4051 xReturn = taskSCHEDULER_SUSPENDED;
\r
4058 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
4059 /*-----------------------------------------------------------*/
\r
4061 #if ( configUSE_MUTEXES == 1 )
\r
4063 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
\r
4065 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
\r
4066 BaseType_t xReturn = pdFALSE;
\r
4068 /* If the mutex was given back by an interrupt while the queue was
\r
4069 * locked then the mutex holder might now be NULL. _RB_ Is this still
\r
4070 * needed as interrupts can no longer use mutexes? */
\r
4071 if( pxMutexHolder != NULL )
\r
4073 /* If the holder of the mutex has a priority below the priority of
\r
4074 * the task attempting to obtain the mutex then it will temporarily
\r
4075 * inherit the priority of the task attempting to obtain the mutex. */
\r
4076 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
4078 /* Adjust the mutex holder state to account for its new
\r
4079 * priority. Only reset the event list item value if the value is
\r
4080 * not being used for anything else. */
\r
4081 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4083 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4087 mtCOVERAGE_TEST_MARKER();
\r
4090 /* If the task being modified is in the ready state it will need
\r
4091 * to be moved into a new list. */
\r
4092 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
\r
4094 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4096 /* It is known that the task is in its ready list so
\r
4097 * there is no need to check again and the port level
\r
4098 * reset macro can be called directly. */
\r
4099 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
\r
4103 mtCOVERAGE_TEST_MARKER();
\r
4106 /* Inherit the priority before being moved into the new list. */
\r
4107 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4108 prvAddTaskToReadyList( pxMutexHolderTCB );
\r
4112 /* Just inherit the priority. */
\r
4113 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
4116 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
\r
4118 /* Inheritance occurred. */
\r
4123 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
\r
4125 /* The base priority of the mutex holder is lower than the
\r
4126 * priority of the task attempting to take the mutex, but the
\r
4127 * current priority of the mutex holder is not lower than the
\r
4128 * priority of the task attempting to take the mutex.
\r
4129 * Therefore the mutex holder must have already inherited a
\r
4130 * priority, but inheritance would have occurred if that had
\r
4131 * not been the case. */
\r
4136 mtCOVERAGE_TEST_MARKER();
\r
4142 mtCOVERAGE_TEST_MARKER();
\r
4148 #endif /* configUSE_MUTEXES */
\r
4149 /*-----------------------------------------------------------*/
\r
4151 #if ( configUSE_MUTEXES == 1 )
\r
4153 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
\r
4155 TCB_t * const pxTCB = pxMutexHolder;
\r
4156 BaseType_t xReturn = pdFALSE;
\r
4158 if( pxMutexHolder != NULL )
\r
4160 /* A task can only have an inherited priority if it holds the mutex.
\r
4161 * If the mutex is held by a task then it cannot be given from an
\r
4162 * interrupt, and if a mutex is given by the holding task then it must
\r
4163 * be the running state task. */
\r
4164 configASSERT( pxTCB == pxCurrentTCB );
\r
4165 configASSERT( pxTCB->uxMutexesHeld );
\r
4166 ( pxTCB->uxMutexesHeld )--;
\r
4168 /* Has the holder of the mutex inherited the priority of another
\r
4170 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
4172 /* Only disinherit if no other mutexes are held. */
\r
4173 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
\r
4175 /* A task can only have an inherited priority if it holds
\r
4176 * the mutex. If the mutex is held by a task then it cannot be
\r
4177 * given from an interrupt, and if a mutex is given by the
\r
4178 * holding task then it must be the running state task. Remove
\r
4179 * the holding task from the ready list. */
\r
4180 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4182 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4186 mtCOVERAGE_TEST_MARKER();
\r
4189 /* Disinherit the priority before adding the task into the
\r
4190 * new ready list. */
\r
4191 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
4192 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
4194 /* Reset the event list item value. It cannot be in use for
\r
4195 * any other purpose if this task is running, and it must be
\r
4196 * running to give back the mutex. */
\r
4197 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
4198 prvAddTaskToReadyList( pxTCB );
\r
4200 /* Return true to indicate that a context switch is required.
\r
4201 * This is only actually required in the corner case whereby
\r
4202 * multiple mutexes were held and the mutexes were given back
\r
4203 * in an order different to that in which they were taken.
\r
4204 * If a context switch did not occur when the first mutex was
\r
4205 * returned, even if a task was waiting on it, then a context
\r
4206 * switch should occur when the last mutex is returned whether
\r
4207 * a task is waiting on it or not. */
\r
4212 mtCOVERAGE_TEST_MARKER();
\r
4217 mtCOVERAGE_TEST_MARKER();
\r
4222 mtCOVERAGE_TEST_MARKER();
\r
4228 #endif /* configUSE_MUTEXES */
\r
4229 /*-----------------------------------------------------------*/
\r
4231 #if ( configUSE_MUTEXES == 1 )
\r
4233 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
\r
4234 UBaseType_t uxHighestPriorityWaitingTask )
\r
4236 TCB_t * const pxTCB = pxMutexHolder;
\r
4237 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
\r
4238 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
\r
4240 if( pxMutexHolder != NULL )
\r
4242 /* If pxMutexHolder is not NULL then the holder must hold at least
\r
4244 configASSERT( pxTCB->uxMutexesHeld );
\r
4246 /* Determine the priority to which the priority of the task that
\r
4247 * holds the mutex should be set. This will be the greater of the
\r
4248 * holding task's base priority and the priority of the highest
\r
4249 * priority task that is waiting to obtain the mutex. */
\r
4250 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
\r
4252 uxPriorityToUse = uxHighestPriorityWaitingTask;
\r
4256 uxPriorityToUse = pxTCB->uxBasePriority;
\r
4259 /* Does the priority need to change? */
\r
4260 if( pxTCB->uxPriority != uxPriorityToUse )
\r
4262 /* Only disinherit if no other mutexes are held. This is a
\r
4263 * simplification in the priority inheritance implementation. If
\r
4264 * the task that holds the mutex is also holding other mutexes then
\r
4265 * the other mutexes may have caused the priority inheritance. */
\r
4266 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
\r
4268 /* If a task has timed out because it already holds the
\r
4269 * mutex it was trying to obtain then it cannot of inherited
\r
4270 * its own priority. */
\r
4271 configASSERT( pxTCB != pxCurrentTCB );
\r
4273 /* Disinherit the priority, remembering the previous
\r
4274 * priority to facilitate determining the subject task's
\r
4276 traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
\r
4277 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
4278 pxTCB->uxPriority = uxPriorityToUse;
\r
4280 /* Only reset the event list item value if the value is not
\r
4281 * being used for anything else. */
\r
4282 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
\r
4284 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
4288 mtCOVERAGE_TEST_MARKER();
\r
4291 /* If the running task is not the task that holds the mutex
\r
4292 * then the task that holds the mutex could be in either the
\r
4293 * Ready, Blocked or Suspended states. Only remove the task
\r
4294 * from its current state list if it is in the Ready state as
\r
4295 * the task's priority is going to change and there is one
\r
4296 * Ready list per priority. */
\r
4297 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
\r
4299 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
4301 /* It is known that the task is in its ready list so
\r
4302 * there is no need to check again and the port level
\r
4303 * reset macro can be called directly. */
\r
4304 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
4308 mtCOVERAGE_TEST_MARKER();
\r
4311 prvAddTaskToReadyList( pxTCB );
\r
4315 mtCOVERAGE_TEST_MARKER();
\r
4320 mtCOVERAGE_TEST_MARKER();
\r
4325 mtCOVERAGE_TEST_MARKER();
\r
4330 mtCOVERAGE_TEST_MARKER();
\r
4334 #endif /* configUSE_MUTEXES */
\r
4335 /*-----------------------------------------------------------*/
\r
4337 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4339 void vTaskEnterCritical( void )
\r
4341 portDISABLE_INTERRUPTS();
\r
4343 if( xSchedulerRunning != pdFALSE )
\r
4345 ( pxCurrentTCB->uxCriticalNesting )++;
\r
4347 /* This is not the interrupt safe version of the enter critical
\r
4348 * function so assert() if it is being called from an interrupt
\r
4349 * context. Only API functions that end in "FromISR" can be used in an
\r
4350 * interrupt. Only assert if the critical nesting count is 1 to
\r
4351 * protect against recursive calls if the assert function also uses a
\r
4352 * critical section. */
\r
4353 if( pxCurrentTCB->uxCriticalNesting == 1 )
\r
4355 portASSERT_IF_IN_ISR();
\r
4360 mtCOVERAGE_TEST_MARKER();
\r
4364 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4365 /*-----------------------------------------------------------*/
\r
4367 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
4369 void vTaskExitCritical( void )
\r
4371 if( xSchedulerRunning != pdFALSE )
\r
4373 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
4375 ( pxCurrentTCB->uxCriticalNesting )--;
\r
4377 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
4379 portENABLE_INTERRUPTS();
\r
4383 mtCOVERAGE_TEST_MARKER();
\r
4388 mtCOVERAGE_TEST_MARKER();
\r
4393 mtCOVERAGE_TEST_MARKER();
\r
4397 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
4398 /*-----------------------------------------------------------*/
\r
4400 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
\r
4402 static char * prvWriteNameToBuffer( char * pcBuffer,
\r
4403 const char * pcTaskName )
\r
4407 /* Start by copying the entire string. */
\r
4408 strcpy( pcBuffer, pcTaskName );
\r
4410 /* Pad the end of the string with spaces to ensure columns line up when
\r
4412 for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
\r
4414 pcBuffer[ x ] = ' ';
\r
4418 pcBuffer[ x ] = ( char ) 0x00;
\r
4420 /* Return the new end of string. */
\r
4421 return &( pcBuffer[ x ] );
\r
4424 #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
\r
4425 /*-----------------------------------------------------------*/
\r
4427 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4429 void vTaskList( char * pcWriteBuffer )
\r
4431 TaskStatus_t * pxTaskStatusArray;
\r
4432 UBaseType_t uxArraySize, x;
\r
4438 * This function is provided for convenience only, and is used by many
\r
4439 * of the demo applications. Do not consider it to be part of the
\r
4442 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
4443 * uxTaskGetSystemState() output into a human readable table that
\r
4444 * displays task: names, states, priority, stack usage and task number.
\r
4445 * Stack usage specified as the number of unused StackType_t words stack can hold
\r
4446 * on top of stack - not the number of bytes.
\r
4448 * vTaskList() has a dependency on the sprintf() C library function that
\r
4449 * might bloat the code size, use a lot of stack, and provide different
\r
4450 * results on different platforms. An alternative, tiny, third party,
\r
4451 * and limited functionality implementation of sprintf() is provided in
\r
4452 * many of the FreeRTOS/Demo sub-directories in a file called
\r
4453 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
4454 * snprintf() implementation!).
\r
4456 * It is recommended that production systems call uxTaskGetSystemState()
\r
4457 * directly to get access to raw stats data, rather than indirectly
\r
4458 * through a call to vTaskList().
\r
4462 /* Make sure the write buffer does not contain a string. */
\r
4463 *pcWriteBuffer = ( char ) 0x00;
\r
4465 /* Take a snapshot of the number of tasks in case it changes while this
\r
4466 * function is executing. */
\r
4467 uxArraySize = uxCurrentNumberOfTasks;
\r
4469 /* Allocate an array index for each task. NOTE! if
\r
4470 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4471 * equate to NULL. */
\r
4472 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4474 if( pxTaskStatusArray != NULL )
\r
4476 /* Generate the (binary) data. */
\r
4477 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
4479 /* Create a human readable table from the binary data. */
\r
4480 for( x = 0; x < uxArraySize; x++ )
\r
4482 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
4485 cStatus = tskRUNNING_CHAR;
\r
4489 cStatus = tskREADY_CHAR;
\r
4493 cStatus = tskBLOCKED_CHAR;
\r
4497 cStatus = tskSUSPENDED_CHAR;
\r
4501 cStatus = tskDELETED_CHAR;
\r
4504 case eInvalid: /* Fall through. */
\r
4505 default: /* Should not get here, but it is included
\r
4506 * to prevent static checking errors. */
\r
4507 cStatus = ( char ) 0x00;
\r
4511 /* Write the task name to the string, padding with spaces so it
\r
4512 * can be printed in tabular form more easily. */
\r
4513 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4515 /* Write the rest of the string. */
\r
4516 sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4517 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4520 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4521 * is 0 then vPortFree() will be #defined to nothing. */
\r
4522 vPortFree( pxTaskStatusArray );
\r
4526 mtCOVERAGE_TEST_MARKER();
\r
4530 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
\r
4531 /*----------------------------------------------------------*/
\r
4533 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
\r
4535 void vTaskGetRunTimeStats( char * pcWriteBuffer )
\r
4537 TaskStatus_t * pxTaskStatusArray;
\r
4538 UBaseType_t uxArraySize, x;
\r
4539 uint32_t ulTotalTime, ulStatsAsPercentage;
\r
4541 #if ( configUSE_TRACE_FACILITY != 1 )
\r
4543 #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
\r
4550 * This function is provided for convenience only, and is used by many
\r
4551 * of the demo applications. Do not consider it to be part of the
\r
4554 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
4555 * of the uxTaskGetSystemState() output into a human readable table that
\r
4556 * displays the amount of time each task has spent in the Running state
\r
4557 * in both absolute and percentage terms.
\r
4559 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
4560 * function that might bloat the code size, use a lot of stack, and
\r
4561 * provide different results on different platforms. An alternative,
\r
4562 * tiny, third party, and limited functionality implementation of
\r
4563 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
4564 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
4565 * a full snprintf() implementation!).
\r
4567 * It is recommended that production systems call uxTaskGetSystemState()
\r
4568 * directly to get access to raw stats data, rather than indirectly
\r
4569 * through a call to vTaskGetRunTimeStats().
\r
4572 /* Make sure the write buffer does not contain a string. */
\r
4573 *pcWriteBuffer = ( char ) 0x00;
\r
4575 /* Take a snapshot of the number of tasks in case it changes while this
\r
4576 * function is executing. */
\r
4577 uxArraySize = uxCurrentNumberOfTasks;
\r
4579 /* Allocate an array index for each task. NOTE! If
\r
4580 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
\r
4581 * equate to NULL. */
\r
4582 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
\r
4584 if( pxTaskStatusArray != NULL )
\r
4586 /* Generate the (binary) data. */
\r
4587 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
4589 /* For percentage calculations. */
\r
4590 ulTotalTime /= 100UL;
\r
4592 /* Avoid divide by zero errors. */
\r
4593 if( ulTotalTime > 0UL )
\r
4595 /* Create a human readable table from the binary data. */
\r
4596 for( x = 0; x < uxArraySize; x++ )
\r
4598 /* What percentage of the total run time has the task used?
\r
4599 * This will always be rounded down to the nearest integer.
\r
4600 * ulTotalRunTimeDiv100 has already been divided by 100. */
\r
4601 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
4603 /* Write the task name to the string, padding with
\r
4604 * spaces so it can be printed in tabular form more
\r
4606 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
\r
4608 if( ulStatsAsPercentage > 0UL )
\r
4610 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4612 sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
4616 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4617 * printf() library can be used. */
\r
4618 sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4624 /* If the percentage is zero here then the task has
\r
4625 * consumed less than 1% of the total run time. */
\r
4626 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
4628 sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
4632 /* sizeof( int ) == sizeof( long ) so a smaller
\r
4633 * printf() library can be used. */
\r
4634 sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
\r
4639 pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
\r
4644 mtCOVERAGE_TEST_MARKER();
\r
4647 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
\r
4648 * is 0 then vPortFree() will be #defined to nothing. */
\r
4649 vPortFree( pxTaskStatusArray );
\r
4653 mtCOVERAGE_TEST_MARKER();
\r
4657 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
\r
4658 /*-----------------------------------------------------------*/
\r
4660 TickType_t uxTaskResetEventItemValue( void )
\r
4662 TickType_t uxReturn;
\r
4664 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
4666 /* Reset the event list item to its normal value - so it can be used with
\r
4667 * queues and semaphores. */
\r
4668 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
4672 /*-----------------------------------------------------------*/
\r
4674 #if ( configUSE_MUTEXES == 1 )
\r
4676 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
\r
4678 /* If xSemaphoreCreateMutex() is called before any tasks have been created
\r
4679 * then pxCurrentTCB will be NULL. */
\r
4680 if( pxCurrentTCB != NULL )
\r
4682 ( pxCurrentTCB->uxMutexesHeld )++;
\r
4685 return pxCurrentTCB;
\r
4688 #endif /* configUSE_MUTEXES */
\r
4689 /*-----------------------------------------------------------*/
\r
4691 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4693 uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
\r
4694 BaseType_t xClearCountOnExit,
\r
4695 TickType_t xTicksToWait )
\r
4697 uint32_t ulReturn;
\r
4699 configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4701 taskENTER_CRITICAL();
\r
4703 /* Only block if the notification count is not already non-zero. */
\r
4704 if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL )
\r
4706 /* Mark this task as waiting for a notification. */
\r
4707 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
\r
4709 if( xTicksToWait > ( TickType_t ) 0 )
\r
4711 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4712 traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );
\r
4714 /* All ports are written to allow a yield in a critical
\r
4715 * section (some will yield immediately, others wait until the
\r
4716 * critical section exits) - but it is not something that
\r
4717 * application code should ever do. */
\r
4718 portYIELD_WITHIN_API();
\r
4722 mtCOVERAGE_TEST_MARKER();
\r
4727 mtCOVERAGE_TEST_MARKER();
\r
4730 taskEXIT_CRITICAL();
\r
4732 taskENTER_CRITICAL();
\r
4734 traceTASK_NOTIFY_TAKE( uxIndexToWait );
\r
4735 ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
\r
4737 if( ulReturn != 0UL )
\r
4739 if( xClearCountOnExit != pdFALSE )
\r
4741 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL;
\r
4745 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
\r
4750 mtCOVERAGE_TEST_MARKER();
\r
4753 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
\r
4755 taskEXIT_CRITICAL();
\r
4760 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4761 /*-----------------------------------------------------------*/
\r
4763 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4765 BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
\r
4766 uint32_t ulBitsToClearOnEntry,
\r
4767 uint32_t ulBitsToClearOnExit,
\r
4768 uint32_t * pulNotificationValue,
\r
4769 TickType_t xTicksToWait )
\r
4771 BaseType_t xReturn;
\r
4773 configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4775 taskENTER_CRITICAL();
\r
4777 /* Only block if a notification is not already pending. */
\r
4778 if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
\r
4780 /* Clear bits in the task's notification value as bits may get
\r
4781 * set by the notifying task or interrupt. This can be used to
\r
4782 * clear the value to zero. */
\r
4783 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
\r
4785 /* Mark this task as waiting for a notification. */
\r
4786 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
\r
4788 if( xTicksToWait > ( TickType_t ) 0 )
\r
4790 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
\r
4791 traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );
\r
4793 /* All ports are written to allow a yield in a critical
\r
4794 * section (some will yield immediately, others wait until the
\r
4795 * critical section exits) - but it is not something that
\r
4796 * application code should ever do. */
\r
4797 portYIELD_WITHIN_API();
\r
4801 mtCOVERAGE_TEST_MARKER();
\r
4806 mtCOVERAGE_TEST_MARKER();
\r
4809 taskEXIT_CRITICAL();
\r
4811 taskENTER_CRITICAL();
\r
4813 traceTASK_NOTIFY_WAIT( uxIndexToWait );
\r
4815 if( pulNotificationValue != NULL )
\r
4817 /* Output the current notification value, which may or may not
\r
4818 * have changed. */
\r
4819 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
\r
4822 /* If ucNotifyValue is set then either the task never entered the
\r
4823 * blocked state (because a notification was already pending) or the
\r
4824 * task unblocked because of a notification. Otherwise the task
\r
4825 * unblocked because of a timeout. */
\r
4826 if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
\r
4828 /* A notification was not received. */
\r
4829 xReturn = pdFALSE;
\r
4833 /* A notification was already pending or a notification was
\r
4834 * received while the task was waiting. */
\r
4835 pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
\r
4839 pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
\r
4841 taskEXIT_CRITICAL();
\r
4846 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4847 /*-----------------------------------------------------------*/
\r
4849 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4851 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
\r
4852 UBaseType_t uxIndexToNotify,
\r
4854 eNotifyAction eAction,
\r
4855 uint32_t * pulPreviousNotificationValue )
\r
4858 BaseType_t xReturn = pdPASS;
\r
4859 uint8_t ucOriginalNotifyState;
\r
4861 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4862 configASSERT( xTaskToNotify );
\r
4863 pxTCB = xTaskToNotify;
\r
4865 taskENTER_CRITICAL();
\r
4867 if( pulPreviousNotificationValue != NULL )
\r
4869 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
\r
4872 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
4874 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
4879 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
\r
4883 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
4886 case eSetValueWithOverwrite:
\r
4887 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
4890 case eSetValueWithoutOverwrite:
\r
4892 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
4894 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
4898 /* The value could not be written to the task. */
\r
4906 /* The task is being notified without its notify value being
\r
4912 /* Should not get here if all enums are handled.
\r
4913 * Artificially force an assert by testing a value the
\r
4914 * compiler can't assume is const. */
\r
4915 configASSERT( xTickCount == ( TickType_t ) 0 );
\r
4920 traceTASK_NOTIFY( uxIndexToNotify );
\r
4922 /* If the task is in the blocked state specifically to wait for a
\r
4923 * notification then unblock it now. */
\r
4924 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
4926 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
\r
4927 prvAddTaskToReadyList( pxTCB );
\r
4929 /* The task should not have been on an event list. */
\r
4930 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
4932 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
4934 /* If a task is blocked waiting for a notification then
\r
4935 * xNextTaskUnblockTime might be set to the blocked task's time
\r
4936 * out time. If the task is unblocked for a reason other than
\r
4937 * a timeout xNextTaskUnblockTime is normally left unchanged,
\r
4938 * because it will automatically get reset to a new value when
\r
4939 * the tick count equals xNextTaskUnblockTime. However if
\r
4940 * tickless idling is used it might be more important to enter
\r
4941 * sleep mode at the earliest possible time - so reset
\r
4942 * xNextTaskUnblockTime here to ensure it is updated at the
\r
4943 * earliest possible time. */
\r
4944 prvResetNextTaskUnblockTime();
\r
4948 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
4950 /* The notified task has a priority above the currently
\r
4951 * executing task so a yield is required. */
\r
4952 taskYIELD_IF_USING_PREEMPTION();
\r
4956 mtCOVERAGE_TEST_MARKER();
\r
4961 mtCOVERAGE_TEST_MARKER();
\r
4964 taskEXIT_CRITICAL();
\r
4969 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
4970 /*-----------------------------------------------------------*/
\r
4972 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
4974 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
\r
4975 UBaseType_t uxIndexToNotify,
\r
4977 eNotifyAction eAction,
\r
4978 uint32_t * pulPreviousNotificationValue,
\r
4979 BaseType_t * pxHigherPriorityTaskWoken )
\r
4982 uint8_t ucOriginalNotifyState;
\r
4983 BaseType_t xReturn = pdPASS;
\r
4984 UBaseType_t uxSavedInterruptStatus;
\r
4986 configASSERT( xTaskToNotify );
\r
4987 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
4989 /* RTOS ports that support interrupt nesting have the concept of a
\r
4990 * maximum system call (or maximum API call) interrupt priority.
\r
4991 * Interrupts that are above the maximum system call priority are keep
\r
4992 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
4993 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
4994 * is defined in FreeRTOSConfig.h then
\r
4995 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
4996 * failure if a FreeRTOS API function is called from an interrupt that has
\r
4997 * been assigned a priority above the configured maximum system call
\r
4998 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
4999 * from interrupts that have been assigned a priority at or (logically)
\r
5000 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5001 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5002 * simple as possible. More information (albeit Cortex-M specific) is
\r
5003 * provided on the following link:
\r
5004 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
5005 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5007 pxTCB = xTaskToNotify;
\r
5009 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5011 if( pulPreviousNotificationValue != NULL )
\r
5013 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
\r
5016 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
5017 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
5022 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
\r
5026 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
5029 case eSetValueWithOverwrite:
\r
5030 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
5033 case eSetValueWithoutOverwrite:
\r
5035 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
\r
5037 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
\r
5041 /* The value could not be written to the task. */
\r
5049 /* The task is being notified without its notify value being
\r
5055 /* Should not get here if all enums are handled.
\r
5056 * Artificially force an assert by testing a value the
\r
5057 * compiler can't assume is const. */
\r
5058 configASSERT( xTickCount == ( TickType_t ) 0 );
\r
5062 traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
\r
5064 /* If the task is in the blocked state specifically to wait for a
\r
5065 * notification then unblock it now. */
\r
5066 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5068 /* The task should not have been on an event list. */
\r
5069 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5071 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5073 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
\r
5074 prvAddTaskToReadyList( pxTCB );
\r
5078 /* The delayed and ready lists cannot be accessed, so hold
\r
5079 * this task pending until the scheduler is resumed. */
\r
5080 listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5083 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5085 /* The notified task has a priority above the currently
\r
5086 * executing task so a yield is required. */
\r
5087 if( pxHigherPriorityTaskWoken != NULL )
\r
5089 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5092 /* Mark that a yield is pending in case the user is not
\r
5093 * using the "xHigherPriorityTaskWoken" parameter to an ISR
\r
5094 * safe FreeRTOS function. */
\r
5095 xYieldPending = pdTRUE;
\r
5099 mtCOVERAGE_TEST_MARKER();
\r
5103 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5108 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5109 /*-----------------------------------------------------------*/
\r
5111 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5113 void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
\r
5114 UBaseType_t uxIndexToNotify,
\r
5115 BaseType_t * pxHigherPriorityTaskWoken )
\r
5118 uint8_t ucOriginalNotifyState;
\r
5119 UBaseType_t uxSavedInterruptStatus;
\r
5121 configASSERT( xTaskToNotify );
\r
5122 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
5124 /* RTOS ports that support interrupt nesting have the concept of a
\r
5125 * maximum system call (or maximum API call) interrupt priority.
\r
5126 * Interrupts that are above the maximum system call priority are keep
\r
5127 * permanently enabled, even when the RTOS kernel is in a critical section,
\r
5128 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
5129 * is defined in FreeRTOSConfig.h then
\r
5130 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
5131 * failure if a FreeRTOS API function is called from an interrupt that has
\r
5132 * been assigned a priority above the configured maximum system call
\r
5133 * priority. Only FreeRTOS functions that end in FromISR can be called
\r
5134 * from interrupts that have been assigned a priority at or (logically)
\r
5135 * below the maximum system call interrupt priority. FreeRTOS maintains a
\r
5136 * separate interrupt safe API to ensure interrupt entry is as fast and as
\r
5137 * simple as possible. More information (albeit Cortex-M specific) is
\r
5138 * provided on the following link:
\r
5139 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
\r
5140 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
5142 pxTCB = xTaskToNotify;
\r
5144 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
5146 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
\r
5147 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
\r
5149 /* 'Giving' is equivalent to incrementing a count in a counting
\r
5151 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
\r
5153 traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
\r
5155 /* If the task is in the blocked state specifically to wait for a
\r
5156 * notification then unblock it now. */
\r
5157 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
\r
5159 /* The task should not have been on an event list. */
\r
5160 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
\r
5162 if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
\r
5164 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
\r
5165 prvAddTaskToReadyList( pxTCB );
\r
5169 /* The delayed and ready lists cannot be accessed, so hold
\r
5170 * this task pending until the scheduler is resumed. */
\r
5171 listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
5174 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
\r
5176 /* The notified task has a priority above the currently
\r
5177 * executing task so a yield is required. */
\r
5178 if( pxHigherPriorityTaskWoken != NULL )
\r
5180 *pxHigherPriorityTaskWoken = pdTRUE;
\r
5183 /* Mark that a yield is pending in case the user is not
\r
5184 * using the "xHigherPriorityTaskWoken" parameter in an ISR
\r
5185 * safe FreeRTOS function. */
\r
5186 xYieldPending = pdTRUE;
\r
5190 mtCOVERAGE_TEST_MARKER();
\r
5194 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
5197 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5198 /*-----------------------------------------------------------*/
\r
5200 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5202 BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
\r
5203 UBaseType_t uxIndexToClear )
\r
5206 BaseType_t xReturn;
\r
5208 configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
\r
5210 /* If null is passed in here then it is the calling task that is having
\r
5211 * its notification state cleared. */
\r
5212 pxTCB = prvGetTCBFromHandle( xTask );
\r
5214 taskENTER_CRITICAL();
\r
5216 if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
\r
5218 pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
\r
5226 taskEXIT_CRITICAL();
\r
5231 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5232 /*-----------------------------------------------------------*/
\r
5234 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
\r
5236 uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
\r
5237 UBaseType_t uxIndexToClear,
\r
5238 uint32_t ulBitsToClear )
\r
5241 uint32_t ulReturn;
\r
5243 /* If null is passed in here then it is the calling task that is having
\r
5244 * its notification state cleared. */
\r
5245 pxTCB = prvGetTCBFromHandle( xTask );
\r
5247 taskENTER_CRITICAL();
\r
5249 /* Return the notification as it was before the bits were cleared,
\r
5250 * then clear the bit mask. */
\r
5251 ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
\r
5252 pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
\r
5254 taskEXIT_CRITICAL();
\r
5259 #endif /* configUSE_TASK_NOTIFICATIONS */
\r
5260 /*-----------------------------------------------------------*/
\r
5262 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
\r
5264 uint32_t ulTaskGetIdleRunTimeCounter( void )
\r
5266 return xIdleTaskHandle->ulRunTimeCounter;
\r
5270 /*-----------------------------------------------------------*/
\r
5272 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
\r
5273 const BaseType_t xCanBlockIndefinitely )
\r
5275 TickType_t xTimeToWake;
\r
5276 const TickType_t xConstTickCount = xTickCount;
\r
5278 #if ( INCLUDE_xTaskAbortDelay == 1 )
\r
5280 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
\r
5281 * reset to pdFALSE so it can be detected as having been set to pdTRUE
\r
5282 * when the task leaves the Blocked state. */
\r
5283 pxCurrentTCB->ucDelayAborted = pdFALSE;
\r
5287 /* Remove the task from the ready list before adding it to the blocked list
\r
5288 * as the same list item is used for both lists. */
\r
5289 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
\r
5291 /* The current task must be in a ready list, so there is no need to
\r
5292 * check, and the port reset macro can be called directly. */
\r
5293 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
\r
5297 mtCOVERAGE_TEST_MARKER();
\r
5300 #if ( INCLUDE_vTaskSuspend == 1 )
\r
5302 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
\r
5304 /* Add the task to the suspended task list instead of a delayed task
\r
5305 * list to ensure it is not woken by a timing event. It will block
\r
5306 * indefinitely. */
\r
5307 listINSERT_END( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5311 /* Calculate the time at which the task should be woken if the event
\r
5312 * does not occur. This may overflow but this doesn't matter, the
\r
5313 * kernel will manage it correctly. */
\r
5314 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5316 /* The list item will be inserted in wake time order. */
\r
5317 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5319 if( xTimeToWake < xConstTickCount )
\r
5321 /* Wake time has overflowed. Place this item in the overflow
\r
5323 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5327 /* The wake time has not overflowed, so the current block list
\r
5329 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5331 /* If the task entering the blocked state was placed at the
\r
5332 * head of the list of blocked tasks then xNextTaskUnblockTime
\r
5333 * needs to be updated too. */
\r
5334 if( xTimeToWake < xNextTaskUnblockTime )
\r
5336 xNextTaskUnblockTime = xTimeToWake;
\r
5340 mtCOVERAGE_TEST_MARKER();
\r
5345 #else /* INCLUDE_vTaskSuspend */
\r
5347 /* Calculate the time at which the task should be woken if the event
\r
5348 * does not occur. This may overflow but this doesn't matter, the kernel
\r
5349 * will manage it correctly. */
\r
5350 xTimeToWake = xConstTickCount + xTicksToWait;
\r
5352 /* The list item will be inserted in wake time order. */
\r
5353 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
\r
5355 if( xTimeToWake < xConstTickCount )
\r
5357 /* Wake time has overflowed. Place this item in the overflow list. */
\r
5358 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5362 /* The wake time has not overflowed, so the current block list is used. */
\r
5363 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
\r
5365 /* If the task entering the blocked state was placed at the head of the
\r
5366 * list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
5368 if( xTimeToWake < xNextTaskUnblockTime )
\r
5370 xNextTaskUnblockTime = xTimeToWake;
\r
5374 mtCOVERAGE_TEST_MARKER();
\r
5378 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
\r
5379 ( void ) xCanBlockIndefinitely;
\r
5381 #endif /* INCLUDE_vTaskSuspend */
\r
5384 /* Code below here allows additional code to be inserted into this source file,
\r
5385 * especially where access to file scope functions and data is needed (for example
\r
5386 * when performing module tests). */
\r
5388 #ifdef FREERTOS_MODULE_TEST
\r
5389 #include "tasks_test_access_functions.h"
\r
5393 #if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
\r
5395 #include "freertos_tasks_c_additions.h"
\r
5397 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
\r
5398 static void freertos_tasks_c_additions_init( void )
\r
5400 FREERTOS_TASKS_C_ADDITIONS_INIT();
\r
5404 #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
\r
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