5311 lines
169 KiB
C
5311 lines
169 KiB
C
/*
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* FreeRTOS Kernel V10.3.1
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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all the API functions to use the MPU wrappers. That should only be done when
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task.h is included from an application file. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "stack_macros.h"
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/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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for the header files above, but not in this file, in order to generate the
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correct privileged Vs unprivileged linkage and placement. */
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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functions but without including stdio.h here. */
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#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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/* At the bottom of this file are two optional functions that can be used
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to generate human readable text from the raw data generated by the
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uxTaskGetSystemState() function. Note the formatting functions are provided
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for convenience only, and are NOT considered part of the kernel. */
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#include <stdio.h>
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#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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#if( configUSE_PREEMPTION == 0 )
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/* If the cooperative scheduler is being used then a yield should not be
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performed just because a higher priority task has been woken. */
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#define taskYIELD_IF_USING_PREEMPTION()
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#else
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#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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#endif
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/* Values that can be assigned to the ucNotifyState member of the TCB. */
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#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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/*
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* The value used to fill the stack of a task when the task is created. This
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* is used purely for checking the high water mark for tasks.
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*/
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#define tskSTACK_FILL_BYTE ( 0xa5U )
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/* Bits used to recored how a task's stack and TCB were allocated. */
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#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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/* If any of the following are set then task stacks are filled with a known
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value so the high water mark can be determined. If none of the following are
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set then don't fill the stack so there is no unnecessary dependency on memset. */
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#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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#else
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#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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#endif
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/*
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* Macros used by vListTask to indicate which state a task is in.
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*/
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#define tskRUNNING_CHAR ( 'X' )
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#define tskBLOCKED_CHAR ( 'B' )
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#define tskREADY_CHAR ( 'R' )
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#define tskDELETED_CHAR ( 'D' )
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#define tskSUSPENDED_CHAR ( 'S' )
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/*
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* Some kernel aware debuggers require the data the debugger needs access to be
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* global, rather than file scope.
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*/
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#ifdef portREMOVE_STATIC_QUALIFIER
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#define static
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#endif
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/* The name allocated to the Idle task. This can be overridden by defining
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configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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#ifndef configIDLE_TASK_NAME
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#define configIDLE_TASK_NAME "IDLE"
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#endif
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#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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performed in a generic way that is not optimised to any particular
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microcontroller architecture. */
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/* uxTopReadyPriority holds the priority of the highest priority ready
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state task. */
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#define taskRECORD_READY_PRIORITY( uxPriority ) \
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{ \
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if( ( uxPriority ) > uxTopReadyPriority ) \
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{ \
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uxTopReadyPriority = ( uxPriority ); \
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} \
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} /* taskRECORD_READY_PRIORITY */
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/*-----------------------------------------------------------*/
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#define taskSELECT_HIGHEST_PRIORITY_TASK() \
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{ \
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UBaseType_t uxTopPriority = uxTopReadyPriority; \
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\
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/* Find the highest priority queue that contains ready tasks. */ \
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while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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{ \
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configASSERT( uxTopPriority ); \
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--uxTopPriority; \
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} \
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\
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/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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the same priority get an equal share of the processor time. */ \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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uxTopReadyPriority = uxTopPriority; \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK */
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/*-----------------------------------------------------------*/
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/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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they are only required when a port optimised method of task selection is
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being used. */
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#define taskRESET_READY_PRIORITY( uxPriority )
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#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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performed in a way that is tailored to the particular microcontroller
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architecture being used. */
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/* A port optimised version is provided. Call the port defined macros. */
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#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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/*-----------------------------------------------------------*/
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#define taskSELECT_HIGHEST_PRIORITY_TASK() \
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{ \
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UBaseType_t uxTopPriority; \
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\
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/* Find the highest priority list that contains ready tasks. */ \
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portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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/*-----------------------------------------------------------*/
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/* A port optimised version is provided, call it only if the TCB being reset
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is being referenced from a ready list. If it is referenced from a delayed
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or suspended list then it won't be in a ready list. */
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#define taskRESET_READY_PRIORITY( uxPriority ) \
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{ \
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if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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{ \
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portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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} \
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}
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#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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/*-----------------------------------------------------------*/
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/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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count overflows. */
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#define taskSWITCH_DELAYED_LISTS() \
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{ \
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List_t *pxTemp; \
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\
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/* The delayed tasks list should be empty when the lists are switched. */ \
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configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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\
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pxTemp = pxDelayedTaskList; \
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pxDelayedTaskList = pxOverflowDelayedTaskList; \
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pxOverflowDelayedTaskList = pxTemp; \
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xNumOfOverflows++; \
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prvResetNextTaskUnblockTime(); \
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}
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/*-----------------------------------------------------------*/
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/*
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* Place the task represented by pxTCB into the appropriate ready list for
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* the task. It is inserted at the end of the list.
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*/
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#define prvAddTaskToReadyList( pxTCB ) \
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traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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/*-----------------------------------------------------------*/
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/*
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* Several functions take an TaskHandle_t parameter that can optionally be NULL,
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* where NULL is used to indicate that the handle of the currently executing
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* task should be used in place of the parameter. This macro simply checks to
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* see if the parameter is NULL and returns a pointer to the appropriate TCB.
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*/
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#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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/* The item value of the event list item is normally used to hold the priority
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of the task to which it belongs (coded to allow it to be held in reverse
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priority order). However, it is occasionally borrowed for other purposes. It
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is important its value is not updated due to a task priority change while it is
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being used for another purpose. The following bit definition is used to inform
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the scheduler that the value should not be changed - in which case it is the
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responsibility of whichever module is using the value to ensure it gets set back
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to its original value when it is released. */
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#if( configUSE_16_BIT_TICKS == 1 )
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#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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#else
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#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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#endif
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/*
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* Task control block. A task control block (TCB) is allocated for each task,
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* and stores task state information, including a pointer to the task's context
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* (the task's run time environment, including register values)
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*/
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typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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{
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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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#if ( portUSING_MPU_WRAPPERS == 1 )
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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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#endif
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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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ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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StackType_t *pxStack; /*< Points to the start of the stack. */
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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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#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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#endif
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#if ( portCRITICAL_NESTING_IN_TCB == 1 )
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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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#endif
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#if ( configUSE_TRACE_FACILITY == 1 )
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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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UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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#endif
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#if ( configUSE_MUTEXES == 1 )
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UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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UBaseType_t uxMutexesHeld;
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#endif
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#if ( configUSE_APPLICATION_TASK_TAG == 1 )
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TaskHookFunction_t pxTaskTag;
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#endif
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#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#endif
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#if( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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#endif
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#if ( configUSE_NEWLIB_REENTRANT == 1 )
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/* Allocate a Newlib reent structure that is specific to this task.
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Note Newlib support has been included by popular demand, but is not
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used by the FreeRTOS maintainers themselves. FreeRTOS is not
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responsible for resulting newlib operation. User must be familiar with
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newlib and must provide system-wide implementations of the necessary
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stubs. Be warned that (at the time of writing) the current newlib design
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implements a system-wide malloc() that must be provided with locks.
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See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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for additional information. */
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struct _reent xNewLib_reent;
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#endif
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#if( configUSE_TASK_NOTIFICATIONS == 1 )
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volatile uint32_t ulNotifiedValue;
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volatile uint8_t ucNotifyState;
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#endif
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/* See the comments in FreeRTOS.h with the definition of
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tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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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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#endif
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#if( INCLUDE_xTaskAbortDelay == 1 )
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uint8_t ucDelayAborted;
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#endif
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#if( configUSE_POSIX_ERRNO == 1 )
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int iTaskErrno;
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#endif
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} tskTCB;
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/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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below to enable the use of older kernel aware debuggers. */
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typedef tskTCB TCB_t;
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/*lint -save -e956 A manual analysis and inspection has been used to determine
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which static variables must be declared volatile. */
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PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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/* Lists for ready and blocked tasks. --------------------
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xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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doing so breaks some kernel aware debuggers and debuggers that rely on removing
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the static qualifier. */
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PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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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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PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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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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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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#if( INCLUDE_vTaskDelete == 1 )
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PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
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#endif
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#if ( INCLUDE_vTaskSuspend == 1 )
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PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
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#endif
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/* Global POSIX errno. Its value is changed upon context switching to match
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the errno of the currently running task. */
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#if ( configUSE_POSIX_ERRNO == 1 )
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int FreeRTOS_errno = 0;
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#endif
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/* Other file private variables. --------------------------------*/
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PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
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PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
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PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
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PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
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PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
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PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
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PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
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PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
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PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
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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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/* Context switches are held pending while the scheduler is suspended. Also,
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interrupts must not manipulate the xStateListItem of a TCB, or any of the
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lists the xStateListItem can be referenced from, if the scheduler is suspended.
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If an interrupt needs to unblock a task while the scheduler is suspended then it
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moves the task's event list item into the xPendingReadyList, ready for the
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kernel to move the task from the pending ready list into the real ready list
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when the scheduler is unsuspended. The pending ready list itself can only be
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accessed from a critical section. */
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PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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/* Do not move these variables to function scope as doing so prevents the
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code working with debuggers that need to remove the static qualifier. */
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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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PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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#endif
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/*lint -restore */
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/*-----------------------------------------------------------*/
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/* Callback function prototypes. --------------------------*/
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#if( configCHECK_FOR_STACK_OVERFLOW > 0 )
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extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
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#endif
|
|
|
|
#if( configUSE_TICK_HOOK > 0 )
|
|
|
|
extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
|
|
|
|
#endif
|
|
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
|
|
extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
|
|
|
|
#endif
|
|
|
|
/* File private functions. --------------------------------*/
|
|
|
|
/**
|
|
* Utility task that simply returns pdTRUE if the task referenced by xTask is
|
|
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
|
|
* is in any other state.
|
|
*/
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
|
|
/*
|
|
* Utility to ready all the lists used by the scheduler. This is called
|
|
* automatically upon the creation of the first task.
|
|
*/
|
|
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* The idle task, which as all tasks is implemented as a never ending loop.
|
|
* The idle task is automatically created and added to the ready lists upon
|
|
* creation of the first user task.
|
|
*
|
|
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
|
|
* language extensions. The equivalent prototype for this function is:
|
|
*
|
|
* void prvIdleTask( void *pvParameters );
|
|
*
|
|
*/
|
|
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
|
|
|
|
/*
|
|
* Utility to free all memory allocated by the scheduler to hold a TCB,
|
|
* including the stack pointed to by the TCB.
|
|
*
|
|
* This does not free memory allocated by the task itself (i.e. memory
|
|
* allocated by calls to pvPortMalloc from within the tasks application code).
|
|
*/
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* Used only by the idle task. This checks to see if anything has been placed
|
|
* in the list of tasks waiting to be deleted. If so the task is cleaned up
|
|
* and its TCB deleted.
|
|
*/
|
|
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* The currently executing task is entering the Blocked state. Add the task to
|
|
* either the current or the overflow delayed task list.
|
|
*/
|
|
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Fills an TaskStatus_t structure with information on each task that is
|
|
* referenced from the pxList list (which may be a ready list, a delayed list,
|
|
* a suspended list, etc.).
|
|
*
|
|
* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
|
|
* NORMAL APPLICATION CODE.
|
|
*/
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* Searches pxList for a task with name pcNameToQuery - returning a handle to
|
|
* the task if it is found, or NULL if the task is not found.
|
|
*/
|
|
#if ( INCLUDE_xTaskGetHandle == 1 )
|
|
|
|
static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* When a task is created, the stack of the task is filled with a known value.
|
|
* This function determines the 'high water mark' of the task stack by
|
|
* determining how much of the stack remains at the original preset value.
|
|
*/
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
|
|
|
|
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* Return the amount of time, in ticks, that will pass before the kernel will
|
|
* next move a task from the Blocked state to the Running state.
|
|
*
|
|
* This conditional compilation should use inequality to 0, not equality to 1.
|
|
* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
|
|
* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
|
|
* set to a value other than 1.
|
|
*/
|
|
#if ( configUSE_TICKLESS_IDLE != 0 )
|
|
|
|
static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* Set xNextTaskUnblockTime to the time at which the next Blocked state task
|
|
* will exit the Blocked state.
|
|
*/
|
|
static void prvResetNextTaskUnblockTime( void );
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
|
|
|
|
/*
|
|
* Helper function used to pad task names with spaces when printing out
|
|
* human readable tables of task information.
|
|
*/
|
|
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* Called after a Task_t structure has been allocated either statically or
|
|
* dynamically to fill in the structure's members.
|
|
*/
|
|
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
|
|
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
const uint32_t ulStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
TaskHandle_t * const pxCreatedTask,
|
|
TCB_t *pxNewTCB,
|
|
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Called after a new task has been created and initialised to place the task
|
|
* under the control of the scheduler.
|
|
*/
|
|
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* freertos_tasks_c_additions_init() should only be called if the user definable
|
|
* macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
|
|
* called by the function.
|
|
*/
|
|
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|
|
|
static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
|
|
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
|
|
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
const uint32_t ulStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
StackType_t * const puxStackBuffer,
|
|
StaticTask_t * const pxTaskBuffer )
|
|
{
|
|
TCB_t *pxNewTCB;
|
|
TaskHandle_t xReturn;
|
|
|
|
configASSERT( puxStackBuffer != NULL );
|
|
configASSERT( pxTaskBuffer != NULL );
|
|
|
|
#if( configASSERT_DEFINED == 1 )
|
|
{
|
|
/* Sanity check that the size of the structure used to declare a
|
|
variable of type StaticTask_t equals the size of the real task
|
|
structure. */
|
|
volatile size_t xSize = sizeof( StaticTask_t );
|
|
configASSERT( xSize == sizeof( TCB_t ) );
|
|
( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
|
|
}
|
|
#endif /* configASSERT_DEFINED */
|
|
|
|
|
|
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
|
|
{
|
|
/* The memory used for the task's TCB and stack are passed into this
|
|
function - use them. */
|
|
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. */
|
|
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
|
|
|
|
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
|
|
{
|
|
/* Tasks can be created statically or dynamically, so note this
|
|
task was created statically in case the task is later deleted. */
|
|
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
|
|
}
|
|
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|
|
|
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
|
|
prvAddNewTaskToReadyList( pxNewTCB );
|
|
}
|
|
else
|
|
{
|
|
xReturn = NULL;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* SUPPORT_STATIC_ALLOCATION */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
|
|
|
BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
|
|
{
|
|
TCB_t *pxNewTCB;
|
|
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|
|
|
configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
|
|
configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
|
|
|
|
if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
|
|
{
|
|
/* Allocate space for the TCB. Where the memory comes from depends
|
|
on the implementation of the port malloc function and whether or
|
|
not static allocation is being used. */
|
|
pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
|
|
|
|
/* Store the stack location in the TCB. */
|
|
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
|
|
|
|
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
|
|
{
|
|
/* Tasks can be created statically or dynamically, so note this
|
|
task was created statically in case the task is later deleted. */
|
|
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
|
|
}
|
|
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|
|
|
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
|
|
pxTaskDefinition->pcName,
|
|
( uint32_t ) pxTaskDefinition->usStackDepth,
|
|
pxTaskDefinition->pvParameters,
|
|
pxTaskDefinition->uxPriority,
|
|
pxCreatedTask, pxNewTCB,
|
|
pxTaskDefinition->xRegions );
|
|
|
|
prvAddNewTaskToReadyList( pxNewTCB );
|
|
xReturn = pdPASS;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
|
|
{
|
|
TCB_t *pxNewTCB;
|
|
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|
|
|
configASSERT( pxTaskDefinition->puxStackBuffer );
|
|
|
|
if( pxTaskDefinition->puxStackBuffer != NULL )
|
|
{
|
|
/* Allocate space for the TCB. Where the memory comes from depends
|
|
on the implementation of the port malloc function and whether or
|
|
not static allocation is being used. */
|
|
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
|
|
|
|
if( pxNewTCB != NULL )
|
|
{
|
|
/* Store the stack location in the TCB. */
|
|
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
|
|
|
|
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
|
|
{
|
|
/* Tasks can be created statically or dynamically, so note
|
|
this task had a statically allocated stack in case it is
|
|
later deleted. The TCB was allocated dynamically. */
|
|
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
|
|
}
|
|
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|
|
|
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
|
|
pxTaskDefinition->pcName,
|
|
( uint32_t ) pxTaskDefinition->usStackDepth,
|
|
pxTaskDefinition->pvParameters,
|
|
pxTaskDefinition->uxPriority,
|
|
pxCreatedTask, pxNewTCB,
|
|
pxTaskDefinition->xRegions );
|
|
|
|
prvAddNewTaskToReadyList( pxNewTCB );
|
|
xReturn = pdPASS;
|
|
}
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
|
|
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
const configSTACK_DEPTH_TYPE usStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
TaskHandle_t * const pxCreatedTask )
|
|
{
|
|
TCB_t *pxNewTCB;
|
|
BaseType_t xReturn;
|
|
|
|
/* If the stack grows down then allocate the stack then the TCB so the stack
|
|
does not grow into the TCB. Likewise if the stack grows up then allocate
|
|
the TCB then the stack. */
|
|
#if( portSTACK_GROWTH > 0 )
|
|
{
|
|
/* Allocate space for the TCB. Where the memory comes from depends on
|
|
the implementation of the port malloc function and whether or not static
|
|
allocation is being used. */
|
|
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
|
|
|
|
if( pxNewTCB != NULL )
|
|
{
|
|
/* Allocate space for the stack used by the task being created.
|
|
The base of the stack memory stored in the TCB so the task can
|
|
be deleted later if required. */
|
|
pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
if( pxNewTCB->pxStack == NULL )
|
|
{
|
|
/* Could not allocate the stack. Delete the allocated TCB. */
|
|
vPortFree( pxNewTCB );
|
|
pxNewTCB = NULL;
|
|
}
|
|
}
|
|
}
|
|
#else /* portSTACK_GROWTH */
|
|
{
|
|
StackType_t *pxStack;
|
|
|
|
/* Allocate space for the stack used by the task being created. */
|
|
pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
|
|
|
|
if( pxStack != NULL )
|
|
{
|
|
/* Allocate space for the TCB. */
|
|
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. */
|
|
|
|
if( pxNewTCB != NULL )
|
|
{
|
|
/* Store the stack location in the TCB. */
|
|
pxNewTCB->pxStack = pxStack;
|
|
}
|
|
else
|
|
{
|
|
/* The stack cannot be used as the TCB was not created. Free
|
|
it again. */
|
|
vPortFree( pxStack );
|
|
}
|
|
}
|
|
else
|
|
{
|
|
pxNewTCB = NULL;
|
|
}
|
|
}
|
|
#endif /* portSTACK_GROWTH */
|
|
|
|
if( pxNewTCB != NULL )
|
|
{
|
|
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
|
|
{
|
|
/* Tasks can be created statically or dynamically, so note this
|
|
task was created dynamically in case it is later deleted. */
|
|
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
|
|
}
|
|
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|
|
|
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
|
|
prvAddNewTaskToReadyList( pxNewTCB );
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
|
|
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
const uint32_t ulStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
TaskHandle_t * const pxCreatedTask,
|
|
TCB_t *pxNewTCB,
|
|
const MemoryRegion_t * const xRegions )
|
|
{
|
|
StackType_t *pxTopOfStack;
|
|
UBaseType_t x;
|
|
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
/* Should the task be created in privileged mode? */
|
|
BaseType_t xRunPrivileged;
|
|
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
|
|
{
|
|
xRunPrivileged = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xRunPrivileged = pdFALSE;
|
|
}
|
|
uxPriority &= ~portPRIVILEGE_BIT;
|
|
#endif /* portUSING_MPU_WRAPPERS == 1 */
|
|
|
|
/* Avoid dependency on memset() if it is not required. */
|
|
#if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
|
|
{
|
|
/* Fill the stack with a known value to assist debugging. */
|
|
( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
|
|
}
|
|
#endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
|
|
|
|
/* Calculate the top of stack address. This depends on whether the stack
|
|
grows from high memory to low (as per the 80x86) or vice versa.
|
|
portSTACK_GROWTH is used to make the result positive or negative as required
|
|
by the port. */
|
|
#if( portSTACK_GROWTH < 0 )
|
|
{
|
|
pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
|
|
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(). */
|
|
|
|
/* Check the alignment of the calculated top of stack is correct. */
|
|
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|
|
|
#if( configRECORD_STACK_HIGH_ADDRESS == 1 )
|
|
{
|
|
/* Also record the stack's high address, which may assist
|
|
debugging. */
|
|
pxNewTCB->pxEndOfStack = pxTopOfStack;
|
|
}
|
|
#endif /* configRECORD_STACK_HIGH_ADDRESS */
|
|
}
|
|
#else /* portSTACK_GROWTH */
|
|
{
|
|
pxTopOfStack = pxNewTCB->pxStack;
|
|
|
|
/* Check the alignment of the stack buffer is correct. */
|
|
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|
|
|
/* The other extreme of the stack space is required if stack checking is
|
|
performed. */
|
|
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
|
|
}
|
|
#endif /* portSTACK_GROWTH */
|
|
|
|
/* Store the task name in the TCB. */
|
|
if( pcName != NULL )
|
|
{
|
|
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
|
|
{
|
|
pxNewTCB->pcTaskName[ x ] = pcName[ x ];
|
|
|
|
/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
|
|
configMAX_TASK_NAME_LEN characters just in case the memory after the
|
|
string is not accessible (extremely unlikely). */
|
|
if( pcName[ x ] == ( char ) 0x00 )
|
|
{
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
/* Ensure the name string is terminated in the case that the string length
|
|
was greater or equal to configMAX_TASK_NAME_LEN. */
|
|
pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
|
|
}
|
|
else
|
|
{
|
|
/* The task has not been given a name, so just ensure there is a NULL
|
|
terminator when it is read out. */
|
|
pxNewTCB->pcTaskName[ 0 ] = 0x00;
|
|
}
|
|
|
|
/* This is used as an array index so must ensure it's not too large. First
|
|
remove the privilege bit if one is present. */
|
|
if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
|
|
{
|
|
uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
pxNewTCB->uxPriority = uxPriority;
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
pxNewTCB->uxBasePriority = uxPriority;
|
|
pxNewTCB->uxMutexesHeld = 0;
|
|
}
|
|
#endif /* configUSE_MUTEXES */
|
|
|
|
vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
|
|
vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
|
|
|
|
/* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
|
|
back to the containing TCB from a generic item in a list. */
|
|
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
|
|
|
|
/* Event lists are always in priority order. */
|
|
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. */
|
|
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
{
|
|
pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
|
|
}
|
|
#endif /* portCRITICAL_NESTING_IN_TCB */
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
{
|
|
pxNewTCB->pxTaskTag = NULL;
|
|
}
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
{
|
|
pxNewTCB->ulRunTimeCounter = 0UL;
|
|
}
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
|
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
{
|
|
vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
|
|
}
|
|
#else
|
|
{
|
|
/* Avoid compiler warning about unreferenced parameter. */
|
|
( void ) xRegions;
|
|
}
|
|
#endif
|
|
|
|
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|
{
|
|
for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
|
|
{
|
|
pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
{
|
|
pxNewTCB->ulNotifiedValue = 0;
|
|
pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|
}
|
|
#endif
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
/* Initialise this task's Newlib reent structure.
|
|
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|
for additional information. */
|
|
_REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
|
|
}
|
|
#endif
|
|
|
|
#if( INCLUDE_xTaskAbortDelay == 1 )
|
|
{
|
|
pxNewTCB->ucDelayAborted = pdFALSE;
|
|
}
|
|
#endif
|
|
|
|
/* Initialize the TCB stack to look as if the task was already running,
|
|
but had been interrupted by the scheduler. The return address is set
|
|
to the start of the task function. Once the stack has been initialised
|
|
the top of stack variable is updated. */
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
{
|
|
/* If the port has capability to detect stack overflow,
|
|
pass the stack end address to the stack initialization
|
|
function as well. */
|
|
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|
{
|
|
#if( portSTACK_GROWTH < 0 )
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|
}
|
|
#else /* portSTACK_GROWTH */
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|
}
|
|
#endif /* portSTACK_GROWTH */
|
|
}
|
|
#else /* portHAS_STACK_OVERFLOW_CHECKING */
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|
}
|
|
#endif /* portHAS_STACK_OVERFLOW_CHECKING */
|
|
}
|
|
#else /* portUSING_MPU_WRAPPERS */
|
|
{
|
|
/* If the port has capability to detect stack overflow,
|
|
pass the stack end address to the stack initialization
|
|
function as well. */
|
|
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|
{
|
|
#if( portSTACK_GROWTH < 0 )
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
|
|
}
|
|
#else /* portSTACK_GROWTH */
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
|
|
}
|
|
#endif /* portSTACK_GROWTH */
|
|
}
|
|
#else /* portHAS_STACK_OVERFLOW_CHECKING */
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
|
|
}
|
|
#endif /* portHAS_STACK_OVERFLOW_CHECKING */
|
|
}
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
|
|
if( pxCreatedTask != NULL )
|
|
{
|
|
/* Pass the handle out in an anonymous way. The handle can be used to
|
|
change the created task's priority, delete the created task, etc.*/
|
|
*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
|
|
{
|
|
/* Ensure interrupts don't access the task lists while the lists are being
|
|
updated. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
uxCurrentNumberOfTasks++;
|
|
if( pxCurrentTCB == NULL )
|
|
{
|
|
/* There are no other tasks, or all the other tasks are in
|
|
the suspended state - make this the current task. */
|
|
pxCurrentTCB = pxNewTCB;
|
|
|
|
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
|
|
{
|
|
/* This is the first task to be created so do the preliminary
|
|
initialisation required. We will not recover if this call
|
|
fails, but we will report the failure. */
|
|
prvInitialiseTaskLists();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* If the scheduler is not already running, make this task the
|
|
current task if it is the highest priority task to be created
|
|
so far. */
|
|
if( xSchedulerRunning == pdFALSE )
|
|
{
|
|
if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
|
|
{
|
|
pxCurrentTCB = pxNewTCB;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
uxTaskNumber++;
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
{
|
|
/* Add a counter into the TCB for tracing only. */
|
|
pxNewTCB->uxTCBNumber = uxTaskNumber;
|
|
}
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
traceTASK_CREATE( pxNewTCB );
|
|
|
|
prvAddTaskToReadyList( pxNewTCB );
|
|
|
|
portSETUP_TCB( pxNewTCB );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
/* If the created task is of a higher priority than the current task
|
|
then it should run now. */
|
|
if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
|
|
{
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
void vTaskDelete( TaskHandle_t xTaskToDelete )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then it is the calling task that is
|
|
being deleted. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToDelete );
|
|
|
|
/* Remove task from the ready/delayed list. */
|
|
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Is the task waiting on an event also? */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Increment the uxTaskNumber also so kernel aware debuggers can
|
|
detect that the task lists need re-generating. This is done before
|
|
portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
|
|
not return. */
|
|
uxTaskNumber++;
|
|
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
/* A task is deleting itself. This cannot complete within the
|
|
task itself, as a context switch to another task is required.
|
|
Place the task in the termination list. The idle task will
|
|
check the termination list and free up any memory allocated by
|
|
the scheduler for the TCB and stack of the deleted task. */
|
|
vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
|
|
|
|
/* Increment the ucTasksDeleted variable so the idle task knows
|
|
there is a task that has been deleted and that it should therefore
|
|
check the xTasksWaitingTermination list. */
|
|
++uxDeletedTasksWaitingCleanUp;
|
|
|
|
/* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
|
|
portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
|
|
traceTASK_DELETE( pxTCB );
|
|
|
|
/* The pre-delete hook is primarily for the Windows simulator,
|
|
in which Windows specific clean up operations are performed,
|
|
after which it is not possible to yield away from this task -
|
|
hence xYieldPending is used to latch that a context switch is
|
|
required. */
|
|
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
|
|
}
|
|
else
|
|
{
|
|
--uxCurrentNumberOfTasks;
|
|
traceTASK_DELETE( pxTCB );
|
|
prvDeleteTCB( pxTCB );
|
|
|
|
/* Reset the next expected unblock time in case it referred to
|
|
the task that has just been deleted. */
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Force a reschedule if it is the currently running task that has just
|
|
been deleted. */
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
configASSERT( uxSchedulerSuspended == 0 );
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelayUntil == 1 )
|
|
|
|
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
|
|
{
|
|
TickType_t xTimeToWake;
|
|
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
|
|
|
|
configASSERT( pxPreviousWakeTime );
|
|
configASSERT( ( xTimeIncrement > 0U ) );
|
|
configASSERT( uxSchedulerSuspended == 0 );
|
|
|
|
vTaskSuspendAll();
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this
|
|
block. */
|
|
const TickType_t xConstTickCount = xTickCount;
|
|
|
|
/* Generate the tick time at which the task wants to wake. */
|
|
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
|
|
|
|
if( xConstTickCount < *pxPreviousWakeTime )
|
|
{
|
|
/* The tick count has overflowed since this function was
|
|
lasted called. In this case the only time we should ever
|
|
actually delay is if the wake time has also overflowed,
|
|
and the wake time is greater than the tick time. When this
|
|
is the case it is as if neither time had overflowed. */
|
|
if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
|
|
{
|
|
xShouldDelay = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* The tick time has not overflowed. In this case we will
|
|
delay if either the wake time has overflowed, and/or the
|
|
tick time is less than the wake time. */
|
|
if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
|
|
{
|
|
xShouldDelay = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
/* Update the wake time ready for the next call. */
|
|
*pxPreviousWakeTime = xTimeToWake;
|
|
|
|
if( xShouldDelay != pdFALSE )
|
|
{
|
|
traceTASK_DELAY_UNTIL( xTimeToWake );
|
|
|
|
/* prvAddCurrentTaskToDelayedList() needs the block time, not
|
|
the time to wake, so subtract the current tick count. */
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
xAlreadyYielded = xTaskResumeAll();
|
|
|
|
/* Force a reschedule if xTaskResumeAll has not already done so, we may
|
|
have put ourselves to sleep. */
|
|
if( xAlreadyYielded == pdFALSE )
|
|
{
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelayUntil */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelay == 1 )
|
|
|
|
void vTaskDelay( const TickType_t xTicksToDelay )
|
|
{
|
|
BaseType_t xAlreadyYielded = pdFALSE;
|
|
|
|
/* A delay time of zero just forces a reschedule. */
|
|
if( xTicksToDelay > ( TickType_t ) 0U )
|
|
{
|
|
configASSERT( uxSchedulerSuspended == 0 );
|
|
vTaskSuspendAll();
|
|
{
|
|
traceTASK_DELAY();
|
|
|
|
/* A task that is removed from the event list while the
|
|
scheduler is suspended will not get placed in the ready
|
|
list or removed from the blocked list until the scheduler
|
|
is resumed.
|
|
|
|
This task cannot be in an event list as it is the currently
|
|
executing task. */
|
|
prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
|
|
}
|
|
xAlreadyYielded = xTaskResumeAll();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Force a reschedule if xTaskResumeAll has not already done so, we may
|
|
have put ourselves to sleep. */
|
|
if( xAlreadyYielded == pdFALSE )
|
|
{
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelay */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
|
|
|
|
eTaskState eTaskGetState( TaskHandle_t xTask )
|
|
{
|
|
eTaskState eReturn;
|
|
List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
|
|
const TCB_t * const pxTCB = xTask;
|
|
|
|
configASSERT( pxTCB );
|
|
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
/* The task calling this function is querying its own state. */
|
|
eReturn = eRunning;
|
|
}
|
|
else
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
|
|
pxDelayedList = pxDelayedTaskList;
|
|
pxOverflowedDelayedList = pxOverflowDelayedTaskList;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
|
|
{
|
|
/* The task being queried is referenced from one of the Blocked
|
|
lists. */
|
|
eReturn = eBlocked;
|
|
}
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
else if( pxStateList == &xSuspendedTaskList )
|
|
{
|
|
/* The task being queried is referenced from the suspended
|
|
list. Is it genuinely suspended or is it blocked
|
|
indefinitely? */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
|
|
{
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
{
|
|
/* The task does not appear on the event list item of
|
|
and of the RTOS objects, but could still be in the
|
|
blocked state if it is waiting on its notification
|
|
rather than waiting on an object. */
|
|
if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
|
|
{
|
|
eReturn = eBlocked;
|
|
}
|
|
else
|
|
{
|
|
eReturn = eSuspended;
|
|
}
|
|
}
|
|
#else
|
|
{
|
|
eReturn = eSuspended;
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
eReturn = eBlocked;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
|
|
{
|
|
/* The task being queried is referenced from the deleted
|
|
tasks list, or it is not referenced from any lists at
|
|
all. */
|
|
eReturn = eDeleted;
|
|
}
|
|
#endif
|
|
|
|
else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
|
|
{
|
|
/* If the task is not in any other state, it must be in the
|
|
Ready (including pending ready) state. */
|
|
eReturn = eReady;
|
|
}
|
|
}
|
|
|
|
return eReturn;
|
|
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
|
|
|
|
#endif /* INCLUDE_eTaskGetState */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskPriorityGet == 1 )
|
|
|
|
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
|
|
{
|
|
TCB_t const *pxTCB;
|
|
UBaseType_t uxReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then it is the priority of the task
|
|
that called uxTaskPriorityGet() that is being queried. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
uxReturn = pxTCB->uxPriority;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskPriorityGet */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskPriorityGet == 1 )
|
|
|
|
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
|
|
{
|
|
TCB_t const *pxTCB;
|
|
UBaseType_t uxReturn, uxSavedInterruptState;
|
|
|
|
/* RTOS ports that support interrupt nesting have the concept of a
|
|
maximum system call (or maximum API call) interrupt priority.
|
|
Interrupts that are above the maximum system call priority are keep
|
|
permanently enabled, even when the RTOS kernel is in a critical section,
|
|
but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|
is defined in FreeRTOSConfig.h then
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|
failure if a FreeRTOS API function is called from an interrupt that has
|
|
been assigned a priority above the configured maximum system call
|
|
priority. Only FreeRTOS functions that end in FromISR can be called
|
|
from interrupts that have been assigned a priority at or (logically)
|
|
below the maximum system call interrupt priority. FreeRTOS maintains a
|
|
separate interrupt safe API to ensure interrupt entry is as fast and as
|
|
simple as possible. More information (albeit Cortex-M specific) is
|
|
provided on the following link:
|
|
https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
/* If null is passed in here then it is the priority of the calling
|
|
task that is being queried. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
uxReturn = pxTCB->uxPriority;
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskPriorityGet */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskPrioritySet == 1 )
|
|
|
|
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
|
|
{
|
|
TCB_t *pxTCB;
|
|
UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
|
|
BaseType_t xYieldRequired = pdFALSE;
|
|
|
|
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
|
|
|
|
/* Ensure the new priority is valid. */
|
|
if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
|
|
{
|
|
uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then it is the priority of the calling
|
|
task that is being changed. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
uxCurrentBasePriority = pxTCB->uxBasePriority;
|
|
}
|
|
#else
|
|
{
|
|
uxCurrentBasePriority = pxTCB->uxPriority;
|
|
}
|
|
#endif
|
|
|
|
if( uxCurrentBasePriority != uxNewPriority )
|
|
{
|
|
/* The priority change may have readied a task of higher
|
|
priority than the calling task. */
|
|
if( uxNewPriority > uxCurrentBasePriority )
|
|
{
|
|
if( pxTCB != pxCurrentTCB )
|
|
{
|
|
/* The priority of a task other than the currently
|
|
running task is being raised. Is the priority being
|
|
raised above that of the running task? */
|
|
if( uxNewPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
xYieldRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* The priority of the running task is being raised,
|
|
but the running task must already be the highest
|
|
priority task able to run so no yield is required. */
|
|
}
|
|
}
|
|
else if( pxTCB == pxCurrentTCB )
|
|
{
|
|
/* Setting the priority of the running task down means
|
|
there may now be another task of higher priority that
|
|
is ready to execute. */
|
|
xYieldRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* Setting the priority of any other task down does not
|
|
require a yield as the running task must be above the
|
|
new priority of the task being modified. */
|
|
}
|
|
|
|
/* Remember the ready list the task might be referenced from
|
|
before its uxPriority member is changed so the
|
|
taskRESET_READY_PRIORITY() macro can function correctly. */
|
|
uxPriorityUsedOnEntry = pxTCB->uxPriority;
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
/* Only change the priority being used if the task is not
|
|
currently using an inherited priority. */
|
|
if( pxTCB->uxBasePriority == pxTCB->uxPriority )
|
|
{
|
|
pxTCB->uxPriority = uxNewPriority;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* The base priority gets set whatever. */
|
|
pxTCB->uxBasePriority = uxNewPriority;
|
|
}
|
|
#else
|
|
{
|
|
pxTCB->uxPriority = uxNewPriority;
|
|
}
|
|
#endif
|
|
|
|
/* Only reset the event list item value if the value is not
|
|
being used for anything else. */
|
|
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|
{
|
|
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. */
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* If the task is in the blocked or suspended list we need do
|
|
nothing more than change its priority variable. However, if
|
|
the task is in a ready list it needs to be removed and placed
|
|
in the list appropriate to its new priority. */
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|
{
|
|
/* The task is currently in its ready list - remove before
|
|
adding it to it's new ready list. As we are in a critical
|
|
section we can do this even if the scheduler is suspended. */
|
|
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
/* It is known that the task is in its ready list so
|
|
there is no need to check again and the port level
|
|
reset macro can be called directly. */
|
|
portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
if( xYieldRequired != pdFALSE )
|
|
{
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Remove compiler warning about unused variables when the port
|
|
optimised task selection is not being used. */
|
|
( void ) uxPriorityUsedOnEntry;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskPrioritySet */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
void vTaskSuspend( TaskHandle_t xTaskToSuspend )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then it is the running task that is
|
|
being suspended. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
|
|
|
|
traceTASK_SUSPEND( pxTCB );
|
|
|
|
/* Remove task from the ready/delayed list and place in the
|
|
suspended list. */
|
|
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Is the task waiting on an event also? */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
{
|
|
if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
|
|
{
|
|
/* The task was blocked to wait for a notification, but is
|
|
now suspended, so no notification was received. */
|
|
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
/* Reset the next expected unblock time in case it referred to the
|
|
task that is now in the Suspended state. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
/* The current task has just been suspended. */
|
|
configASSERT( uxSchedulerSuspended == 0 );
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
/* The scheduler is not running, but the task that was pointed
|
|
to by pxCurrentTCB has just been suspended and pxCurrentTCB
|
|
must be adjusted to point to a different task. */
|
|
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
|
|
{
|
|
/* No other tasks are ready, so set pxCurrentTCB back to
|
|
NULL so when the next task is created pxCurrentTCB will
|
|
be set to point to it no matter what its relative priority
|
|
is. */
|
|
pxCurrentTCB = NULL;
|
|
}
|
|
else
|
|
{
|
|
vTaskSwitchContext();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
|
|
{
|
|
BaseType_t xReturn = pdFALSE;
|
|
const TCB_t * const pxTCB = xTask;
|
|
|
|
/* Accesses xPendingReadyList so must be called from a critical
|
|
section. */
|
|
|
|
/* It does not make sense to check if the calling task is suspended. */
|
|
configASSERT( xTask );
|
|
|
|
/* Is the task being resumed actually in the suspended list? */
|
|
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|
{
|
|
/* Has the task already been resumed from within an ISR? */
|
|
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
|
|
{
|
|
/* Is it in the suspended list because it is in the Suspended
|
|
state, or because is is blocked with no timeout? */
|
|
if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return xReturn;
|
|
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
void vTaskResume( TaskHandle_t xTaskToResume )
|
|
{
|
|
TCB_t * const pxTCB = xTaskToResume;
|
|
|
|
/* It does not make sense to resume the calling task. */
|
|
configASSERT( xTaskToResume );
|
|
|
|
/* The parameter cannot be NULL as it is impossible to resume the
|
|
currently executing task. */
|
|
if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
|
|
{
|
|
traceTASK_RESUME( pxTCB );
|
|
|
|
/* The ready list can be accessed even if the scheduler is
|
|
suspended because this is inside a critical section. */
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* A higher priority task may have just been resumed. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
/* This yield may not cause the task just resumed to run,
|
|
but will leave the lists in the correct state for the
|
|
next yield. */
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
|
|
|
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
|
|
{
|
|
BaseType_t xYieldRequired = pdFALSE;
|
|
TCB_t * const pxTCB = xTaskToResume;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
|
|
configASSERT( xTaskToResume );
|
|
|
|
/* RTOS ports that support interrupt nesting have the concept of a
|
|
maximum system call (or maximum API call) interrupt priority.
|
|
Interrupts that are above the maximum system call priority are keep
|
|
permanently enabled, even when the RTOS kernel is in a critical section,
|
|
but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|
is defined in FreeRTOSConfig.h then
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|
failure if a FreeRTOS API function is called from an interrupt that has
|
|
been assigned a priority above the configured maximum system call
|
|
priority. Only FreeRTOS functions that end in FromISR can be called
|
|
from interrupts that have been assigned a priority at or (logically)
|
|
below the maximum system call interrupt priority. FreeRTOS maintains a
|
|
separate interrupt safe API to ensure interrupt entry is as fast and as
|
|
simple as possible. More information (albeit Cortex-M specific) is
|
|
provided on the following link:
|
|
https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
|
|
{
|
|
traceTASK_RESUME_FROM_ISR( pxTCB );
|
|
|
|
/* Check the ready lists can be accessed. */
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
/* Ready lists can be accessed so move the task from the
|
|
suspended list to the ready list directly. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
xYieldRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
/* The delayed or ready lists cannot be accessed so the task
|
|
is held in the pending ready list until the scheduler is
|
|
unsuspended. */
|
|
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xYieldRequired;
|
|
}
|
|
|
|
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskStartScheduler( void )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
/* Add the idle task at the lowest priority. */
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
{
|
|
StaticTask_t *pxIdleTaskTCBBuffer = NULL;
|
|
StackType_t *pxIdleTaskStackBuffer = NULL;
|
|
uint32_t ulIdleTaskStackSize;
|
|
|
|
/* The Idle task is created using user provided RAM - obtain the
|
|
address of the RAM then create the idle task. */
|
|
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
|
|
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
|
|
configIDLE_TASK_NAME,
|
|
ulIdleTaskStackSize,
|
|
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
|
|
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
|
pxIdleTaskStackBuffer,
|
|
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|
|
|
if( xIdleTaskHandle != NULL )
|
|
{
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
}
|
|
#else
|
|
{
|
|
/* The Idle task is being created using dynamically allocated RAM. */
|
|
xReturn = xTaskCreate( prvIdleTask,
|
|
configIDLE_TASK_NAME,
|
|
configMINIMAL_STACK_SIZE,
|
|
( void * ) NULL,
|
|
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
|
&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|
}
|
|
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
|
|
|
#if ( configUSE_TIMERS == 1 )
|
|
{
|
|
if( xReturn == pdPASS )
|
|
{
|
|
xReturn = xTimerCreateTimerTask();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_TIMERS */
|
|
|
|
if( xReturn == pdPASS )
|
|
{
|
|
/* freertos_tasks_c_additions_init() should only be called if the user
|
|
definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
|
|
the only macro called by the function. */
|
|
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|
{
|
|
freertos_tasks_c_additions_init();
|
|
}
|
|
#endif
|
|
|
|
/* Interrupts are turned off here, to ensure a tick does not occur
|
|
before or during the call to xPortStartScheduler(). The stacks of
|
|
the created tasks contain a status word with interrupts switched on
|
|
so interrupts will automatically get re-enabled when the first task
|
|
starts to run. */
|
|
portDISABLE_INTERRUPTS();
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
/* Switch Newlib's _impure_ptr variable to point to the _reent
|
|
structure specific to the task that will run first.
|
|
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|
for additional information. */
|
|
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
|
|
}
|
|
#endif /* configUSE_NEWLIB_REENTRANT */
|
|
|
|
xNextTaskUnblockTime = portMAX_DELAY;
|
|
xSchedulerRunning = pdTRUE;
|
|
xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
|
|
|
|
/* If configGENERATE_RUN_TIME_STATS is defined then the following
|
|
macro must be defined to configure the timer/counter used to generate
|
|
the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
|
|
is set to 0 and the following line fails to build then ensure you do not
|
|
have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
|
|
FreeRTOSConfig.h file. */
|
|
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
|
|
|
|
traceTASK_SWITCHED_IN();
|
|
|
|
/* Setting up the timer tick is hardware specific and thus in the
|
|
portable interface. */
|
|
if( xPortStartScheduler() != pdFALSE )
|
|
{
|
|
/* Should not reach here as if the scheduler is running the
|
|
function will not return. */
|
|
}
|
|
else
|
|
{
|
|
/* Should only reach here if a task calls xTaskEndScheduler(). */
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* This line will only be reached if the kernel could not be started,
|
|
because there was not enough FreeRTOS heap to create the idle task
|
|
or the timer task. */
|
|
configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
|
|
}
|
|
|
|
/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
|
|
meaning xIdleTaskHandle is not used anywhere else. */
|
|
( void ) xIdleTaskHandle;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskEndScheduler( void )
|
|
{
|
|
/* Stop the scheduler interrupts and call the portable scheduler end
|
|
routine so the original ISRs can be restored if necessary. The port
|
|
layer must ensure interrupts enable bit is left in the correct state. */
|
|
portDISABLE_INTERRUPTS();
|
|
xSchedulerRunning = pdFALSE;
|
|
vPortEndScheduler();
|
|
}
|
|
/*----------------------------------------------------------*/
|
|
|
|
void vTaskSuspendAll( void )
|
|
{
|
|
/* A critical section is not required as the variable is of type
|
|
BaseType_t. Please read Richard Barry's reply in the following link to a
|
|
post in the FreeRTOS support forum before reporting this as a bug! -
|
|
http://goo.gl/wu4acr */
|
|
|
|
/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
|
|
do not otherwise exhibit real time behaviour. */
|
|
portSOFTWARE_BARRIER();
|
|
|
|
/* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
|
|
is used to allow calls to vTaskSuspendAll() to nest. */
|
|
++uxSchedulerSuspended;
|
|
|
|
/* Enforces ordering for ports and optimised compilers that may otherwise place
|
|
the above increment elsewhere. */
|
|
portMEMORY_BARRIER();
|
|
}
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TICKLESS_IDLE != 0 )
|
|
|
|
static TickType_t prvGetExpectedIdleTime( void )
|
|
{
|
|
TickType_t xReturn;
|
|
UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
|
|
|
|
/* uxHigherPriorityReadyTasks takes care of the case where
|
|
configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
|
|
task that are in the Ready state, even though the idle task is
|
|
running. */
|
|
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
|
|
{
|
|
if( uxTopReadyPriority > tskIDLE_PRIORITY )
|
|
{
|
|
uxHigherPriorityReadyTasks = pdTRUE;
|
|
}
|
|
}
|
|
#else
|
|
{
|
|
const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
|
|
|
|
/* When port optimised task selection is used the uxTopReadyPriority
|
|
variable is used as a bit map. If bits other than the least
|
|
significant bit are set then there are tasks that have a priority
|
|
above the idle priority that are in the Ready state. This takes
|
|
care of the case where the co-operative scheduler is in use. */
|
|
if( uxTopReadyPriority > uxLeastSignificantBit )
|
|
{
|
|
uxHigherPriorityReadyTasks = pdTRUE;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
|
|
{
|
|
xReturn = 0;
|
|
}
|
|
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
|
|
{
|
|
/* There are other idle priority tasks in the ready state. If
|
|
time slicing is used then the very next tick interrupt must be
|
|
processed. */
|
|
xReturn = 0;
|
|
}
|
|
else if( uxHigherPriorityReadyTasks != pdFALSE )
|
|
{
|
|
/* There are tasks in the Ready state that have a priority above the
|
|
idle priority. This path can only be reached if
|
|
configUSE_PREEMPTION is 0. */
|
|
xReturn = 0;
|
|
}
|
|
else
|
|
{
|
|
xReturn = xNextTaskUnblockTime - xTickCount;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
/*----------------------------------------------------------*/
|
|
|
|
BaseType_t xTaskResumeAll( void )
|
|
{
|
|
TCB_t *pxTCB = NULL;
|
|
BaseType_t xAlreadyYielded = pdFALSE;
|
|
|
|
/* If uxSchedulerSuspended is zero then this function does not match a
|
|
previous call to vTaskSuspendAll(). */
|
|
configASSERT( uxSchedulerSuspended );
|
|
|
|
/* It is possible that an ISR caused a task to be removed from an event
|
|
list while the scheduler was suspended. If this was the case then the
|
|
removed task will have been added to the xPendingReadyList. Once the
|
|
scheduler has been resumed it is safe to move all the pending ready
|
|
tasks from this list into their appropriate ready list. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
--uxSchedulerSuspended;
|
|
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
|
|
{
|
|
/* Move any readied tasks from the pending list into the
|
|
appropriate ready list. */
|
|
while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
|
|
{
|
|
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. */
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* If the moved task has a priority higher than the current
|
|
task then a yield must be performed. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
if( pxTCB != NULL )
|
|
{
|
|
/* A task was unblocked while the scheduler was suspended,
|
|
which may have prevented the next unblock time from being
|
|
re-calculated, in which case re-calculate it now. Mainly
|
|
important for low power tickless implementations, where
|
|
this can prevent an unnecessary exit from low power
|
|
state. */
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
|
|
/* If any ticks occurred while the scheduler was suspended then
|
|
they should be processed now. This ensures the tick count does
|
|
not slip, and that any delayed tasks are resumed at the correct
|
|
time. */
|
|
{
|
|
TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
|
|
|
|
if( xPendedCounts > ( TickType_t ) 0U )
|
|
{
|
|
do
|
|
{
|
|
if( xTaskIncrementTick() != pdFALSE )
|
|
{
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
--xPendedCounts;
|
|
} while( xPendedCounts > ( TickType_t ) 0U );
|
|
|
|
xPendedTicks = 0;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
if( xYieldPending != pdFALSE )
|
|
{
|
|
#if( configUSE_PREEMPTION != 0 )
|
|
{
|
|
xAlreadyYielded = pdTRUE;
|
|
}
|
|
#endif
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xAlreadyYielded;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
TickType_t xTaskGetTickCount( void )
|
|
{
|
|
TickType_t xTicks;
|
|
|
|
/* Critical section required if running on a 16 bit processor. */
|
|
portTICK_TYPE_ENTER_CRITICAL();
|
|
{
|
|
xTicks = xTickCount;
|
|
}
|
|
portTICK_TYPE_EXIT_CRITICAL();
|
|
|
|
return xTicks;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
TickType_t xTaskGetTickCountFromISR( void )
|
|
{
|
|
TickType_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
|
|
/* RTOS ports that support interrupt nesting have the concept of a maximum
|
|
system call (or maximum API call) interrupt priority. Interrupts that are
|
|
above the maximum system call priority are kept permanently enabled, even
|
|
when the RTOS kernel is in a critical section, but cannot make any calls to
|
|
FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
|
|
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|
failure if a FreeRTOS API function is called from an interrupt that has been
|
|
assigned a priority above the configured maximum system call priority.
|
|
Only FreeRTOS functions that end in FromISR can be called from interrupts
|
|
that have been assigned a priority at or (logically) below the maximum
|
|
system call interrupt priority. FreeRTOS maintains a separate interrupt
|
|
safe API to ensure interrupt entry is as fast and as simple as possible.
|
|
More information (albeit Cortex-M specific) is provided on the following
|
|
link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
xReturn = xTickCount;
|
|
}
|
|
portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
UBaseType_t uxTaskGetNumberOfTasks( void )
|
|
{
|
|
/* A critical section is not required because the variables are of type
|
|
BaseType_t. */
|
|
return uxCurrentNumberOfTasks;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
/* If null is passed in here then the name of the calling task is being
|
|
queried. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
|
|
configASSERT( pxTCB );
|
|
return &( pxTCB->pcTaskName[ 0 ] );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_xTaskGetHandle == 1 )
|
|
|
|
static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
|
|
{
|
|
TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
|
|
UBaseType_t x;
|
|
char cNextChar;
|
|
BaseType_t xBreakLoop;
|
|
|
|
/* This function is called with the scheduler suspended. */
|
|
|
|
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
|
|
{
|
|
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. */
|
|
|
|
do
|
|
{
|
|
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. */
|
|
|
|
/* Check each character in the name looking for a match or
|
|
mismatch. */
|
|
xBreakLoop = pdFALSE;
|
|
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
|
|
{
|
|
cNextChar = pxNextTCB->pcTaskName[ x ];
|
|
|
|
if( cNextChar != pcNameToQuery[ x ] )
|
|
{
|
|
/* Characters didn't match. */
|
|
xBreakLoop = pdTRUE;
|
|
}
|
|
else if( cNextChar == ( char ) 0x00 )
|
|
{
|
|
/* Both strings terminated, a match must have been
|
|
found. */
|
|
pxReturn = pxNextTCB;
|
|
xBreakLoop = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
if( xBreakLoop != pdFALSE )
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
if( pxReturn != NULL )
|
|
{
|
|
/* The handle has been found. */
|
|
break;
|
|
}
|
|
|
|
} while( pxNextTCB != pxFirstTCB );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return pxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_xTaskGetHandle */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_xTaskGetHandle == 1 )
|
|
|
|
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
{
|
|
UBaseType_t uxQueue = configMAX_PRIORITIES;
|
|
TCB_t* pxTCB;
|
|
|
|
/* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
|
|
configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
|
|
|
|
vTaskSuspendAll();
|
|
{
|
|
/* Search the ready lists. */
|
|
do
|
|
{
|
|
uxQueue--;
|
|
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
|
|
|
|
if( pxTCB != NULL )
|
|
{
|
|
/* Found the handle. */
|
|
break;
|
|
}
|
|
|
|
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
/* Search the delayed lists. */
|
|
if( pxTCB == NULL )
|
|
{
|
|
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
|
|
}
|
|
|
|
if( pxTCB == NULL )
|
|
{
|
|
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
|
|
}
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
if( pxTCB == NULL )
|
|
{
|
|
/* Search the suspended list. */
|
|
pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
if( pxTCB == NULL )
|
|
{
|
|
/* Search the deleted list. */
|
|
pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
|
|
return pxTCB;
|
|
}
|
|
|
|
#endif /* INCLUDE_xTaskGetHandle */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
|
|
{
|
|
UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
|
|
|
|
vTaskSuspendAll();
|
|
{
|
|
/* Is there a space in the array for each task in the system? */
|
|
if( uxArraySize >= uxCurrentNumberOfTasks )
|
|
{
|
|
/* Fill in an TaskStatus_t structure with information on each
|
|
task in the Ready state. */
|
|
do
|
|
{
|
|
uxQueue--;
|
|
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
|
|
|
|
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
/* Fill in an TaskStatus_t structure with information on each
|
|
task in the Blocked state. */
|
|
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
|
|
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
|
|
|
|
#if( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
/* Fill in an TaskStatus_t structure with information on
|
|
each task that has been deleted but not yet cleaned up. */
|
|
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
|
|
}
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
/* Fill in an TaskStatus_t structure with information on
|
|
each task in the Suspended state. */
|
|
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
|
|
}
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1)
|
|
{
|
|
if( pulTotalRunTime != NULL )
|
|
{
|
|
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
|
|
portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
|
|
#else
|
|
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
|
|
#endif
|
|
}
|
|
}
|
|
#else
|
|
{
|
|
if( pulTotalRunTime != NULL )
|
|
{
|
|
*pulTotalRunTime = 0;
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
|
|
return uxTask;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
|
|
|
|
TaskHandle_t xTaskGetIdleTaskHandle( void )
|
|
{
|
|
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
|
|
started, then xIdleTaskHandle will be NULL. */
|
|
configASSERT( ( xIdleTaskHandle != NULL ) );
|
|
return xIdleTaskHandle;
|
|
}
|
|
|
|
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
|
|
/*----------------------------------------------------------*/
|
|
|
|
/* This conditional compilation should use inequality to 0, not equality to 1.
|
|
This is to ensure vTaskStepTick() is available when user defined low power mode
|
|
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
|
|
1. */
|
|
#if ( configUSE_TICKLESS_IDLE != 0 )
|
|
|
|
void vTaskStepTick( const TickType_t xTicksToJump )
|
|
{
|
|
/* Correct the tick count value after a period during which the tick
|
|
was suppressed. Note this does *not* call the tick hook function for
|
|
each stepped tick. */
|
|
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
|
|
xTickCount += xTicksToJump;
|
|
traceINCREASE_TICK_COUNT( xTicksToJump );
|
|
}
|
|
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
/*----------------------------------------------------------*/
|
|
|
|
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
|
|
{
|
|
BaseType_t xYieldRequired = pdFALSE;
|
|
|
|
/* Must not be called with the scheduler suspended as the implementation
|
|
relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
|
|
configASSERT( uxSchedulerSuspended == 0 );
|
|
|
|
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
|
|
the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
|
|
vTaskSuspendAll();
|
|
xPendedTicks += xTicksToCatchUp;
|
|
xYieldRequired = xTaskResumeAll();
|
|
|
|
return xYieldRequired;
|
|
}
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_xTaskAbortDelay == 1 )
|
|
|
|
BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB = xTask;
|
|
BaseType_t xReturn;
|
|
|
|
configASSERT( pxTCB );
|
|
|
|
vTaskSuspendAll();
|
|
{
|
|
/* A task can only be prematurely removed from the Blocked state if
|
|
it is actually in the Blocked state. */
|
|
if( eTaskGetState( xTask ) == eBlocked )
|
|
{
|
|
xReturn = pdPASS;
|
|
|
|
/* Remove the reference to the task from the blocked list. An
|
|
interrupt won't touch the xStateListItem because the
|
|
scheduler is suspended. */
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
|
|
/* Is the task waiting on an event also? If so remove it from
|
|
the event list too. Interrupts can touch the event list item,
|
|
even though the scheduler is suspended, so a critical section
|
|
is used. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
|
|
/* This lets the task know it was forcibly removed from the
|
|
blocked state so it should not re-evaluate its block time and
|
|
then block again. */
|
|
pxTCB->ucDelayAborted = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Place the unblocked task into the appropriate ready list. */
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* A task being unblocked cannot cause an immediate context
|
|
switch if preemption is turned off. */
|
|
#if ( configUSE_PREEMPTION == 1 )
|
|
{
|
|
/* Preemption is on, but a context switch should only be
|
|
performed if the unblocked task has a priority that is
|
|
equal to or higher than the currently executing task. */
|
|
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* Pend the yield to be performed when the scheduler
|
|
is unsuspended. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_PREEMPTION */
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_xTaskAbortDelay */
|
|
/*----------------------------------------------------------*/
|
|
|
|
BaseType_t xTaskIncrementTick( void )
|
|
{
|
|
TCB_t * pxTCB;
|
|
TickType_t xItemValue;
|
|
BaseType_t xSwitchRequired = pdFALSE;
|
|
|
|
/* Called by the portable layer each time a tick interrupt occurs.
|
|
Increments the tick then checks to see if the new tick value will cause any
|
|
tasks to be unblocked. */
|
|
traceTASK_INCREMENT_TICK( xTickCount );
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this
|
|
block. */
|
|
const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
|
|
|
|
/* Increment the RTOS tick, switching the delayed and overflowed
|
|
delayed lists if it wraps to 0. */
|
|
xTickCount = xConstTickCount;
|
|
|
|
if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
|
|
{
|
|
taskSWITCH_DELAYED_LISTS();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* See if this tick has made a timeout expire. Tasks are stored in
|
|
the queue in the order of their wake time - meaning once one task
|
|
has been found whose block time has not expired there is no need to
|
|
look any further down the list. */
|
|
if( xConstTickCount >= xNextTaskUnblockTime )
|
|
{
|
|
for( ;; )
|
|
{
|
|
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
|
|
{
|
|
/* The delayed list is empty. Set xNextTaskUnblockTime
|
|
to the maximum possible value so it is extremely
|
|
unlikely that the
|
|
if( xTickCount >= xNextTaskUnblockTime ) test will pass
|
|
next time through. */
|
|
xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
/* The delayed list is not empty, get the value of the
|
|
item at the head of the delayed list. This is the time
|
|
at which the task at the head of the delayed list must
|
|
be removed from the Blocked state. */
|
|
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. */
|
|
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
|
|
|
|
if( xConstTickCount < xItemValue )
|
|
{
|
|
/* It is not time to unblock this item yet, but the
|
|
item value is the time at which the task at the head
|
|
of the blocked list must be removed from the Blocked
|
|
state - so record the item value in
|
|
xNextTaskUnblockTime. */
|
|
xNextTaskUnblockTime = xItemValue;
|
|
break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* It is time to remove the item from the Blocked state. */
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
|
|
/* Is the task waiting on an event also? If so remove
|
|
it from the event list. */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Place the unblocked task into the appropriate ready
|
|
list. */
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* A task being unblocked cannot cause an immediate
|
|
context switch if preemption is turned off. */
|
|
#if ( configUSE_PREEMPTION == 1 )
|
|
{
|
|
/* Preemption is on, but a context switch should
|
|
only be performed if the unblocked task has a
|
|
priority that is equal to or higher than the
|
|
currently executing task. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
xSwitchRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_PREEMPTION */
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Tasks of equal priority to the currently running task will share
|
|
processing time (time slice) if preemption is on, and the application
|
|
writer has not explicitly turned time slicing off. */
|
|
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
|
|
{
|
|
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
|
|
{
|
|
xSwitchRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
|
|
|
|
#if ( configUSE_TICK_HOOK == 1 )
|
|
{
|
|
/* Guard against the tick hook being called when the pended tick
|
|
count is being unwound (when the scheduler is being unlocked). */
|
|
if( xPendedTicks == ( TickType_t ) 0 )
|
|
{
|
|
vApplicationTickHook();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_TICK_HOOK */
|
|
|
|
#if ( configUSE_PREEMPTION == 1 )
|
|
{
|
|
if( xYieldPending != pdFALSE )
|
|
{
|
|
xSwitchRequired = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_PREEMPTION */
|
|
}
|
|
else
|
|
{
|
|
++xPendedTicks;
|
|
|
|
/* The tick hook gets called at regular intervals, even if the
|
|
scheduler is locked. */
|
|
#if ( configUSE_TICK_HOOK == 1 )
|
|
{
|
|
vApplicationTickHook();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
return xSwitchRequired;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
|
|
void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
|
|
{
|
|
TCB_t *xTCB;
|
|
|
|
/* If xTask is NULL then it is the task hook of the calling task that is
|
|
getting set. */
|
|
if( xTask == NULL )
|
|
{
|
|
xTCB = ( TCB_t * ) pxCurrentTCB;
|
|
}
|
|
else
|
|
{
|
|
xTCB = xTask;
|
|
}
|
|
|
|
/* Save the hook function in the TCB. A critical section is required as
|
|
the value can be accessed from an interrupt. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
xTCB->pxTaskTag = pxHookFunction;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
|
|
TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB;
|
|
TaskHookFunction_t xReturn;
|
|
|
|
/* If xTask is NULL then set the calling task's hook. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
/* Save the hook function in the TCB. A critical section is required as
|
|
the value can be accessed from an interrupt. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
xReturn = pxTCB->pxTaskTag;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
|
|
TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB;
|
|
TaskHookFunction_t xReturn;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
|
|
/* If xTask is NULL then set the calling task's hook. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
/* Save the hook function in the TCB. A critical section is required as
|
|
the value can be accessed from an interrupt. */
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
xReturn = pxTCB->pxTaskTag;
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
|
|
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
|
|
{
|
|
TCB_t *xTCB;
|
|
BaseType_t xReturn;
|
|
|
|
/* If xTask is NULL then we are calling our own task hook. */
|
|
if( xTask == NULL )
|
|
{
|
|
xTCB = pxCurrentTCB;
|
|
}
|
|
else
|
|
{
|
|
xTCB = xTask;
|
|
}
|
|
|
|
if( xTCB->pxTaskTag != NULL )
|
|
{
|
|
xReturn = xTCB->pxTaskTag( pvParameter );
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskSwitchContext( void )
|
|
{
|
|
if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
|
|
{
|
|
/* The scheduler is currently suspended - do not allow a context
|
|
switch. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xYieldPending = pdFALSE;
|
|
traceTASK_SWITCHED_OUT();
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
{
|
|
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
|
|
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
|
|
#else
|
|
ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
|
|
#endif
|
|
|
|
/* Add the amount of time the task has been running to the
|
|
accumulated time so far. The time the task started running was
|
|
stored in ulTaskSwitchedInTime. Note that there is no overflow
|
|
protection here so count values are only valid until the timer
|
|
overflows. The guard against negative values is to protect
|
|
against suspect run time stat counter implementations - which
|
|
are provided by the application, not the kernel. */
|
|
if( ulTotalRunTime > ulTaskSwitchedInTime )
|
|
{
|
|
pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
ulTaskSwitchedInTime = ulTotalRunTime;
|
|
}
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
|
|
|
/* Check for stack overflow, if configured. */
|
|
taskCHECK_FOR_STACK_OVERFLOW();
|
|
|
|
/* Before the currently running task is switched out, save its errno. */
|
|
#if( configUSE_POSIX_ERRNO == 1 )
|
|
{
|
|
pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
|
|
}
|
|
#endif
|
|
|
|
/* Select a new task to run using either the generic C or port
|
|
optimised asm code. */
|
|
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. */
|
|
traceTASK_SWITCHED_IN();
|
|
|
|
/* After the new task is switched in, update the global errno. */
|
|
#if( configUSE_POSIX_ERRNO == 1 )
|
|
{
|
|
FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
|
|
}
|
|
#endif
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
/* Switch Newlib's _impure_ptr variable to point to the _reent
|
|
structure specific to this task.
|
|
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|
for additional information. */
|
|
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
|
|
}
|
|
#endif /* configUSE_NEWLIB_REENTRANT */
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
|
|
{
|
|
configASSERT( pxEventList );
|
|
|
|
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
|
|
SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
|
|
|
|
/* Place the event list item of the TCB in the appropriate event list.
|
|
This is placed in the list in priority order so the highest priority task
|
|
is the first to be woken by the event. The queue that contains the event
|
|
list is locked, preventing simultaneous access from interrupts. */
|
|
vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
|
|
{
|
|
configASSERT( pxEventList );
|
|
|
|
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
|
|
the event groups implementation. */
|
|
configASSERT( uxSchedulerSuspended != 0 );
|
|
|
|
/* Store the item value in the event list item. It is safe to access the
|
|
event list item here as interrupts won't access the event list item of a
|
|
task that is not in the Blocked state. */
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
|
|
|
|
/* Place the event list item of the TCB at the end of the appropriate event
|
|
list. It is safe to access the event list here because it is part of an
|
|
event group implementation - and interrupts don't access event groups
|
|
directly (instead they access them indirectly by pending function calls to
|
|
the task level). */
|
|
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TIMERS == 1 )
|
|
|
|
void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
|
|
{
|
|
configASSERT( pxEventList );
|
|
|
|
/* This function should not be called by application code hence the
|
|
'Restricted' in its name. It is not part of the public API. It is
|
|
designed for use by kernel code, and has special calling requirements -
|
|
it should be called with the scheduler suspended. */
|
|
|
|
|
|
/* Place the event list item of the TCB in the appropriate event list.
|
|
In this case it is assume that this is the only task that is going to
|
|
be waiting on this event list, so the faster vListInsertEnd() function
|
|
can be used in place of vListInsert. */
|
|
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
/* If the task should block indefinitely then set the block time to a
|
|
value that will be recognised as an indefinite delay inside the
|
|
prvAddCurrentTaskToDelayedList() function. */
|
|
if( xWaitIndefinitely != pdFALSE )
|
|
{
|
|
xTicksToWait = portMAX_DELAY;
|
|
}
|
|
|
|
traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
|
|
prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
|
|
}
|
|
|
|
#endif /* configUSE_TIMERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
|
|
{
|
|
TCB_t *pxUnblockedTCB;
|
|
BaseType_t xReturn;
|
|
|
|
/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
|
|
called from a critical section within an ISR. */
|
|
|
|
/* The event list is sorted in priority order, so the first in the list can
|
|
be removed as it is known to be the highest priority. Remove the TCB from
|
|
the delayed list, and add it to the ready list.
|
|
|
|
If an event is for a queue that is locked then this function will never
|
|
get called - the lock count on the queue will get modified instead. This
|
|
means exclusive access to the event list is guaranteed here.
|
|
|
|
This function assumes that a check has already been made to ensure that
|
|
pxEventList is not empty. */
|
|
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. */
|
|
configASSERT( pxUnblockedTCB );
|
|
( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
|
|
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxUnblockedTCB );
|
|
|
|
#if( configUSE_TICKLESS_IDLE != 0 )
|
|
{
|
|
/* If a task is blocked on a kernel object then xNextTaskUnblockTime
|
|
might be set to the blocked task's time out time. If the task is
|
|
unblocked for a reason other than a timeout xNextTaskUnblockTime is
|
|
normally left unchanged, because it is automatically reset to a new
|
|
value when the tick count equals xNextTaskUnblockTime. However if
|
|
tickless idling is used it might be more important to enter sleep mode
|
|
at the earliest possible time - so reset xNextTaskUnblockTime here to
|
|
ensure it is updated at the earliest possible time. */
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
/* The delayed and ready lists cannot be accessed, so hold this task
|
|
pending until the scheduler is resumed. */
|
|
vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
|
|
}
|
|
|
|
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* Return true if the task removed from the event list has a higher
|
|
priority than the calling task. This allows the calling task to know if
|
|
it should force a context switch now. */
|
|
xReturn = pdTRUE;
|
|
|
|
/* Mark that a yield is pending in case the user is not using the
|
|
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
|
|
{
|
|
TCB_t *pxUnblockedTCB;
|
|
|
|
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
|
|
the event flags implementation. */
|
|
configASSERT( uxSchedulerSuspended != pdFALSE );
|
|
|
|
/* Store the new item value in the event list. */
|
|
listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
|
|
|
|
/* Remove the event list form the event flag. Interrupts do not access
|
|
event flags. */
|
|
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. */
|
|
configASSERT( pxUnblockedTCB );
|
|
( void ) uxListRemove( pxEventListItem );
|
|
|
|
#if( configUSE_TICKLESS_IDLE != 0 )
|
|
{
|
|
/* If a task is blocked on a kernel object then xNextTaskUnblockTime
|
|
might be set to the blocked task's time out time. If the task is
|
|
unblocked for a reason other than a timeout xNextTaskUnblockTime is
|
|
normally left unchanged, because it is automatically reset to a new
|
|
value when the tick count equals xNextTaskUnblockTime. However if
|
|
tickless idling is used it might be more important to enter sleep mode
|
|
at the earliest possible time - so reset xNextTaskUnblockTime here to
|
|
ensure it is updated at the earliest possible time. */
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
#endif
|
|
|
|
/* Remove the task from the delayed list and add it to the ready list. The
|
|
scheduler is suspended so interrupts will not be accessing the ready
|
|
lists. */
|
|
( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxUnblockedTCB );
|
|
|
|
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* The unblocked task has a priority above that of the calling task, so
|
|
a context switch is required. This function is called with the
|
|
scheduler suspended so xYieldPending is set so the context switch
|
|
occurs immediately that the scheduler is resumed (unsuspended). */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
|
|
{
|
|
configASSERT( pxTimeOut );
|
|
taskENTER_CRITICAL();
|
|
{
|
|
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
|
pxTimeOut->xTimeOnEntering = xTickCount;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
|
|
{
|
|
/* For internal use only as it does not use a critical section. */
|
|
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
|
pxTimeOut->xTimeOnEntering = xTickCount;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
configASSERT( pxTimeOut );
|
|
configASSERT( pxTicksToWait );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this block. */
|
|
const TickType_t xConstTickCount = xTickCount;
|
|
const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
|
|
|
|
#if( INCLUDE_xTaskAbortDelay == 1 )
|
|
if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
|
|
{
|
|
/* The delay was aborted, which is not the same as a time out,
|
|
but has the same result. */
|
|
pxCurrentTCB->ucDelayAborted = pdFALSE;
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
if( *pxTicksToWait == portMAX_DELAY )
|
|
{
|
|
/* If INCLUDE_vTaskSuspend is set to 1 and the block time
|
|
specified is the maximum block time then the task should block
|
|
indefinitely, and therefore never time out. */
|
|
xReturn = pdFALSE;
|
|
}
|
|
else
|
|
#endif
|
|
|
|
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
|
|
{
|
|
/* The tick count is greater than the time at which
|
|
vTaskSetTimeout() was called, but has also overflowed since
|
|
vTaskSetTimeOut() was called. It must have wrapped all the way
|
|
around and gone past again. This passed since vTaskSetTimeout()
|
|
was called. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
|
|
{
|
|
/* Not a genuine timeout. Adjust parameters for time remaining. */
|
|
*pxTicksToWait -= xElapsedTime;
|
|
vTaskInternalSetTimeOutState( pxTimeOut );
|
|
xReturn = pdFALSE;
|
|
}
|
|
else
|
|
{
|
|
*pxTicksToWait = 0;
|
|
xReturn = pdTRUE;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskMissedYield( void )
|
|
{
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
|
|
{
|
|
UBaseType_t uxReturn;
|
|
TCB_t const *pxTCB;
|
|
|
|
if( xTask != NULL )
|
|
{
|
|
pxTCB = xTask;
|
|
uxReturn = pxTCB->uxTaskNumber;
|
|
}
|
|
else
|
|
{
|
|
uxReturn = 0U;
|
|
}
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
|
|
{
|
|
TCB_t * pxTCB;
|
|
|
|
if( xTask != NULL )
|
|
{
|
|
pxTCB = xTask;
|
|
pxTCB->uxTaskNumber = uxHandle;
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
|
|
/*
|
|
* -----------------------------------------------------------
|
|
* The Idle task.
|
|
* ----------------------------------------------------------
|
|
*
|
|
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
|
|
* language extensions. The equivalent prototype for this function is:
|
|
*
|
|
* void prvIdleTask( void *pvParameters );
|
|
*
|
|
*/
|
|
static portTASK_FUNCTION( prvIdleTask, pvParameters )
|
|
{
|
|
/* Stop warnings. */
|
|
( void ) pvParameters;
|
|
|
|
/** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
|
|
SCHEDULER IS STARTED. **/
|
|
|
|
/* In case a task that has a secure context deletes itself, in which case
|
|
the idle task is responsible for deleting the task's secure context, if
|
|
any. */
|
|
portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
|
|
|
|
for( ;; )
|
|
{
|
|
/* See if any tasks have deleted themselves - if so then the idle task
|
|
is responsible for freeing the deleted task's TCB and stack. */
|
|
prvCheckTasksWaitingTermination();
|
|
|
|
#if ( configUSE_PREEMPTION == 0 )
|
|
{
|
|
/* If we are not using preemption we keep forcing a task switch to
|
|
see if any other task has become available. If we are using
|
|
preemption we don't need to do this as any task becoming available
|
|
will automatically get the processor anyway. */
|
|
taskYIELD();
|
|
}
|
|
#endif /* configUSE_PREEMPTION */
|
|
|
|
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
|
|
{
|
|
/* When using preemption tasks of equal priority will be
|
|
timesliced. If a task that is sharing the idle priority is ready
|
|
to run then the idle task should yield before the end of the
|
|
timeslice.
|
|
|
|
A critical region is not required here as we are just reading from
|
|
the list, and an occasional incorrect value will not matter. If
|
|
the ready list at the idle priority contains more than one task
|
|
then a task other than the idle task is ready to execute. */
|
|
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
|
|
{
|
|
taskYIELD();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
|
|
|
|
#if ( configUSE_IDLE_HOOK == 1 )
|
|
{
|
|
extern void vApplicationIdleHook( void );
|
|
|
|
/* Call the user defined function from within the idle task. This
|
|
allows the application designer to add background functionality
|
|
without the overhead of a separate task.
|
|
NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
|
|
CALL A FUNCTION THAT MIGHT BLOCK. */
|
|
vApplicationIdleHook();
|
|
}
|
|
#endif /* configUSE_IDLE_HOOK */
|
|
|
|
/* This conditional compilation should use inequality to 0, not equality
|
|
to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
|
|
user defined low power mode implementations require
|
|
configUSE_TICKLESS_IDLE to be set to a value other than 1. */
|
|
#if ( configUSE_TICKLESS_IDLE != 0 )
|
|
{
|
|
TickType_t xExpectedIdleTime;
|
|
|
|
/* It is not desirable to suspend then resume the scheduler on
|
|
each iteration of the idle task. Therefore, a preliminary
|
|
test of the expected idle time is performed without the
|
|
scheduler suspended. The result here is not necessarily
|
|
valid. */
|
|
xExpectedIdleTime = prvGetExpectedIdleTime();
|
|
|
|
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
|
|
{
|
|
vTaskSuspendAll();
|
|
{
|
|
/* Now the scheduler is suspended, the expected idle
|
|
time can be sampled again, and this time its value can
|
|
be used. */
|
|
configASSERT( xNextTaskUnblockTime >= xTickCount );
|
|
xExpectedIdleTime = prvGetExpectedIdleTime();
|
|
|
|
/* Define the following macro to set xExpectedIdleTime to 0
|
|
if the application does not want
|
|
portSUPPRESS_TICKS_AND_SLEEP() to be called. */
|
|
configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
|
|
|
|
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
|
|
{
|
|
traceLOW_POWER_IDLE_BEGIN();
|
|
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
|
|
traceLOW_POWER_IDLE_END();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TICKLESS_IDLE != 0 )
|
|
|
|
eSleepModeStatus eTaskConfirmSleepModeStatus( void )
|
|
{
|
|
/* The idle task exists in addition to the application tasks. */
|
|
const UBaseType_t uxNonApplicationTasks = 1;
|
|
eSleepModeStatus eReturn = eStandardSleep;
|
|
|
|
/* This function must be called from a critical section. */
|
|
|
|
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
|
|
{
|
|
/* A task was made ready while the scheduler was suspended. */
|
|
eReturn = eAbortSleep;
|
|
}
|
|
else if( xYieldPending != pdFALSE )
|
|
{
|
|
/* A yield was pended while the scheduler was suspended. */
|
|
eReturn = eAbortSleep;
|
|
}
|
|
else
|
|
{
|
|
/* If all the tasks are in the suspended list (which might mean they
|
|
have an infinite block time rather than actually being suspended)
|
|
then it is safe to turn all clocks off and just wait for external
|
|
interrupts. */
|
|
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
|
|
{
|
|
eReturn = eNoTasksWaitingTimeout;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
return eReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|
|
|
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
|
|
{
|
|
pxTCB = prvGetTCBFromHandle( xTaskToSet );
|
|
configASSERT( pxTCB != NULL );
|
|
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
|
|
}
|
|
}
|
|
|
|
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|
|
|
void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
|
|
{
|
|
void *pvReturn = NULL;
|
|
TCB_t *pxTCB;
|
|
|
|
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
|
|
{
|
|
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
|
|
pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
|
|
}
|
|
else
|
|
{
|
|
pvReturn = NULL;
|
|
}
|
|
|
|
return pvReturn;
|
|
}
|
|
|
|
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
|
|
void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
/* If null is passed in here then we are modifying the MPU settings of
|
|
the calling task. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToModify );
|
|
|
|
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
|
|
}
|
|
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvInitialiseTaskLists( void )
|
|
{
|
|
UBaseType_t uxPriority;
|
|
|
|
for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
|
|
{
|
|
vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
|
|
}
|
|
|
|
vListInitialise( &xDelayedTaskList1 );
|
|
vListInitialise( &xDelayedTaskList2 );
|
|
vListInitialise( &xPendingReadyList );
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
vListInitialise( &xTasksWaitingTermination );
|
|
}
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
vListInitialise( &xSuspendedTaskList );
|
|
}
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
|
|
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
|
|
using list2. */
|
|
pxDelayedTaskList = &xDelayedTaskList1;
|
|
pxOverflowDelayedTaskList = &xDelayedTaskList2;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCheckTasksWaitingTermination( void )
|
|
{
|
|
|
|
/** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
|
|
being called too often in the idle task. */
|
|
while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
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. */
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
--uxCurrentNumberOfTasks;
|
|
--uxDeletedTasksWaitingCleanUp;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
prvDeleteTCB( pxTCB );
|
|
}
|
|
}
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
/* xTask is NULL then get the state of the calling task. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
|
|
pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
|
|
pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
|
|
pxTaskStatus->pxStackBase = pxTCB->pxStack;
|
|
pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatus->uxBasePriority = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
{
|
|
pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatus->ulRunTimeCounter = 0;
|
|
}
|
|
#endif
|
|
|
|
/* Obtaining the task state is a little fiddly, so is only done if the
|
|
value of eState passed into this function is eInvalid - otherwise the
|
|
state is just set to whatever is passed in. */
|
|
if( eState != eInvalid )
|
|
{
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
pxTaskStatus->eCurrentState = eRunning;
|
|
}
|
|
else
|
|
{
|
|
pxTaskStatus->eCurrentState = eState;
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
/* If the task is in the suspended list then there is a
|
|
chance it is actually just blocked indefinitely - so really
|
|
it should be reported as being in the Blocked state. */
|
|
if( eState == eSuspended )
|
|
{
|
|
vTaskSuspendAll();
|
|
{
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
pxTaskStatus->eCurrentState = eBlocked;
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
}
|
|
}
|
|
else
|
|
{
|
|
pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
|
|
}
|
|
|
|
/* Obtaining the stack space takes some time, so the xGetFreeStackSpace
|
|
parameter is provided to allow it to be skipped. */
|
|
if( xGetFreeStackSpace != pdFALSE )
|
|
{
|
|
#if ( portSTACK_GROWTH > 0 )
|
|
{
|
|
pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
pxTaskStatus->usStackHighWaterMark = 0;
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
|
|
{
|
|
configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
|
|
UBaseType_t uxTask = 0;
|
|
|
|
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
|
|
{
|
|
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. */
|
|
|
|
/* Populate an TaskStatus_t structure within the
|
|
pxTaskStatusArray array for each task that is referenced from
|
|
pxList. See the definition of TaskStatus_t in task.h for the
|
|
meaning of each TaskStatus_t structure member. */
|
|
do
|
|
{
|
|
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. */
|
|
vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
|
|
uxTask++;
|
|
} while( pxNextTCB != pxFirstTCB );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return uxTask;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
|
|
|
|
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
|
|
{
|
|
uint32_t ulCount = 0U;
|
|
|
|
while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
|
|
{
|
|
pucStackByte -= portSTACK_GROWTH;
|
|
ulCount++;
|
|
}
|
|
|
|
ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
|
|
|
|
return ( configSTACK_DEPTH_TYPE ) ulCount;
|
|
}
|
|
|
|
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
|
|
|
|
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
|
|
same except for their return type. Using configSTACK_DEPTH_TYPE allows the
|
|
user to determine the return type. It gets around the problem of the value
|
|
overflowing on 8-bit types without breaking backward compatibility for
|
|
applications that expect an 8-bit return type. */
|
|
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB;
|
|
uint8_t *pucEndOfStack;
|
|
configSTACK_DEPTH_TYPE uxReturn;
|
|
|
|
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
|
|
the same except for their return type. Using configSTACK_DEPTH_TYPE
|
|
allows the user to determine the return type. It gets around the
|
|
problem of the value overflowing on 8-bit types without breaking
|
|
backward compatibility for applications that expect an 8-bit return
|
|
type. */
|
|
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
#if portSTACK_GROWTH < 0
|
|
{
|
|
pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
|
|
}
|
|
#else
|
|
{
|
|
pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
|
|
}
|
|
#endif
|
|
|
|
uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
|
|
|
|
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB;
|
|
uint8_t *pucEndOfStack;
|
|
UBaseType_t uxReturn;
|
|
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
#if portSTACK_GROWTH < 0
|
|
{
|
|
pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
|
|
}
|
|
#else
|
|
{
|
|
pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
|
|
}
|
|
#endif
|
|
|
|
uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
static void prvDeleteTCB( TCB_t *pxTCB )
|
|
{
|
|
/* This call is required specifically for the TriCore port. It must be
|
|
above the vPortFree() calls. The call is also used by ports/demos that
|
|
want to allocate and clean RAM statically. */
|
|
portCLEAN_UP_TCB( pxTCB );
|
|
|
|
/* Free up the memory allocated by the scheduler for the task. It is up
|
|
to the task to free any memory allocated at the application level.
|
|
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|
for additional information. */
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
_reclaim_reent( &( pxTCB->xNewLib_reent ) );
|
|
}
|
|
#endif /* configUSE_NEWLIB_REENTRANT */
|
|
|
|
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
|
|
{
|
|
/* The task can only have been allocated dynamically - free both
|
|
the stack and TCB. */
|
|
vPortFree( pxTCB->pxStack );
|
|
vPortFree( pxTCB );
|
|
}
|
|
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
|
|
{
|
|
/* The task could have been allocated statically or dynamically, so
|
|
check what was statically allocated before trying to free the
|
|
memory. */
|
|
if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
|
|
{
|
|
/* Both the stack and TCB were allocated dynamically, so both
|
|
must be freed. */
|
|
vPortFree( pxTCB->pxStack );
|
|
vPortFree( pxTCB );
|
|
}
|
|
else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
|
|
{
|
|
/* Only the stack was statically allocated, so the TCB is the
|
|
only memory that must be freed. */
|
|
vPortFree( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
/* Neither the stack nor the TCB were allocated dynamically, so
|
|
nothing needs to be freed. */
|
|
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvResetNextTaskUnblockTime( void )
|
|
{
|
|
TCB_t *pxTCB;
|
|
|
|
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
|
|
{
|
|
/* The new current delayed list is empty. Set xNextTaskUnblockTime to
|
|
the maximum possible value so it is extremely unlikely that the
|
|
if( xTickCount >= xNextTaskUnblockTime ) test will pass until
|
|
there is an item in the delayed list. */
|
|
xNextTaskUnblockTime = portMAX_DELAY;
|
|
}
|
|
else
|
|
{
|
|
/* The new current delayed list is not empty, get the value of
|
|
the item at the head of the delayed list. This is the time at
|
|
which the task at the head of the delayed list should be removed
|
|
from the Blocked state. */
|
|
( 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. */
|
|
xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
|
|
|
|
TaskHandle_t xTaskGetCurrentTaskHandle( void )
|
|
{
|
|
TaskHandle_t xReturn;
|
|
|
|
/* A critical section is not required as this is not called from
|
|
an interrupt and the current TCB will always be the same for any
|
|
individual execution thread. */
|
|
xReturn = pxCurrentTCB;
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|
|
|
BaseType_t xTaskGetSchedulerState( void )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
if( xSchedulerRunning == pdFALSE )
|
|
{
|
|
xReturn = taskSCHEDULER_NOT_STARTED;
|
|
}
|
|
else
|
|
{
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
xReturn = taskSCHEDULER_RUNNING;
|
|
}
|
|
else
|
|
{
|
|
xReturn = taskSCHEDULER_SUSPENDED;
|
|
}
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
|
|
{
|
|
TCB_t * const pxMutexHolderTCB = pxMutexHolder;
|
|
BaseType_t xReturn = pdFALSE;
|
|
|
|
/* If the mutex was given back by an interrupt while the queue was
|
|
locked then the mutex holder might now be NULL. _RB_ Is this still
|
|
needed as interrupts can no longer use mutexes? */
|
|
if( pxMutexHolder != NULL )
|
|
{
|
|
/* If the holder of the mutex has a priority below the priority of
|
|
the task attempting to obtain the mutex then it will temporarily
|
|
inherit the priority of the task attempting to obtain the mutex. */
|
|
if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
|
|
{
|
|
/* Adjust the mutex holder state to account for its new
|
|
priority. Only reset the event list item value if the value is
|
|
not being used for anything else. */
|
|
if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|
{
|
|
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. */
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* If the task being modified is in the ready state it will need
|
|
to be moved into a new list. */
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
|
|
{
|
|
if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
/* It is known that the task is in its ready list so
|
|
there is no need to check again and the port level
|
|
reset macro can be called directly. */
|
|
portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Inherit the priority before being moved into the new list. */
|
|
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
|
|
prvAddTaskToReadyList( pxMutexHolderTCB );
|
|
}
|
|
else
|
|
{
|
|
/* Just inherit the priority. */
|
|
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
|
|
}
|
|
|
|
traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
|
|
|
|
/* Inheritance occurred. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
|
|
{
|
|
/* The base priority of the mutex holder is lower than the
|
|
priority of the task attempting to take the mutex, but the
|
|
current priority of the mutex holder is not lower than the
|
|
priority of the task attempting to take the mutex.
|
|
Therefore the mutex holder must have already inherited a
|
|
priority, but inheritance would have occurred if that had
|
|
not been the case. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
|
|
{
|
|
TCB_t * const pxTCB = pxMutexHolder;
|
|
BaseType_t xReturn = pdFALSE;
|
|
|
|
if( pxMutexHolder != NULL )
|
|
{
|
|
/* A task can only have an inherited priority if it holds the mutex.
|
|
If the mutex is held by a task then it cannot be given from an
|
|
interrupt, and if a mutex is given by the holding task then it must
|
|
be the running state task. */
|
|
configASSERT( pxTCB == pxCurrentTCB );
|
|
configASSERT( pxTCB->uxMutexesHeld );
|
|
( pxTCB->uxMutexesHeld )--;
|
|
|
|
/* Has the holder of the mutex inherited the priority of another
|
|
task? */
|
|
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
|
|
{
|
|
/* Only disinherit if no other mutexes are held. */
|
|
if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
|
|
{
|
|
/* A task can only have an inherited priority if it holds
|
|
the mutex. If the mutex is held by a task then it cannot be
|
|
given from an interrupt, and if a mutex is given by the
|
|
holding task then it must be the running state task. Remove
|
|
the holding task from the ready/delayed list. */
|
|
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Disinherit the priority before adding the task into the
|
|
new ready list. */
|
|
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
|
|
pxTCB->uxPriority = pxTCB->uxBasePriority;
|
|
|
|
/* Reset the event list item value. It cannot be in use for
|
|
any other purpose if this task is running, and it must be
|
|
running to give back the mutex. */
|
|
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. */
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* Return true to indicate that a context switch is required.
|
|
This is only actually required in the corner case whereby
|
|
multiple mutexes were held and the mutexes were given back
|
|
in an order different to that in which they were taken.
|
|
If a context switch did not occur when the first mutex was
|
|
returned, even if a task was waiting on it, then a context
|
|
switch should occur when the last mutex is returned whether
|
|
a task is waiting on it or not. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
|
|
{
|
|
TCB_t * const pxTCB = pxMutexHolder;
|
|
UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
|
|
const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
|
|
|
|
if( pxMutexHolder != NULL )
|
|
{
|
|
/* If pxMutexHolder is not NULL then the holder must hold at least
|
|
one mutex. */
|
|
configASSERT( pxTCB->uxMutexesHeld );
|
|
|
|
/* Determine the priority to which the priority of the task that
|
|
holds the mutex should be set. This will be the greater of the
|
|
holding task's base priority and the priority of the highest
|
|
priority task that is waiting to obtain the mutex. */
|
|
if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
|
|
{
|
|
uxPriorityToUse = uxHighestPriorityWaitingTask;
|
|
}
|
|
else
|
|
{
|
|
uxPriorityToUse = pxTCB->uxBasePriority;
|
|
}
|
|
|
|
/* Does the priority need to change? */
|
|
if( pxTCB->uxPriority != uxPriorityToUse )
|
|
{
|
|
/* Only disinherit if no other mutexes are held. This is a
|
|
simplification in the priority inheritance implementation. If
|
|
the task that holds the mutex is also holding other mutexes then
|
|
the other mutexes may have caused the priority inheritance. */
|
|
if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
|
|
{
|
|
/* If a task has timed out because it already holds the
|
|
mutex it was trying to obtain then it cannot of inherited
|
|
its own priority. */
|
|
configASSERT( pxTCB != pxCurrentTCB );
|
|
|
|
/* Disinherit the priority, remembering the previous
|
|
priority to facilitate determining the subject task's
|
|
state. */
|
|
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
|
|
uxPriorityUsedOnEntry = pxTCB->uxPriority;
|
|
pxTCB->uxPriority = uxPriorityToUse;
|
|
|
|
/* Only reset the event list item value if the value is not
|
|
being used for anything else. */
|
|
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|
{
|
|
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. */
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* If the running task is not the task that holds the mutex
|
|
then the task that holds the mutex could be in either the
|
|
Ready, Blocked or Suspended states. Only remove the task
|
|
from its current state list if it is in the Ready state as
|
|
the task's priority is going to change and there is one
|
|
Ready list per priority. */
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|
{
|
|
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
/* It is known that the task is in its ready list so
|
|
there is no need to check again and the port level
|
|
reset macro can be called directly. */
|
|
portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
|
|
void vTaskEnterCritical( void )
|
|
{
|
|
portDISABLE_INTERRUPTS();
|
|
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
( pxCurrentTCB->uxCriticalNesting )++;
|
|
|
|
/* This is not the interrupt safe version of the enter critical
|
|
function so assert() if it is being called from an interrupt
|
|
context. Only API functions that end in "FromISR" can be used in an
|
|
interrupt. Only assert if the critical nesting count is 1 to
|
|
protect against recursive calls if the assert function also uses a
|
|
critical section. */
|
|
if( pxCurrentTCB->uxCriticalNesting == 1 )
|
|
{
|
|
portASSERT_IF_IN_ISR();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* portCRITICAL_NESTING_IN_TCB */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
|
|
void vTaskExitCritical( void )
|
|
{
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
if( pxCurrentTCB->uxCriticalNesting > 0U )
|
|
{
|
|
( pxCurrentTCB->uxCriticalNesting )--;
|
|
|
|
if( pxCurrentTCB->uxCriticalNesting == 0U )
|
|
{
|
|
portENABLE_INTERRUPTS();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* portCRITICAL_NESTING_IN_TCB */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
|
|
|
|
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
|
|
{
|
|
size_t x;
|
|
|
|
/* Start by copying the entire string. */
|
|
strcpy( pcBuffer, pcTaskName );
|
|
|
|
/* Pad the end of the string with spaces to ensure columns line up when
|
|
printed out. */
|
|
for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
|
|
{
|
|
pcBuffer[ x ] = ' ';
|
|
}
|
|
|
|
/* Terminate. */
|
|
pcBuffer[ x ] = ( char ) 0x00;
|
|
|
|
/* Return the new end of string. */
|
|
return &( pcBuffer[ x ] );
|
|
}
|
|
|
|
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
void vTaskList( char * pcWriteBuffer )
|
|
{
|
|
TaskStatus_t *pxTaskStatusArray;
|
|
UBaseType_t uxArraySize, x;
|
|
char cStatus;
|
|
|
|
/*
|
|
* PLEASE NOTE:
|
|
*
|
|
* This function is provided for convenience only, and is used by many
|
|
* of the demo applications. Do not consider it to be part of the
|
|
* scheduler.
|
|
*
|
|
* vTaskList() calls uxTaskGetSystemState(), then formats part of the
|
|
* uxTaskGetSystemState() output into a human readable table that
|
|
* displays task names, states and stack usage.
|
|
*
|
|
* vTaskList() has a dependency on the sprintf() C library function that
|
|
* might bloat the code size, use a lot of stack, and provide different
|
|
* results on different platforms. An alternative, tiny, third party,
|
|
* and limited functionality implementation of sprintf() is provided in
|
|
* many of the FreeRTOS/Demo sub-directories in a file called
|
|
* printf-stdarg.c (note printf-stdarg.c does not provide a full
|
|
* snprintf() implementation!).
|
|
*
|
|
* It is recommended that production systems call uxTaskGetSystemState()
|
|
* directly to get access to raw stats data, rather than indirectly
|
|
* through a call to vTaskList().
|
|
*/
|
|
|
|
|
|
/* Make sure the write buffer does not contain a string. */
|
|
*pcWriteBuffer = ( char ) 0x00;
|
|
|
|
/* Take a snapshot of the number of tasks in case it changes while this
|
|
function is executing. */
|
|
uxArraySize = uxCurrentNumberOfTasks;
|
|
|
|
/* Allocate an array index for each task. NOTE! if
|
|
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
|
|
equate to NULL. */
|
|
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. */
|
|
|
|
if( pxTaskStatusArray != NULL )
|
|
{
|
|
/* Generate the (binary) data. */
|
|
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
|
|
|
|
/* Create a human readable table from the binary data. */
|
|
for( x = 0; x < uxArraySize; x++ )
|
|
{
|
|
switch( pxTaskStatusArray[ x ].eCurrentState )
|
|
{
|
|
case eRunning: cStatus = tskRUNNING_CHAR;
|
|
break;
|
|
|
|
case eReady: cStatus = tskREADY_CHAR;
|
|
break;
|
|
|
|
case eBlocked: cStatus = tskBLOCKED_CHAR;
|
|
break;
|
|
|
|
case eSuspended: cStatus = tskSUSPENDED_CHAR;
|
|
break;
|
|
|
|
case eDeleted: cStatus = tskDELETED_CHAR;
|
|
break;
|
|
|
|
case eInvalid: /* Fall through. */
|
|
default: /* Should not get here, but it is included
|
|
to prevent static checking errors. */
|
|
cStatus = ( char ) 0x00;
|
|
break;
|
|
}
|
|
|
|
/* Write the task name to the string, padding with spaces so it
|
|
can be printed in tabular form more easily. */
|
|
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
|
|
|
|
/* Write the rest of the string. */
|
|
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. */
|
|
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. */
|
|
}
|
|
|
|
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
|
|
is 0 then vPortFree() will be #defined to nothing. */
|
|
vPortFree( pxTaskStatusArray );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|
|
|
void vTaskGetRunTimeStats( char *pcWriteBuffer )
|
|
{
|
|
TaskStatus_t *pxTaskStatusArray;
|
|
UBaseType_t uxArraySize, x;
|
|
uint32_t ulTotalTime, ulStatsAsPercentage;
|
|
|
|
#if( configUSE_TRACE_FACILITY != 1 )
|
|
{
|
|
#error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
|
|
}
|
|
#endif
|
|
|
|
/*
|
|
* PLEASE NOTE:
|
|
*
|
|
* This function is provided for convenience only, and is used by many
|
|
* of the demo applications. Do not consider it to be part of the
|
|
* scheduler.
|
|
*
|
|
* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
|
|
* of the uxTaskGetSystemState() output into a human readable table that
|
|
* displays the amount of time each task has spent in the Running state
|
|
* in both absolute and percentage terms.
|
|
*
|
|
* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
|
|
* function that might bloat the code size, use a lot of stack, and
|
|
* provide different results on different platforms. An alternative,
|
|
* tiny, third party, and limited functionality implementation of
|
|
* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
|
|
* a file called printf-stdarg.c (note printf-stdarg.c does not provide
|
|
* a full snprintf() implementation!).
|
|
*
|
|
* It is recommended that production systems call uxTaskGetSystemState()
|
|
* directly to get access to raw stats data, rather than indirectly
|
|
* through a call to vTaskGetRunTimeStats().
|
|
*/
|
|
|
|
/* Make sure the write buffer does not contain a string. */
|
|
*pcWriteBuffer = ( char ) 0x00;
|
|
|
|
/* Take a snapshot of the number of tasks in case it changes while this
|
|
function is executing. */
|
|
uxArraySize = uxCurrentNumberOfTasks;
|
|
|
|
/* Allocate an array index for each task. NOTE! If
|
|
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
|
|
equate to NULL. */
|
|
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. */
|
|
|
|
if( pxTaskStatusArray != NULL )
|
|
{
|
|
/* Generate the (binary) data. */
|
|
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
|
|
|
|
/* For percentage calculations. */
|
|
ulTotalTime /= 100UL;
|
|
|
|
/* Avoid divide by zero errors. */
|
|
if( ulTotalTime > 0UL )
|
|
{
|
|
/* Create a human readable table from the binary data. */
|
|
for( x = 0; x < uxArraySize; x++ )
|
|
{
|
|
/* What percentage of the total run time has the task used?
|
|
This will always be rounded down to the nearest integer.
|
|
ulTotalRunTimeDiv100 has already been divided by 100. */
|
|
ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
|
|
|
|
/* Write the task name to the string, padding with
|
|
spaces so it can be printed in tabular form more
|
|
easily. */
|
|
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
|
|
|
|
if( ulStatsAsPercentage > 0UL )
|
|
{
|
|
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|
{
|
|
sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
|
|
}
|
|
#else
|
|
{
|
|
/* sizeof( int ) == sizeof( long ) so a smaller
|
|
printf() library can be used. */
|
|
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. */
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
/* If the percentage is zero here then the task has
|
|
consumed less than 1% of the total run time. */
|
|
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|
{
|
|
sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
|
|
}
|
|
#else
|
|
{
|
|
/* sizeof( int ) == sizeof( long ) so a smaller
|
|
printf() library can be used. */
|
|
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. */
|
|
}
|
|
#endif
|
|
}
|
|
|
|
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. */
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
|
|
is 0 then vPortFree() will be #defined to nothing. */
|
|
vPortFree( pxTaskStatusArray );
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
TickType_t uxTaskResetEventItemValue( void )
|
|
{
|
|
TickType_t uxReturn;
|
|
|
|
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
/* Reset the event list item to its normal value - so it can be used with
|
|
queues and semaphores. */
|
|
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. */
|
|
|
|
return uxReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
TaskHandle_t pvTaskIncrementMutexHeldCount( void )
|
|
{
|
|
/* If xSemaphoreCreateMutex() is called before any tasks have been created
|
|
then pxCurrentTCB will be NULL. */
|
|
if( pxCurrentTCB != NULL )
|
|
{
|
|
( pxCurrentTCB->uxMutexesHeld )++;
|
|
}
|
|
|
|
return pxCurrentTCB;
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
|
|
{
|
|
uint32_t ulReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Only block if the notification count is not already non-zero. */
|
|
if( pxCurrentTCB->ulNotifiedValue == 0UL )
|
|
{
|
|
/* Mark this task as waiting for a notification. */
|
|
pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
|
|
|
|
if( xTicksToWait > ( TickType_t ) 0 )
|
|
{
|
|
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|
traceTASK_NOTIFY_TAKE_BLOCK();
|
|
|
|
/* All ports are written to allow a yield in a critical
|
|
section (some will yield immediately, others wait until the
|
|
critical section exits) - but it is not something that
|
|
application code should ever do. */
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
traceTASK_NOTIFY_TAKE();
|
|
ulReturn = pxCurrentTCB->ulNotifiedValue;
|
|
|
|
if( ulReturn != 0UL )
|
|
{
|
|
if( xClearCountOnExit != pdFALSE )
|
|
{
|
|
pxCurrentTCB->ulNotifiedValue = 0UL;
|
|
}
|
|
else
|
|
{
|
|
pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return ulReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
|
|
{
|
|
BaseType_t xReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Only block if a notification is not already pending. */
|
|
if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
|
|
{
|
|
/* Clear bits in the task's notification value as bits may get
|
|
set by the notifying task or interrupt. This can be used to
|
|
clear the value to zero. */
|
|
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
|
|
|
|
/* Mark this task as waiting for a notification. */
|
|
pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
|
|
|
|
if( xTicksToWait > ( TickType_t ) 0 )
|
|
{
|
|
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|
traceTASK_NOTIFY_WAIT_BLOCK();
|
|
|
|
/* All ports are written to allow a yield in a critical
|
|
section (some will yield immediately, others wait until the
|
|
critical section exits) - but it is not something that
|
|
application code should ever do. */
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
traceTASK_NOTIFY_WAIT();
|
|
|
|
if( pulNotificationValue != NULL )
|
|
{
|
|
/* Output the current notification value, which may or may not
|
|
have changed. */
|
|
*pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
|
|
}
|
|
|
|
/* If ucNotifyValue is set then either the task never entered the
|
|
blocked state (because a notification was already pending) or the
|
|
task unblocked because of a notification. Otherwise the task
|
|
unblocked because of a timeout. */
|
|
if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
|
|
{
|
|
/* A notification was not received. */
|
|
xReturn = pdFALSE;
|
|
}
|
|
else
|
|
{
|
|
/* A notification was already pending or a notification was
|
|
received while the task was waiting. */
|
|
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
|
|
xReturn = pdTRUE;
|
|
}
|
|
|
|
pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
|
|
{
|
|
TCB_t * pxTCB;
|
|
BaseType_t xReturn = pdPASS;
|
|
uint8_t ucOriginalNotifyState;
|
|
|
|
configASSERT( xTaskToNotify );
|
|
pxTCB = xTaskToNotify;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( pulPreviousNotificationValue != NULL )
|
|
{
|
|
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
|
|
}
|
|
|
|
ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|
|
|
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|
|
|
switch( eAction )
|
|
{
|
|
case eSetBits :
|
|
pxTCB->ulNotifiedValue |= ulValue;
|
|
break;
|
|
|
|
case eIncrement :
|
|
( pxTCB->ulNotifiedValue )++;
|
|
break;
|
|
|
|
case eSetValueWithOverwrite :
|
|
pxTCB->ulNotifiedValue = ulValue;
|
|
break;
|
|
|
|
case eSetValueWithoutOverwrite :
|
|
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
|
|
{
|
|
pxTCB->ulNotifiedValue = ulValue;
|
|
}
|
|
else
|
|
{
|
|
/* The value could not be written to the task. */
|
|
xReturn = pdFAIL;
|
|
}
|
|
break;
|
|
|
|
case eNoAction:
|
|
/* The task is being notified without its notify value being
|
|
updated. */
|
|
break;
|
|
|
|
default:
|
|
/* Should not get here if all enums are handled.
|
|
Artificially force an assert by testing a value the
|
|
compiler can't assume is const. */
|
|
configASSERT( pxTCB->ulNotifiedValue == ~0UL );
|
|
|
|
break;
|
|
}
|
|
|
|
traceTASK_NOTIFY();
|
|
|
|
/* If the task is in the blocked state specifically to wait for a
|
|
notification then unblock it now. */
|
|
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* The task should not have been on an event list. */
|
|
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|
|
|
#if( configUSE_TICKLESS_IDLE != 0 )
|
|
{
|
|
/* If a task is blocked waiting for a notification then
|
|
xNextTaskUnblockTime might be set to the blocked task's time
|
|
out time. If the task is unblocked for a reason other than
|
|
a timeout xNextTaskUnblockTime is normally left unchanged,
|
|
because it will automatically get reset to a new value when
|
|
the tick count equals xNextTaskUnblockTime. However if
|
|
tickless idling is used it might be more important to enter
|
|
sleep mode at the earliest possible time - so reset
|
|
xNextTaskUnblockTime here to ensure it is updated at the
|
|
earliest possible time. */
|
|
prvResetNextTaskUnblockTime();
|
|
}
|
|
#endif
|
|
|
|
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* The notified task has a priority above the currently
|
|
executing task so a yield is required. */
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
|
|
{
|
|
TCB_t * pxTCB;
|
|
uint8_t ucOriginalNotifyState;
|
|
BaseType_t xReturn = pdPASS;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
|
|
configASSERT( xTaskToNotify );
|
|
|
|
/* RTOS ports that support interrupt nesting have the concept of a
|
|
maximum system call (or maximum API call) interrupt priority.
|
|
Interrupts that are above the maximum system call priority are keep
|
|
permanently enabled, even when the RTOS kernel is in a critical section,
|
|
but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|
is defined in FreeRTOSConfig.h then
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|
failure if a FreeRTOS API function is called from an interrupt that has
|
|
been assigned a priority above the configured maximum system call
|
|
priority. Only FreeRTOS functions that end in FromISR can be called
|
|
from interrupts that have been assigned a priority at or (logically)
|
|
below the maximum system call interrupt priority. FreeRTOS maintains a
|
|
separate interrupt safe API to ensure interrupt entry is as fast and as
|
|
simple as possible. More information (albeit Cortex-M specific) is
|
|
provided on the following link:
|
|
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
pxTCB = xTaskToNotify;
|
|
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
if( pulPreviousNotificationValue != NULL )
|
|
{
|
|
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
|
|
}
|
|
|
|
ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|
|
|
switch( eAction )
|
|
{
|
|
case eSetBits :
|
|
pxTCB->ulNotifiedValue |= ulValue;
|
|
break;
|
|
|
|
case eIncrement :
|
|
( pxTCB->ulNotifiedValue )++;
|
|
break;
|
|
|
|
case eSetValueWithOverwrite :
|
|
pxTCB->ulNotifiedValue = ulValue;
|
|
break;
|
|
|
|
case eSetValueWithoutOverwrite :
|
|
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
|
|
{
|
|
pxTCB->ulNotifiedValue = ulValue;
|
|
}
|
|
else
|
|
{
|
|
/* The value could not be written to the task. */
|
|
xReturn = pdFAIL;
|
|
}
|
|
break;
|
|
|
|
case eNoAction :
|
|
/* The task is being notified without its notify value being
|
|
updated. */
|
|
break;
|
|
|
|
default:
|
|
/* Should not get here if all enums are handled.
|
|
Artificially force an assert by testing a value the
|
|
compiler can't assume is const. */
|
|
configASSERT( pxTCB->ulNotifiedValue == ~0UL );
|
|
break;
|
|
}
|
|
|
|
traceTASK_NOTIFY_FROM_ISR();
|
|
|
|
/* If the task is in the blocked state specifically to wait for a
|
|
notification then unblock it now. */
|
|
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|
{
|
|
/* The task should not have been on an event list. */
|
|
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
/* The delayed and ready lists cannot be accessed, so hold
|
|
this task pending until the scheduler is resumed. */
|
|
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|
}
|
|
|
|
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* The notified task has a priority above the currently
|
|
executing task so a yield is required. */
|
|
if( pxHigherPriorityTaskWoken != NULL )
|
|
{
|
|
*pxHigherPriorityTaskWoken = pdTRUE;
|
|
}
|
|
|
|
/* Mark that a yield is pending in case the user is not
|
|
using the "xHigherPriorityTaskWoken" parameter to an ISR
|
|
safe FreeRTOS function. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
|
|
{
|
|
TCB_t * pxTCB;
|
|
uint8_t ucOriginalNotifyState;
|
|
UBaseType_t uxSavedInterruptStatus;
|
|
|
|
configASSERT( xTaskToNotify );
|
|
|
|
/* RTOS ports that support interrupt nesting have the concept of a
|
|
maximum system call (or maximum API call) interrupt priority.
|
|
Interrupts that are above the maximum system call priority are keep
|
|
permanently enabled, even when the RTOS kernel is in a critical section,
|
|
but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|
is defined in FreeRTOSConfig.h then
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|
failure if a FreeRTOS API function is called from an interrupt that has
|
|
been assigned a priority above the configured maximum system call
|
|
priority. Only FreeRTOS functions that end in FromISR can be called
|
|
from interrupts that have been assigned a priority at or (logically)
|
|
below the maximum system call interrupt priority. FreeRTOS maintains a
|
|
separate interrupt safe API to ensure interrupt entry is as fast and as
|
|
simple as possible. More information (albeit Cortex-M specific) is
|
|
provided on the following link:
|
|
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|
|
|
pxTCB = xTaskToNotify;
|
|
|
|
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
{
|
|
ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|
|
|
/* 'Giving' is equivalent to incrementing a count in a counting
|
|
semaphore. */
|
|
( pxTCB->ulNotifiedValue )++;
|
|
|
|
traceTASK_NOTIFY_GIVE_FROM_ISR();
|
|
|
|
/* If the task is in the blocked state specifically to wait for a
|
|
notification then unblock it now. */
|
|
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|
{
|
|
/* The task should not have been on an event list. */
|
|
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|
|
|
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
/* The delayed and ready lists cannot be accessed, so hold
|
|
this task pending until the scheduler is resumed. */
|
|
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|
}
|
|
|
|
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|
{
|
|
/* The notified task has a priority above the currently
|
|
executing task so a yield is required. */
|
|
if( pxHigherPriorityTaskWoken != NULL )
|
|
{
|
|
*pxHigherPriorityTaskWoken = pdTRUE;
|
|
}
|
|
|
|
/* Mark that a yield is pending in case the user is not
|
|
using the "xHigherPriorityTaskWoken" parameter in an ISR
|
|
safe FreeRTOS function. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
|
|
{
|
|
TCB_t *pxTCB;
|
|
BaseType_t xReturn;
|
|
|
|
/* If null is passed in here then it is the calling task that is having
|
|
its notification state cleared. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
|
|
{
|
|
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|
xReturn = pdPASS;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
|
|
{
|
|
TCB_t *pxTCB;
|
|
uint32_t ulReturn;
|
|
|
|
/* If null is passed in here then it is the calling task that is having
|
|
its notification state cleared. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Return the notification as it was before the bits were cleared,
|
|
then clear the bit mask. */
|
|
ulReturn = pxCurrentTCB->ulNotifiedValue;
|
|
pxTCB->ulNotifiedValue &= ~ulBitsToClear;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return ulReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TASK_NOTIFICATIONS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
|
|
|
|
uint32_t ulTaskGetIdleRunTimeCounter( void )
|
|
{
|
|
return xIdleTaskHandle->ulRunTimeCounter;
|
|
}
|
|
|
|
#endif
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
|
|
{
|
|
TickType_t xTimeToWake;
|
|
const TickType_t xConstTickCount = xTickCount;
|
|
|
|
#if( INCLUDE_xTaskAbortDelay == 1 )
|
|
{
|
|
/* About to enter a delayed list, so ensure the ucDelayAborted flag is
|
|
reset to pdFALSE so it can be detected as having been set to pdTRUE
|
|
when the task leaves the Blocked state. */
|
|
pxCurrentTCB->ucDelayAborted = pdFALSE;
|
|
}
|
|
#endif
|
|
|
|
/* Remove the task from the ready list before adding it to the blocked list
|
|
as the same list item is used for both lists. */
|
|
if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|
{
|
|
/* The current task must be in a ready list, so there is no need to
|
|
check, and the port reset macro can be called directly. */
|
|
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. */
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
|
|
{
|
|
/* Add the task to the suspended task list instead of a delayed task
|
|
list to ensure it is not woken by a timing event. It will block
|
|
indefinitely. */
|
|
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|
}
|
|
else
|
|
{
|
|
/* Calculate the time at which the task should be woken if the event
|
|
does not occur. This may overflow but this doesn't matter, the
|
|
kernel will manage it correctly. */
|
|
xTimeToWake = xConstTickCount + xTicksToWait;
|
|
|
|
/* The list item will be inserted in wake time order. */
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
|
|
|
|
if( xTimeToWake < xConstTickCount )
|
|
{
|
|
/* Wake time has overflowed. Place this item in the overflow
|
|
list. */
|
|
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|
}
|
|
else
|
|
{
|
|
/* The wake time has not overflowed, so the current block list
|
|
is used. */
|
|
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|
|
|
/* If the task entering the blocked state was placed at the
|
|
head of the list of blocked tasks then xNextTaskUnblockTime
|
|
needs to be updated too. */
|
|
if( xTimeToWake < xNextTaskUnblockTime )
|
|
{
|
|
xNextTaskUnblockTime = xTimeToWake;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#else /* INCLUDE_vTaskSuspend */
|
|
{
|
|
/* Calculate the time at which the task should be woken if the event
|
|
does not occur. This may overflow but this doesn't matter, the kernel
|
|
will manage it correctly. */
|
|
xTimeToWake = xConstTickCount + xTicksToWait;
|
|
|
|
/* The list item will be inserted in wake time order. */
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
|
|
|
|
if( xTimeToWake < xConstTickCount )
|
|
{
|
|
/* Wake time has overflowed. Place this item in the overflow list. */
|
|
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|
}
|
|
else
|
|
{
|
|
/* The wake time has not overflowed, so the current block list is used. */
|
|
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|
|
|
/* If the task entering the blocked state was placed at the head of the
|
|
list of blocked tasks then xNextTaskUnblockTime needs to be updated
|
|
too. */
|
|
if( xTimeToWake < xNextTaskUnblockTime )
|
|
{
|
|
xNextTaskUnblockTime = xTimeToWake;
|
|
}
|
|
else
|
|
{
|
|
mtCOVERAGE_TEST_MARKER();
|
|
}
|
|
}
|
|
|
|
/* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
|
|
( void ) xCanBlockIndefinitely;
|
|
}
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
}
|
|
|
|
/* Code below here allows additional code to be inserted into this source file,
|
|
especially where access to file scope functions and data is needed (for example
|
|
when performing module tests). */
|
|
|
|
#ifdef FREERTOS_MODULE_TEST
|
|
#include "tasks_test_access_functions.h"
|
|
#endif
|
|
|
|
|
|
#if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
|
|
|
|
#include "freertos_tasks_c_additions.h"
|
|
|
|
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|
static void freertos_tasks_c_additions_init( void )
|
|
{
|
|
FREERTOS_TASKS_C_ADDITIONS_INIT();
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|