| 1 | /*
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| 2 | * FreeRTOS Kernel V10.3.1
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| 3 | * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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| 4 | *
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| 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy of
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| 6 | * this software and associated documentation files (the "Software"), to deal in
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| 7 | * the Software without restriction, including without limitation the rights to
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| 8 | * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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| 9 | * the Software, and to permit persons to whom the Software is furnished to do so,
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| 10 | * subject to the following conditions:
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| 11 | *
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| 12 | * The above copyright notice and this permission notice shall be included in all
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| 13 | * copies or substantial portions of the Software.
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| 14 | *
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| 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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| 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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| 17 | * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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| 18 | * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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| 19 | * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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| 20 | * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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| 21 | *
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| 22 | * http://www.FreeRTOS.org
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| 23 | * http://aws.amazon.com/freertos
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| 24 | *
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| 25 | * 1 tab == 4 spaces!
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| 26 | */
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| 27 |
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| 28 | /* Standard includes. */
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| 29 | #include <stdlib.h>
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| 30 | #include <string.h>
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| 31 |
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| 32 | /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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| 33 | all the API functions to use the MPU wrappers. That should only be done when
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| 34 | task.h is included from an application file. */
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| 35 | #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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| 36 |
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| 37 | /* FreeRTOS includes. */
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| 38 | #include "FreeRTOS.h"
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| 39 | #include "task.h"
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| 40 | #include "timers.h"
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| 41 | #include "stack_macros.h"
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| 42 |
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| 43 | /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
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| 44 | because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
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| 45 | for the header files above, but not in this file, in order to generate the
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| 46 | correct privileged Vs unprivileged linkage and placement. */
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| 47 | #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
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| 48 |
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| 49 | /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
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| 50 | functions but without including stdio.h here. */
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| 51 | #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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| 52 | /* At the bottom of this file are two optional functions that can be used
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| 53 | to generate human readable text from the raw data generated by the
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| 54 | uxTaskGetSystemState() function. Note the formatting functions are provided
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| 55 | for convenience only, and are NOT considered part of the kernel. */
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| 56 | #include <stdio.h>
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| 57 | #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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| 58 |
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| 59 | #if( configUSE_PREEMPTION == 0 )
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| 60 | /* If the cooperative scheduler is being used then a yield should not be
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| 61 | performed just because a higher priority task has been woken. */
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| 62 | #define taskYIELD_IF_USING_PREEMPTION()
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| 63 | #else
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| 64 | #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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| 65 | #endif
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| 66 |
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| 67 | /* Values that can be assigned to the ucNotifyState member of the TCB. */
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| 68 | #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
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| 69 | #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
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| 70 | #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
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| 71 |
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| 72 | /*
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| 73 | * The value used to fill the stack of a task when the task is created. This
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| 74 | * is used purely for checking the high water mark for tasks.
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| 75 | */
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| 76 | #define tskSTACK_FILL_BYTE ( 0xa5U )
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| 77 |
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| 78 | /* Bits used to recored how a task's stack and TCB were allocated. */
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| 79 | #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
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| 80 | #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
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| 81 | #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
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| 82 |
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| 83 | /* If any of the following are set then task stacks are filled with a known
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| 84 | value so the high water mark can be determined. If none of the following are
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| 85 | set then don't fill the stack so there is no unnecessary dependency on memset. */
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| 86 | #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
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| 87 | #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
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| 88 | #else
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| 89 | #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
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| 90 | #endif
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| 91 |
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| 92 | /*
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| 93 | * Macros used by vListTask to indicate which state a task is in.
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| 94 | */
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| 95 | #define tskRUNNING_CHAR ( 'X' )
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| 96 | #define tskBLOCKED_CHAR ( 'B' )
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| 97 | #define tskREADY_CHAR ( 'R' )
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| 98 | #define tskDELETED_CHAR ( 'D' )
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| 99 | #define tskSUSPENDED_CHAR ( 'S' )
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| 100 |
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| 101 | /*
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| 102 | * Some kernel aware debuggers require the data the debugger needs access to be
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| 103 | * global, rather than file scope.
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| 104 | */
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| 105 | #ifdef portREMOVE_STATIC_QUALIFIER
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| 106 | #define static
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| 107 | #endif
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| 108 |
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| 109 | /* The name allocated to the Idle task. This can be overridden by defining
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| 110 | configIDLE_TASK_NAME in FreeRTOSConfig.h. */
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| 111 | #ifndef configIDLE_TASK_NAME
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| 112 | #define configIDLE_TASK_NAME "IDLE"
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| 113 | #endif
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| 114 |
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| 115 | #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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| 116 |
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| 117 | /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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| 118 | performed in a generic way that is not optimised to any particular
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| 119 | microcontroller architecture. */
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| 120 |
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| 121 | /* uxTopReadyPriority holds the priority of the highest priority ready
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| 122 | state task. */
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| 123 | #define taskRECORD_READY_PRIORITY( uxPriority ) \
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| 124 | { \
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| 125 | if( ( uxPriority ) > uxTopReadyPriority ) \
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| 126 | { \
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| 127 | uxTopReadyPriority = ( uxPriority ); \
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| 128 | } \
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| 129 | } /* taskRECORD_READY_PRIORITY */
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| 130 |
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| 131 | /*-----------------------------------------------------------*/
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| 132 |
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| 133 | #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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| 134 | { \
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| 135 | UBaseType_t uxTopPriority = uxTopReadyPriority; \
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| 136 | \
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| 137 | /* Find the highest priority queue that contains ready tasks. */ \
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| 138 | while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
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| 139 | { \
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| 140 | configASSERT( uxTopPriority ); \
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| 141 | --uxTopPriority; \
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| 142 | } \
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| 143 | \
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| 144 | /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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| 145 | the same priority get an equal share of the processor time. */ \
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| 146 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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| 147 | uxTopReadyPriority = uxTopPriority; \
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| 148 | } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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| 149 |
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| 150 | /*-----------------------------------------------------------*/
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| 151 |
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| 152 | /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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| 153 | they are only required when a port optimised method of task selection is
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| 154 | being used. */
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| 155 | #define taskRESET_READY_PRIORITY( uxPriority )
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| 156 | #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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| 157 |
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| 158 | #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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| 159 |
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| 160 | /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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| 161 | performed in a way that is tailored to the particular microcontroller
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| 162 | architecture being used. */
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| 163 |
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| 164 | /* A port optimised version is provided. Call the port defined macros. */
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| 165 | #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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| 166 |
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| 167 | /*-----------------------------------------------------------*/
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| 168 |
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| 169 | #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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| 170 | { \
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| 171 | UBaseType_t uxTopPriority; \
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| 172 | \
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| 173 | /* Find the highest priority list that contains ready tasks. */ \
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| 174 | portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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| 175 | configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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| 176 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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| 177 | } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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| 178 |
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| 179 | /*-----------------------------------------------------------*/
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| 180 |
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| 181 | /* A port optimised version is provided, call it only if the TCB being reset
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| 182 | is being referenced from a ready list. If it is referenced from a delayed
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| 183 | or suspended list then it won't be in a ready list. */
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| 184 | #define taskRESET_READY_PRIORITY( uxPriority ) \
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| 185 | { \
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| 186 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
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| 187 | { \
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| 188 | portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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| 189 | } \
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| 190 | }
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| 191 |
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| 192 | #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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| 193 |
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| 194 | /*-----------------------------------------------------------*/
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| 195 |
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| 196 | /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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| 197 | count overflows. */
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| 198 | #define taskSWITCH_DELAYED_LISTS() \
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| 199 | { \
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| 200 | List_t *pxTemp; \
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| 201 | \
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| 202 | /* The delayed tasks list should be empty when the lists are switched. */ \
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| 203 | configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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| 204 | \
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| 205 | pxTemp = pxDelayedTaskList; \
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| 206 | pxDelayedTaskList = pxOverflowDelayedTaskList; \
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| 207 | pxOverflowDelayedTaskList = pxTemp; \
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| 208 | xNumOfOverflows++; \
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| 209 | prvResetNextTaskUnblockTime(); \
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| 210 | }
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| 211 |
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| 212 | /*-----------------------------------------------------------*/
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| 213 |
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| 214 | /*
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| 215 | * Place the task represented by pxTCB into the appropriate ready list for
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| 216 | * the task. It is inserted at the end of the list.
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| 217 | */
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| 218 | #define prvAddTaskToReadyList( pxTCB ) \
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| 219 | traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
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| 220 | taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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| 221 | vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
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| 222 | tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
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| 223 | /*-----------------------------------------------------------*/
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| 224 |
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| 225 | /*
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| 226 | * Several functions take an TaskHandle_t parameter that can optionally be NULL,
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| 227 | * where NULL is used to indicate that the handle of the currently executing
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| 228 | * task should be used in place of the parameter. This macro simply checks to
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| 229 | * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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| 230 | */
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| 231 | #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
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| 232 |
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| 233 | /* The item value of the event list item is normally used to hold the priority
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| 234 | of the task to which it belongs (coded to allow it to be held in reverse
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| 235 | priority order). However, it is occasionally borrowed for other purposes. It
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| 236 | is important its value is not updated due to a task priority change while it is
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| 237 | being used for another purpose. The following bit definition is used to inform
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| 238 | the scheduler that the value should not be changed - in which case it is the
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| 239 | responsibility of whichever module is using the value to ensure it gets set back
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| 240 | to its original value when it is released. */
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| 241 | #if( configUSE_16_BIT_TICKS == 1 )
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| 242 | #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
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| 243 | #else
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| 244 | #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
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| 245 | #endif
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| 246 |
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| 247 | /*
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| 248 | * Task control block. A task control block (TCB) is allocated for each task,
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| 249 | * and stores task state information, including a pointer to the task's context
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| 250 | * (the task's run time environment, including register values)
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| 251 | */
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| 252 | typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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| 253 | {
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| 254 | 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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| 255 |
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| 256 | #if ( portUSING_MPU_WRAPPERS == 1 )
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| 257 | 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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| 258 | #endif
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| 259 |
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| 260 | 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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| 261 | ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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| 262 | UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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| 263 | StackType_t *pxStack; /*< Points to the start of the stack. */
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| 264 | 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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| 265 |
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| 266 | #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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| 267 | StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
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| 268 | #endif
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| 269 |
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| 270 | #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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| 271 | 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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| 272 | #endif
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| 273 |
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| 274 | #if ( configUSE_TRACE_FACILITY == 1 )
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| 275 | 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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| 276 | UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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| 277 | #endif
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| 278 |
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| 279 | #if ( configUSE_MUTEXES == 1 )
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| 280 | UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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| 281 | UBaseType_t uxMutexesHeld;
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| 282 | #endif
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| 283 |
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| 284 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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| 285 | TaskHookFunction_t pxTaskTag;
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| 286 | #endif
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| 287 |
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| 288 | #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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| 289 | void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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| 290 | #endif
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| 291 |
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| 292 | #if( configGENERATE_RUN_TIME_STATS == 1 )
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| 293 | uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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| 294 | #endif
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| 295 |
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| 296 | #if ( configUSE_NEWLIB_REENTRANT == 1 )
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| 297 | /* Allocate a Newlib reent structure that is specific to this task.
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| 298 | Note Newlib support has been included by popular demand, but is not
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| 299 | used by the FreeRTOS maintainers themselves. FreeRTOS is not
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| 300 | responsible for resulting newlib operation. User must be familiar with
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| 301 | newlib and must provide system-wide implementations of the necessary
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| 302 | stubs. Be warned that (at the time of writing) the current newlib design
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| 303 | implements a system-wide malloc() that must be provided with locks.
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| 304 |
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| 305 | See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
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| 306 | for additional information. */
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| 307 | struct _reent xNewLib_reent;
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| 308 | #endif
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| 309 |
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| 310 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
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| 311 | volatile uint32_t ulNotifiedValue;
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| 312 | volatile uint8_t ucNotifyState;
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| 313 | #endif
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| 314 |
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| 315 | /* See the comments in FreeRTOS.h with the definition of
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| 316 | tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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| 317 | #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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| 318 | 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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| 319 | #endif
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| 320 |
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| 321 | #if( INCLUDE_xTaskAbortDelay == 1 )
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| 322 | uint8_t ucDelayAborted;
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| 323 | #endif
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| 324 |
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| 325 | #if( configUSE_POSIX_ERRNO == 1 )
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| 326 | int iTaskErrno;
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| 327 | #endif
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| 328 |
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| 329 | } tskTCB;
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| 330 |
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| 331 | /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
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| 332 | below to enable the use of older kernel aware debuggers. */
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| 333 | typedef tskTCB TCB_t;
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| 334 |
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| 335 | /*lint -save -e956 A manual analysis and inspection has been used to determine
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| 336 | which static variables must be declared volatile. */
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| 337 | PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
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| 338 |
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| 339 | /* Lists for ready and blocked tasks. --------------------
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| 340 | xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
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| 341 | doing so breaks some kernel aware debuggers and debuggers that rely on removing
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| 342 | the static qualifier. */
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| 343 | PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
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| 344 | PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
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| 345 | PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
|
|---|
| 346 | PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
|
|---|
| 347 | PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
|
|---|
| 348 | PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
|
|---|
| 349 |
|
|---|
| 350 | #if( INCLUDE_vTaskDelete == 1 )
|
|---|
| 351 |
|
|---|
| 352 | PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
|
|---|
| 353 | PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
|
|---|
| 354 |
|
|---|
| 355 | #endif
|
|---|
| 356 |
|
|---|
| 357 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 358 |
|
|---|
| 359 | PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
|
|---|
| 360 |
|
|---|
| 361 | #endif
|
|---|
| 362 |
|
|---|
| 363 | /* Global POSIX errno. Its value is changed upon context switching to match
|
|---|
| 364 | the errno of the currently running task. */
|
|---|
| 365 | #if ( configUSE_POSIX_ERRNO == 1 )
|
|---|
| 366 | int FreeRTOS_errno = 0;
|
|---|
| 367 | #endif
|
|---|
| 368 |
|
|---|
| 369 | /* Other file private variables. --------------------------------*/
|
|---|
| 370 | PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
|
|---|
| 371 | PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
|
|---|
| 372 | PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
|
|---|
| 373 | PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
|
|---|
| 374 | PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
|
|---|
| 375 | PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
|
|---|
| 376 | PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
|
|---|
| 377 | PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
|
|---|
| 378 | PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
|
|---|
| 379 | PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
|
|---|
| 380 |
|
|---|
| 381 | /* Context switches are held pending while the scheduler is suspended. Also,
|
|---|
| 382 | interrupts must not manipulate the xStateListItem of a TCB, or any of the
|
|---|
| 383 | lists the xStateListItem can be referenced from, if the scheduler is suspended.
|
|---|
| 384 | If an interrupt needs to unblock a task while the scheduler is suspended then it
|
|---|
| 385 | moves the task's event list item into the xPendingReadyList, ready for the
|
|---|
| 386 | kernel to move the task from the pending ready list into the real ready list
|
|---|
| 387 | when the scheduler is unsuspended. The pending ready list itself can only be
|
|---|
| 388 | accessed from a critical section. */
|
|---|
| 389 | PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
|
|---|
| 390 |
|
|---|
| 391 | #if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|---|
| 392 |
|
|---|
| 393 | /* Do not move these variables to function scope as doing so prevents the
|
|---|
| 394 | code working with debuggers that need to remove the static qualifier. */
|
|---|
| 395 | PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
|
|---|
| 396 | PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
|
|---|
| 397 |
|
|---|
| 398 | #endif
|
|---|
| 399 |
|
|---|
| 400 | /*lint -restore */
|
|---|
| 401 |
|
|---|
| 402 | /*-----------------------------------------------------------*/
|
|---|
| 403 |
|
|---|
| 404 | /* Callback function prototypes. --------------------------*/
|
|---|
| 405 | #if( configCHECK_FOR_STACK_OVERFLOW > 0 )
|
|---|
| 406 |
|
|---|
| 407 | extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
|
|---|
| 408 |
|
|---|
| 409 | #endif
|
|---|
| 410 |
|
|---|
| 411 | #if( configUSE_TICK_HOOK > 0 )
|
|---|
| 412 |
|
|---|
| 413 | extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
|
|---|
| 414 |
|
|---|
| 415 | #endif
|
|---|
| 416 |
|
|---|
| 417 | #if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|---|
| 418 |
|
|---|
| 419 | extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
|
|---|
| 420 |
|
|---|
| 421 | #endif
|
|---|
| 422 |
|
|---|
| 423 | /* File private functions. --------------------------------*/
|
|---|
| 424 |
|
|---|
| 425 | /**
|
|---|
| 426 | * Utility task that simply returns pdTRUE if the task referenced by xTask is
|
|---|
| 427 | * currently in the Suspended state, or pdFALSE if the task referenced by xTask
|
|---|
| 428 | * is in any other state.
|
|---|
| 429 | */
|
|---|
| 430 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 431 |
|
|---|
| 432 | static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
|
|---|
| 433 |
|
|---|
| 434 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 435 |
|
|---|
| 436 | /*
|
|---|
| 437 | * Utility to ready all the lists used by the scheduler. This is called
|
|---|
| 438 | * automatically upon the creation of the first task.
|
|---|
| 439 | */
|
|---|
| 440 | static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
|
|---|
| 441 |
|
|---|
| 442 | /*
|
|---|
| 443 | * The idle task, which as all tasks is implemented as a never ending loop.
|
|---|
| 444 | * The idle task is automatically created and added to the ready lists upon
|
|---|
| 445 | * creation of the first user task.
|
|---|
| 446 | *
|
|---|
| 447 | * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
|
|---|
| 448 | * language extensions. The equivalent prototype for this function is:
|
|---|
| 449 | *
|
|---|
| 450 | * void prvIdleTask( void *pvParameters );
|
|---|
| 451 | *
|
|---|
| 452 | */
|
|---|
| 453 | static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
|
|---|
| 454 |
|
|---|
| 455 | /*
|
|---|
| 456 | * Utility to free all memory allocated by the scheduler to hold a TCB,
|
|---|
| 457 | * including the stack pointed to by the TCB.
|
|---|
| 458 | *
|
|---|
| 459 | * This does not free memory allocated by the task itself (i.e. memory
|
|---|
| 460 | * allocated by calls to pvPortMalloc from within the tasks application code).
|
|---|
| 461 | */
|
|---|
| 462 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 463 |
|
|---|
| 464 | static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
|
|---|
| 465 |
|
|---|
| 466 | #endif
|
|---|
| 467 |
|
|---|
| 468 | /*
|
|---|
| 469 | * Used only by the idle task. This checks to see if anything has been placed
|
|---|
| 470 | * in the list of tasks waiting to be deleted. If so the task is cleaned up
|
|---|
| 471 | * and its TCB deleted.
|
|---|
| 472 | */
|
|---|
| 473 | static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
|
|---|
| 474 |
|
|---|
| 475 | /*
|
|---|
| 476 | * The currently executing task is entering the Blocked state. Add the task to
|
|---|
| 477 | * either the current or the overflow delayed task list.
|
|---|
| 478 | */
|
|---|
| 479 | static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
|
|---|
| 480 |
|
|---|
| 481 | /*
|
|---|
| 482 | * Fills an TaskStatus_t structure with information on each task that is
|
|---|
| 483 | * referenced from the pxList list (which may be a ready list, a delayed list,
|
|---|
| 484 | * a suspended list, etc.).
|
|---|
| 485 | *
|
|---|
| 486 | * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
|
|---|
| 487 | * NORMAL APPLICATION CODE.
|
|---|
| 488 | */
|
|---|
| 489 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 490 |
|
|---|
| 491 | static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
|
|---|
| 492 |
|
|---|
| 493 | #endif
|
|---|
| 494 |
|
|---|
| 495 | /*
|
|---|
| 496 | * Searches pxList for a task with name pcNameToQuery - returning a handle to
|
|---|
| 497 | * the task if it is found, or NULL if the task is not found.
|
|---|
| 498 | */
|
|---|
| 499 | #if ( INCLUDE_xTaskGetHandle == 1 )
|
|---|
| 500 |
|
|---|
| 501 | static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
|
|---|
| 502 |
|
|---|
| 503 | #endif
|
|---|
| 504 |
|
|---|
| 505 | /*
|
|---|
| 506 | * When a task is created, the stack of the task is filled with a known value.
|
|---|
| 507 | * This function determines the 'high water mark' of the task stack by
|
|---|
| 508 | * determining how much of the stack remains at the original preset value.
|
|---|
| 509 | */
|
|---|
| 510 | #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
|
|---|
| 511 |
|
|---|
| 512 | static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
|
|---|
| 513 |
|
|---|
| 514 | #endif
|
|---|
| 515 |
|
|---|
| 516 | /*
|
|---|
| 517 | * Return the amount of time, in ticks, that will pass before the kernel will
|
|---|
| 518 | * next move a task from the Blocked state to the Running state.
|
|---|
| 519 | *
|
|---|
| 520 | * This conditional compilation should use inequality to 0, not equality to 1.
|
|---|
| 521 | * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
|
|---|
| 522 | * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
|
|---|
| 523 | * set to a value other than 1.
|
|---|
| 524 | */
|
|---|
| 525 | #if ( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 526 |
|
|---|
| 527 | static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
|
|---|
| 528 |
|
|---|
| 529 | #endif
|
|---|
| 530 |
|
|---|
| 531 | /*
|
|---|
| 532 | * Set xNextTaskUnblockTime to the time at which the next Blocked state task
|
|---|
| 533 | * will exit the Blocked state.
|
|---|
| 534 | */
|
|---|
| 535 | static void prvResetNextTaskUnblockTime( void );
|
|---|
| 536 |
|
|---|
| 537 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
|
|---|
| 538 |
|
|---|
| 539 | /*
|
|---|
| 540 | * Helper function used to pad task names with spaces when printing out
|
|---|
| 541 | * human readable tables of task information.
|
|---|
| 542 | */
|
|---|
| 543 | static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
|
|---|
| 544 |
|
|---|
| 545 | #endif
|
|---|
| 546 |
|
|---|
| 547 | /*
|
|---|
| 548 | * Called after a Task_t structure has been allocated either statically or
|
|---|
| 549 | * dynamically to fill in the structure's members.
|
|---|
| 550 | */
|
|---|
| 551 | static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
|
|---|
| 552 | const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 553 | const uint32_t ulStackDepth,
|
|---|
| 554 | void * const pvParameters,
|
|---|
| 555 | UBaseType_t uxPriority,
|
|---|
| 556 | TaskHandle_t * const pxCreatedTask,
|
|---|
| 557 | TCB_t *pxNewTCB,
|
|---|
| 558 | const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
|
|---|
| 559 |
|
|---|
| 560 | /*
|
|---|
| 561 | * Called after a new task has been created and initialised to place the task
|
|---|
| 562 | * under the control of the scheduler.
|
|---|
| 563 | */
|
|---|
| 564 | static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
|
|---|
| 565 |
|
|---|
| 566 | /*
|
|---|
| 567 | * freertos_tasks_c_additions_init() should only be called if the user definable
|
|---|
| 568 | * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
|
|---|
| 569 | * called by the function.
|
|---|
| 570 | */
|
|---|
| 571 | #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|---|
| 572 |
|
|---|
| 573 | static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
|
|---|
| 574 |
|
|---|
| 575 | #endif
|
|---|
| 576 |
|
|---|
| 577 | /*-----------------------------------------------------------*/
|
|---|
| 578 |
|
|---|
| 579 | #if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|---|
| 580 |
|
|---|
| 581 | TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
|
|---|
| 582 | const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 583 | const uint32_t ulStackDepth,
|
|---|
| 584 | void * const pvParameters,
|
|---|
| 585 | UBaseType_t uxPriority,
|
|---|
| 586 | StackType_t * const puxStackBuffer,
|
|---|
| 587 | StaticTask_t * const pxTaskBuffer )
|
|---|
| 588 | {
|
|---|
| 589 | TCB_t *pxNewTCB;
|
|---|
| 590 | TaskHandle_t xReturn;
|
|---|
| 591 |
|
|---|
| 592 | configASSERT( puxStackBuffer != NULL );
|
|---|
| 593 | configASSERT( pxTaskBuffer != NULL );
|
|---|
| 594 |
|
|---|
| 595 | #if( configASSERT_DEFINED == 1 )
|
|---|
| 596 | {
|
|---|
| 597 | /* Sanity check that the size of the structure used to declare a
|
|---|
| 598 | variable of type StaticTask_t equals the size of the real task
|
|---|
| 599 | structure. */
|
|---|
| 600 | volatile size_t xSize = sizeof( StaticTask_t );
|
|---|
| 601 | configASSERT( xSize == sizeof( TCB_t ) );
|
|---|
| 602 | ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
|
|---|
| 603 | }
|
|---|
| 604 | #endif /* configASSERT_DEFINED */
|
|---|
| 605 |
|
|---|
| 606 |
|
|---|
| 607 | if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
|
|---|
| 608 | {
|
|---|
| 609 | /* The memory used for the task's TCB and stack are passed into this
|
|---|
| 610 | function - use them. */
|
|---|
| 611 | 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. */
|
|---|
| 612 | pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
|
|---|
| 613 |
|
|---|
| 614 | #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
|
|---|
| 615 | {
|
|---|
| 616 | /* Tasks can be created statically or dynamically, so note this
|
|---|
| 617 | task was created statically in case the task is later deleted. */
|
|---|
| 618 | pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
|
|---|
| 619 | }
|
|---|
| 620 | #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|---|
| 621 |
|
|---|
| 622 | prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
|
|---|
| 623 | prvAddNewTaskToReadyList( pxNewTCB );
|
|---|
| 624 | }
|
|---|
| 625 | else
|
|---|
| 626 | {
|
|---|
| 627 | xReturn = NULL;
|
|---|
| 628 | }
|
|---|
| 629 |
|
|---|
| 630 | return xReturn;
|
|---|
| 631 | }
|
|---|
| 632 |
|
|---|
| 633 | #endif /* SUPPORT_STATIC_ALLOCATION */
|
|---|
| 634 | /*-----------------------------------------------------------*/
|
|---|
| 635 |
|
|---|
| 636 | #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
|
|---|
| 637 |
|
|---|
| 638 | BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
|
|---|
| 639 | {
|
|---|
| 640 | TCB_t *pxNewTCB;
|
|---|
| 641 | BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|---|
| 642 |
|
|---|
| 643 | configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
|
|---|
| 644 | configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
|
|---|
| 645 |
|
|---|
| 646 | if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
|
|---|
| 647 | {
|
|---|
| 648 | /* Allocate space for the TCB. Where the memory comes from depends
|
|---|
| 649 | on the implementation of the port malloc function and whether or
|
|---|
| 650 | not static allocation is being used. */
|
|---|
| 651 | pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
|
|---|
| 652 |
|
|---|
| 653 | /* Store the stack location in the TCB. */
|
|---|
| 654 | pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
|
|---|
| 655 |
|
|---|
| 656 | #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
|
|---|
| 657 | {
|
|---|
| 658 | /* Tasks can be created statically or dynamically, so note this
|
|---|
| 659 | task was created statically in case the task is later deleted. */
|
|---|
| 660 | pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
|
|---|
| 661 | }
|
|---|
| 662 | #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|---|
| 663 |
|
|---|
| 664 | prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
|
|---|
| 665 | pxTaskDefinition->pcName,
|
|---|
| 666 | ( uint32_t ) pxTaskDefinition->usStackDepth,
|
|---|
| 667 | pxTaskDefinition->pvParameters,
|
|---|
| 668 | pxTaskDefinition->uxPriority,
|
|---|
| 669 | pxCreatedTask, pxNewTCB,
|
|---|
| 670 | pxTaskDefinition->xRegions );
|
|---|
| 671 |
|
|---|
| 672 | prvAddNewTaskToReadyList( pxNewTCB );
|
|---|
| 673 | xReturn = pdPASS;
|
|---|
| 674 | }
|
|---|
| 675 |
|
|---|
| 676 | return xReturn;
|
|---|
| 677 | }
|
|---|
| 678 |
|
|---|
| 679 | #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
|
|---|
| 680 | /*-----------------------------------------------------------*/
|
|---|
| 681 |
|
|---|
| 682 | #if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|---|
| 683 |
|
|---|
| 684 | BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
|
|---|
| 685 | {
|
|---|
| 686 | TCB_t *pxNewTCB;
|
|---|
| 687 | BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|---|
| 688 |
|
|---|
| 689 | configASSERT( pxTaskDefinition->puxStackBuffer );
|
|---|
| 690 |
|
|---|
| 691 | if( pxTaskDefinition->puxStackBuffer != NULL )
|
|---|
| 692 | {
|
|---|
| 693 | /* Allocate space for the TCB. Where the memory comes from depends
|
|---|
| 694 | on the implementation of the port malloc function and whether or
|
|---|
| 695 | not static allocation is being used. */
|
|---|
| 696 | pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
|
|---|
| 697 |
|
|---|
| 698 | if( pxNewTCB != NULL )
|
|---|
| 699 | {
|
|---|
| 700 | /* Store the stack location in the TCB. */
|
|---|
| 701 | pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
|
|---|
| 702 |
|
|---|
| 703 | #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
|
|---|
| 704 | {
|
|---|
| 705 | /* Tasks can be created statically or dynamically, so note
|
|---|
| 706 | this task had a statically allocated stack in case it is
|
|---|
| 707 | later deleted. The TCB was allocated dynamically. */
|
|---|
| 708 | pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
|
|---|
| 709 | }
|
|---|
| 710 | #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|---|
| 711 |
|
|---|
| 712 | prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
|
|---|
| 713 | pxTaskDefinition->pcName,
|
|---|
| 714 | ( uint32_t ) pxTaskDefinition->usStackDepth,
|
|---|
| 715 | pxTaskDefinition->pvParameters,
|
|---|
| 716 | pxTaskDefinition->uxPriority,
|
|---|
| 717 | pxCreatedTask, pxNewTCB,
|
|---|
| 718 | pxTaskDefinition->xRegions );
|
|---|
| 719 |
|
|---|
| 720 | prvAddNewTaskToReadyList( pxNewTCB );
|
|---|
| 721 | xReturn = pdPASS;
|
|---|
| 722 | }
|
|---|
| 723 | }
|
|---|
| 724 |
|
|---|
| 725 | return xReturn;
|
|---|
| 726 | }
|
|---|
| 727 |
|
|---|
| 728 | #endif /* portUSING_MPU_WRAPPERS */
|
|---|
| 729 | /*-----------------------------------------------------------*/
|
|---|
| 730 |
|
|---|
| 731 | #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|---|
| 732 |
|
|---|
| 733 | BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
|
|---|
| 734 | const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 735 | const configSTACK_DEPTH_TYPE usStackDepth,
|
|---|
| 736 | void * const pvParameters,
|
|---|
| 737 | UBaseType_t uxPriority,
|
|---|
| 738 | TaskHandle_t * const pxCreatedTask )
|
|---|
| 739 | {
|
|---|
| 740 | TCB_t *pxNewTCB;
|
|---|
| 741 | BaseType_t xReturn;
|
|---|
| 742 |
|
|---|
| 743 | /* If the stack grows down then allocate the stack then the TCB so the stack
|
|---|
| 744 | does not grow into the TCB. Likewise if the stack grows up then allocate
|
|---|
| 745 | the TCB then the stack. */
|
|---|
| 746 | #if( portSTACK_GROWTH > 0 )
|
|---|
| 747 | {
|
|---|
| 748 | /* Allocate space for the TCB. Where the memory comes from depends on
|
|---|
| 749 | the implementation of the port malloc function and whether or not static
|
|---|
| 750 | allocation is being used. */
|
|---|
| 751 | pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
|
|---|
| 752 |
|
|---|
| 753 | if( pxNewTCB != NULL )
|
|---|
| 754 | {
|
|---|
| 755 | /* Allocate space for the stack used by the task being created.
|
|---|
| 756 | The base of the stack memory stored in the TCB so the task can
|
|---|
| 757 | be deleted later if required. */
|
|---|
| 758 | pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|---|
| 759 |
|
|---|
| 760 | if( pxNewTCB->pxStack == NULL )
|
|---|
| 761 | {
|
|---|
| 762 | /* Could not allocate the stack. Delete the allocated TCB. */
|
|---|
| 763 | vPortFree( pxNewTCB );
|
|---|
| 764 | pxNewTCB = NULL;
|
|---|
| 765 | }
|
|---|
| 766 | }
|
|---|
| 767 | }
|
|---|
| 768 | #else /* portSTACK_GROWTH */
|
|---|
| 769 | {
|
|---|
| 770 | StackType_t *pxStack;
|
|---|
| 771 |
|
|---|
| 772 | /* Allocate space for the stack used by the task being created. */
|
|---|
| 773 | 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. */
|
|---|
| 774 |
|
|---|
| 775 | if( pxStack != NULL )
|
|---|
| 776 | {
|
|---|
| 777 | /* Allocate space for the TCB. */
|
|---|
| 778 | 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. */
|
|---|
| 779 |
|
|---|
| 780 | if( pxNewTCB != NULL )
|
|---|
| 781 | {
|
|---|
| 782 | /* Store the stack location in the TCB. */
|
|---|
| 783 | pxNewTCB->pxStack = pxStack;
|
|---|
| 784 | }
|
|---|
| 785 | else
|
|---|
| 786 | {
|
|---|
| 787 | /* The stack cannot be used as the TCB was not created. Free
|
|---|
| 788 | it again. */
|
|---|
| 789 | vPortFree( pxStack );
|
|---|
| 790 | }
|
|---|
| 791 | }
|
|---|
| 792 | else
|
|---|
| 793 | {
|
|---|
| 794 | pxNewTCB = NULL;
|
|---|
| 795 | }
|
|---|
| 796 | }
|
|---|
| 797 | #endif /* portSTACK_GROWTH */
|
|---|
| 798 |
|
|---|
| 799 | if( pxNewTCB != NULL )
|
|---|
| 800 | {
|
|---|
| 801 | #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
|
|---|
| 802 | {
|
|---|
| 803 | /* Tasks can be created statically or dynamically, so note this
|
|---|
| 804 | task was created dynamically in case it is later deleted. */
|
|---|
| 805 | pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
|
|---|
| 806 | }
|
|---|
| 807 | #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
|
|---|
| 808 |
|
|---|
| 809 | prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
|
|---|
| 810 | prvAddNewTaskToReadyList( pxNewTCB );
|
|---|
| 811 | xReturn = pdPASS;
|
|---|
| 812 | }
|
|---|
| 813 | else
|
|---|
| 814 | {
|
|---|
| 815 | xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|---|
| 816 | }
|
|---|
| 817 |
|
|---|
| 818 | return xReturn;
|
|---|
| 819 | }
|
|---|
| 820 |
|
|---|
| 821 | #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|---|
| 822 | /*-----------------------------------------------------------*/
|
|---|
| 823 |
|
|---|
| 824 | static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
|
|---|
| 825 | const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 826 | const uint32_t ulStackDepth,
|
|---|
| 827 | void * const pvParameters,
|
|---|
| 828 | UBaseType_t uxPriority,
|
|---|
| 829 | TaskHandle_t * const pxCreatedTask,
|
|---|
| 830 | TCB_t *pxNewTCB,
|
|---|
| 831 | const MemoryRegion_t * const xRegions )
|
|---|
| 832 | {
|
|---|
| 833 | StackType_t *pxTopOfStack;
|
|---|
| 834 | UBaseType_t x;
|
|---|
| 835 |
|
|---|
| 836 | #if( portUSING_MPU_WRAPPERS == 1 )
|
|---|
| 837 | /* Should the task be created in privileged mode? */
|
|---|
| 838 | BaseType_t xRunPrivileged;
|
|---|
| 839 | if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
|
|---|
| 840 | {
|
|---|
| 841 | xRunPrivileged = pdTRUE;
|
|---|
| 842 | }
|
|---|
| 843 | else
|
|---|
| 844 | {
|
|---|
| 845 | xRunPrivileged = pdFALSE;
|
|---|
| 846 | }
|
|---|
| 847 | uxPriority &= ~portPRIVILEGE_BIT;
|
|---|
| 848 | #endif /* portUSING_MPU_WRAPPERS == 1 */
|
|---|
| 849 |
|
|---|
| 850 | /* Avoid dependency on memset() if it is not required. */
|
|---|
| 851 | #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
|
|---|
| 852 | {
|
|---|
| 853 | /* Fill the stack with a known value to assist debugging. */
|
|---|
| 854 | ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
|
|---|
| 855 | }
|
|---|
| 856 | #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
|
|---|
| 857 |
|
|---|
| 858 | /* Calculate the top of stack address. This depends on whether the stack
|
|---|
| 859 | grows from high memory to low (as per the 80x86) or vice versa.
|
|---|
| 860 | portSTACK_GROWTH is used to make the result positive or negative as required
|
|---|
| 861 | by the port. */
|
|---|
| 862 | #if( portSTACK_GROWTH < 0 )
|
|---|
| 863 | {
|
|---|
| 864 | pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
|
|---|
| 865 | 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(). */
|
|---|
| 866 |
|
|---|
| 867 | /* Check the alignment of the calculated top of stack is correct. */
|
|---|
| 868 | configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|---|
| 869 |
|
|---|
| 870 | #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
|
|---|
| 871 | {
|
|---|
| 872 | /* Also record the stack's high address, which may assist
|
|---|
| 873 | debugging. */
|
|---|
| 874 | pxNewTCB->pxEndOfStack = pxTopOfStack;
|
|---|
| 875 | }
|
|---|
| 876 | #endif /* configRECORD_STACK_HIGH_ADDRESS */
|
|---|
| 877 | }
|
|---|
| 878 | #else /* portSTACK_GROWTH */
|
|---|
| 879 | {
|
|---|
| 880 | pxTopOfStack = pxNewTCB->pxStack;
|
|---|
| 881 |
|
|---|
| 882 | /* Check the alignment of the stack buffer is correct. */
|
|---|
| 883 | configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|---|
| 884 |
|
|---|
| 885 | /* The other extreme of the stack space is required if stack checking is
|
|---|
| 886 | performed. */
|
|---|
| 887 | pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
|
|---|
| 888 | }
|
|---|
| 889 | #endif /* portSTACK_GROWTH */
|
|---|
| 890 |
|
|---|
| 891 | /* Store the task name in the TCB. */
|
|---|
| 892 | if( pcName != NULL )
|
|---|
| 893 | {
|
|---|
| 894 | for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
|
|---|
| 895 | {
|
|---|
| 896 | pxNewTCB->pcTaskName[ x ] = pcName[ x ];
|
|---|
| 897 |
|
|---|
| 898 | /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
|
|---|
| 899 | configMAX_TASK_NAME_LEN characters just in case the memory after the
|
|---|
| 900 | string is not accessible (extremely unlikely). */
|
|---|
| 901 | if( pcName[ x ] == ( char ) 0x00 )
|
|---|
| 902 | {
|
|---|
| 903 | break;
|
|---|
| 904 | }
|
|---|
| 905 | else
|
|---|
| 906 | {
|
|---|
| 907 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 908 | }
|
|---|
| 909 | }
|
|---|
| 910 |
|
|---|
| 911 | /* Ensure the name string is terminated in the case that the string length
|
|---|
| 912 | was greater or equal to configMAX_TASK_NAME_LEN. */
|
|---|
| 913 | pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
|
|---|
| 914 | }
|
|---|
| 915 | else
|
|---|
| 916 | {
|
|---|
| 917 | /* The task has not been given a name, so just ensure there is a NULL
|
|---|
| 918 | terminator when it is read out. */
|
|---|
| 919 | pxNewTCB->pcTaskName[ 0 ] = 0x00;
|
|---|
| 920 | }
|
|---|
| 921 |
|
|---|
| 922 | /* This is used as an array index so must ensure it's not too large. First
|
|---|
| 923 | remove the privilege bit if one is present. */
|
|---|
| 924 | if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
|
|---|
| 925 | {
|
|---|
| 926 | uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
|
|---|
| 927 | }
|
|---|
| 928 | else
|
|---|
| 929 | {
|
|---|
| 930 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 931 | }
|
|---|
| 932 |
|
|---|
| 933 | pxNewTCB->uxPriority = uxPriority;
|
|---|
| 934 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 935 | {
|
|---|
| 936 | pxNewTCB->uxBasePriority = uxPriority;
|
|---|
| 937 | pxNewTCB->uxMutexesHeld = 0;
|
|---|
| 938 | }
|
|---|
| 939 | #endif /* configUSE_MUTEXES */
|
|---|
| 940 |
|
|---|
| 941 | vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
|
|---|
| 942 | vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
|
|---|
| 943 |
|
|---|
| 944 | /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
|
|---|
| 945 | back to the containing TCB from a generic item in a list. */
|
|---|
| 946 | listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
|
|---|
| 947 |
|
|---|
| 948 | /* Event lists are always in priority order. */
|
|---|
| 949 | 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. */
|
|---|
| 950 | listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
|
|---|
| 951 |
|
|---|
| 952 | #if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|---|
| 953 | {
|
|---|
| 954 | pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
|
|---|
| 955 | }
|
|---|
| 956 | #endif /* portCRITICAL_NESTING_IN_TCB */
|
|---|
| 957 |
|
|---|
| 958 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|---|
| 959 | {
|
|---|
| 960 | pxNewTCB->pxTaskTag = NULL;
|
|---|
| 961 | }
|
|---|
| 962 | #endif /* configUSE_APPLICATION_TASK_TAG */
|
|---|
| 963 |
|
|---|
| 964 | #if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|---|
| 965 | {
|
|---|
| 966 | pxNewTCB->ulRunTimeCounter = 0UL;
|
|---|
| 967 | }
|
|---|
| 968 | #endif /* configGENERATE_RUN_TIME_STATS */
|
|---|
| 969 |
|
|---|
| 970 | #if ( portUSING_MPU_WRAPPERS == 1 )
|
|---|
| 971 | {
|
|---|
| 972 | vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
|
|---|
| 973 | }
|
|---|
| 974 | #else
|
|---|
| 975 | {
|
|---|
| 976 | /* Avoid compiler warning about unreferenced parameter. */
|
|---|
| 977 | ( void ) xRegions;
|
|---|
| 978 | }
|
|---|
| 979 | #endif
|
|---|
| 980 |
|
|---|
| 981 | #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|---|
| 982 | {
|
|---|
| 983 | for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
|
|---|
| 984 | {
|
|---|
| 985 | pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
|
|---|
| 986 | }
|
|---|
| 987 | }
|
|---|
| 988 | #endif
|
|---|
| 989 |
|
|---|
| 990 | #if ( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 991 | {
|
|---|
| 992 | pxNewTCB->ulNotifiedValue = 0;
|
|---|
| 993 | pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|---|
| 994 | }
|
|---|
| 995 | #endif
|
|---|
| 996 |
|
|---|
| 997 | #if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|---|
| 998 | {
|
|---|
| 999 | /* Initialise this task's Newlib reent structure.
|
|---|
| 1000 | See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|---|
| 1001 | for additional information. */
|
|---|
| 1002 | _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
|
|---|
| 1003 | }
|
|---|
| 1004 | #endif
|
|---|
| 1005 |
|
|---|
| 1006 | #if( INCLUDE_xTaskAbortDelay == 1 )
|
|---|
| 1007 | {
|
|---|
| 1008 | pxNewTCB->ucDelayAborted = pdFALSE;
|
|---|
| 1009 | }
|
|---|
| 1010 | #endif
|
|---|
| 1011 |
|
|---|
| 1012 | /* Initialize the TCB stack to look as if the task was already running,
|
|---|
| 1013 | but had been interrupted by the scheduler. The return address is set
|
|---|
| 1014 | to the start of the task function. Once the stack has been initialised
|
|---|
| 1015 | the top of stack variable is updated. */
|
|---|
| 1016 | #if( portUSING_MPU_WRAPPERS == 1 )
|
|---|
| 1017 | {
|
|---|
| 1018 | /* If the port has capability to detect stack overflow,
|
|---|
| 1019 | pass the stack end address to the stack initialization
|
|---|
| 1020 | function as well. */
|
|---|
| 1021 | #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|---|
| 1022 | {
|
|---|
| 1023 | #if( portSTACK_GROWTH < 0 )
|
|---|
| 1024 | {
|
|---|
| 1025 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|---|
| 1026 | }
|
|---|
| 1027 | #else /* portSTACK_GROWTH */
|
|---|
| 1028 | {
|
|---|
| 1029 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|---|
| 1030 | }
|
|---|
| 1031 | #endif /* portSTACK_GROWTH */
|
|---|
| 1032 | }
|
|---|
| 1033 | #else /* portHAS_STACK_OVERFLOW_CHECKING */
|
|---|
| 1034 | {
|
|---|
| 1035 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|---|
| 1036 | }
|
|---|
| 1037 | #endif /* portHAS_STACK_OVERFLOW_CHECKING */
|
|---|
| 1038 | }
|
|---|
| 1039 | #else /* portUSING_MPU_WRAPPERS */
|
|---|
| 1040 | {
|
|---|
| 1041 | /* If the port has capability to detect stack overflow,
|
|---|
| 1042 | pass the stack end address to the stack initialization
|
|---|
| 1043 | function as well. */
|
|---|
| 1044 | #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
|
|---|
| 1045 | {
|
|---|
| 1046 | #if( portSTACK_GROWTH < 0 )
|
|---|
| 1047 | {
|
|---|
| 1048 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
|
|---|
| 1049 | }
|
|---|
| 1050 | #else /* portSTACK_GROWTH */
|
|---|
| 1051 | {
|
|---|
| 1052 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
|
|---|
| 1053 | }
|
|---|
| 1054 | #endif /* portSTACK_GROWTH */
|
|---|
| 1055 | }
|
|---|
| 1056 | #else /* portHAS_STACK_OVERFLOW_CHECKING */
|
|---|
| 1057 | {
|
|---|
| 1058 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
|
|---|
| 1059 | }
|
|---|
| 1060 | #endif /* portHAS_STACK_OVERFLOW_CHECKING */
|
|---|
| 1061 | }
|
|---|
| 1062 | #endif /* portUSING_MPU_WRAPPERS */
|
|---|
| 1063 |
|
|---|
| 1064 | if( pxCreatedTask != NULL )
|
|---|
| 1065 | {
|
|---|
| 1066 | /* Pass the handle out in an anonymous way. The handle can be used to
|
|---|
| 1067 | change the created task's priority, delete the created task, etc.*/
|
|---|
| 1068 | *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
|
|---|
| 1069 | }
|
|---|
| 1070 | else
|
|---|
| 1071 | {
|
|---|
| 1072 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1073 | }
|
|---|
| 1074 | }
|
|---|
| 1075 | /*-----------------------------------------------------------*/
|
|---|
| 1076 |
|
|---|
| 1077 | static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
|
|---|
| 1078 | {
|
|---|
| 1079 | /* Ensure interrupts don't access the task lists while the lists are being
|
|---|
| 1080 | updated. */
|
|---|
| 1081 | taskENTER_CRITICAL();
|
|---|
| 1082 | {
|
|---|
| 1083 | uxCurrentNumberOfTasks++;
|
|---|
| 1084 | if( pxCurrentTCB == NULL )
|
|---|
| 1085 | {
|
|---|
| 1086 | /* There are no other tasks, or all the other tasks are in
|
|---|
| 1087 | the suspended state - make this the current task. */
|
|---|
| 1088 | pxCurrentTCB = pxNewTCB;
|
|---|
| 1089 |
|
|---|
| 1090 | if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
|
|---|
| 1091 | {
|
|---|
| 1092 | /* This is the first task to be created so do the preliminary
|
|---|
| 1093 | initialisation required. We will not recover if this call
|
|---|
| 1094 | fails, but we will report the failure. */
|
|---|
| 1095 | prvInitialiseTaskLists();
|
|---|
| 1096 | }
|
|---|
| 1097 | else
|
|---|
| 1098 | {
|
|---|
| 1099 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1100 | }
|
|---|
| 1101 | }
|
|---|
| 1102 | else
|
|---|
| 1103 | {
|
|---|
| 1104 | /* If the scheduler is not already running, make this task the
|
|---|
| 1105 | current task if it is the highest priority task to be created
|
|---|
| 1106 | so far. */
|
|---|
| 1107 | if( xSchedulerRunning == pdFALSE )
|
|---|
| 1108 | {
|
|---|
| 1109 | if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
|
|---|
| 1110 | {
|
|---|
| 1111 | pxCurrentTCB = pxNewTCB;
|
|---|
| 1112 | }
|
|---|
| 1113 | else
|
|---|
| 1114 | {
|
|---|
| 1115 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1116 | }
|
|---|
| 1117 | }
|
|---|
| 1118 | else
|
|---|
| 1119 | {
|
|---|
| 1120 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1121 | }
|
|---|
| 1122 | }
|
|---|
| 1123 |
|
|---|
| 1124 | uxTaskNumber++;
|
|---|
| 1125 |
|
|---|
| 1126 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 1127 | {
|
|---|
| 1128 | /* Add a counter into the TCB for tracing only. */
|
|---|
| 1129 | pxNewTCB->uxTCBNumber = uxTaskNumber;
|
|---|
| 1130 | }
|
|---|
| 1131 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 1132 | traceTASK_CREATE( pxNewTCB );
|
|---|
| 1133 |
|
|---|
| 1134 | prvAddTaskToReadyList( pxNewTCB );
|
|---|
| 1135 |
|
|---|
| 1136 | portSETUP_TCB( pxNewTCB );
|
|---|
| 1137 | }
|
|---|
| 1138 | taskEXIT_CRITICAL();
|
|---|
| 1139 |
|
|---|
| 1140 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 1141 | {
|
|---|
| 1142 | /* If the created task is of a higher priority than the current task
|
|---|
| 1143 | then it should run now. */
|
|---|
| 1144 | if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
|
|---|
| 1145 | {
|
|---|
| 1146 | taskYIELD_IF_USING_PREEMPTION();
|
|---|
| 1147 | }
|
|---|
| 1148 | else
|
|---|
| 1149 | {
|
|---|
| 1150 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1151 | }
|
|---|
| 1152 | }
|
|---|
| 1153 | else
|
|---|
| 1154 | {
|
|---|
| 1155 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1156 | }
|
|---|
| 1157 | }
|
|---|
| 1158 | /*-----------------------------------------------------------*/
|
|---|
| 1159 |
|
|---|
| 1160 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 1161 |
|
|---|
| 1162 | void vTaskDelete( TaskHandle_t xTaskToDelete )
|
|---|
| 1163 | {
|
|---|
| 1164 | TCB_t *pxTCB;
|
|---|
| 1165 |
|
|---|
| 1166 | taskENTER_CRITICAL();
|
|---|
| 1167 | {
|
|---|
| 1168 | /* If null is passed in here then it is the calling task that is
|
|---|
| 1169 | being deleted. */
|
|---|
| 1170 | pxTCB = prvGetTCBFromHandle( xTaskToDelete );
|
|---|
| 1171 |
|
|---|
| 1172 | /* Remove task from the ready/delayed list. */
|
|---|
| 1173 | if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 1174 | {
|
|---|
| 1175 | taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|---|
| 1176 | }
|
|---|
| 1177 | else
|
|---|
| 1178 | {
|
|---|
| 1179 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1180 | }
|
|---|
| 1181 |
|
|---|
| 1182 | /* Is the task waiting on an event also? */
|
|---|
| 1183 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|---|
| 1184 | {
|
|---|
| 1185 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|---|
| 1186 | }
|
|---|
| 1187 | else
|
|---|
| 1188 | {
|
|---|
| 1189 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1190 | }
|
|---|
| 1191 |
|
|---|
| 1192 | /* Increment the uxTaskNumber also so kernel aware debuggers can
|
|---|
| 1193 | detect that the task lists need re-generating. This is done before
|
|---|
| 1194 | portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
|
|---|
| 1195 | not return. */
|
|---|
| 1196 | uxTaskNumber++;
|
|---|
| 1197 |
|
|---|
| 1198 | if( pxTCB == pxCurrentTCB )
|
|---|
| 1199 | {
|
|---|
| 1200 | /* A task is deleting itself. This cannot complete within the
|
|---|
| 1201 | task itself, as a context switch to another task is required.
|
|---|
| 1202 | Place the task in the termination list. The idle task will
|
|---|
| 1203 | check the termination list and free up any memory allocated by
|
|---|
| 1204 | the scheduler for the TCB and stack of the deleted task. */
|
|---|
| 1205 | vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
|
|---|
| 1206 |
|
|---|
| 1207 | /* Increment the ucTasksDeleted variable so the idle task knows
|
|---|
| 1208 | there is a task that has been deleted and that it should therefore
|
|---|
| 1209 | check the xTasksWaitingTermination list. */
|
|---|
| 1210 | ++uxDeletedTasksWaitingCleanUp;
|
|---|
| 1211 |
|
|---|
| 1212 | /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
|
|---|
| 1213 | portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
|
|---|
| 1214 | traceTASK_DELETE( pxTCB );
|
|---|
| 1215 |
|
|---|
| 1216 | /* The pre-delete hook is primarily for the Windows simulator,
|
|---|
| 1217 | in which Windows specific clean up operations are performed,
|
|---|
| 1218 | after which it is not possible to yield away from this task -
|
|---|
| 1219 | hence xYieldPending is used to latch that a context switch is
|
|---|
| 1220 | required. */
|
|---|
| 1221 | portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
|
|---|
| 1222 | }
|
|---|
| 1223 | else
|
|---|
| 1224 | {
|
|---|
| 1225 | --uxCurrentNumberOfTasks;
|
|---|
| 1226 | traceTASK_DELETE( pxTCB );
|
|---|
| 1227 | prvDeleteTCB( pxTCB );
|
|---|
| 1228 |
|
|---|
| 1229 | /* Reset the next expected unblock time in case it referred to
|
|---|
| 1230 | the task that has just been deleted. */
|
|---|
| 1231 | prvResetNextTaskUnblockTime();
|
|---|
| 1232 | }
|
|---|
| 1233 | }
|
|---|
| 1234 | taskEXIT_CRITICAL();
|
|---|
| 1235 |
|
|---|
| 1236 | /* Force a reschedule if it is the currently running task that has just
|
|---|
| 1237 | been deleted. */
|
|---|
| 1238 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 1239 | {
|
|---|
| 1240 | if( pxTCB == pxCurrentTCB )
|
|---|
| 1241 | {
|
|---|
| 1242 | configASSERT( uxSchedulerSuspended == 0 );
|
|---|
| 1243 | portYIELD_WITHIN_API();
|
|---|
| 1244 | }
|
|---|
| 1245 | else
|
|---|
| 1246 | {
|
|---|
| 1247 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1248 | }
|
|---|
| 1249 | }
|
|---|
| 1250 | }
|
|---|
| 1251 |
|
|---|
| 1252 | #endif /* INCLUDE_vTaskDelete */
|
|---|
| 1253 | /*-----------------------------------------------------------*/
|
|---|
| 1254 |
|
|---|
| 1255 | #if ( INCLUDE_vTaskDelayUntil == 1 )
|
|---|
| 1256 |
|
|---|
| 1257 | void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
|
|---|
| 1258 | {
|
|---|
| 1259 | TickType_t xTimeToWake;
|
|---|
| 1260 | BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
|
|---|
| 1261 |
|
|---|
| 1262 | configASSERT( pxPreviousWakeTime );
|
|---|
| 1263 | configASSERT( ( xTimeIncrement > 0U ) );
|
|---|
| 1264 | configASSERT( uxSchedulerSuspended == 0 );
|
|---|
| 1265 |
|
|---|
| 1266 | vTaskSuspendAll();
|
|---|
| 1267 | {
|
|---|
| 1268 | /* Minor optimisation. The tick count cannot change in this
|
|---|
| 1269 | block. */
|
|---|
| 1270 | const TickType_t xConstTickCount = xTickCount;
|
|---|
| 1271 |
|
|---|
| 1272 | /* Generate the tick time at which the task wants to wake. */
|
|---|
| 1273 | xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
|
|---|
| 1274 |
|
|---|
| 1275 | if( xConstTickCount < *pxPreviousWakeTime )
|
|---|
| 1276 | {
|
|---|
| 1277 | /* The tick count has overflowed since this function was
|
|---|
| 1278 | lasted called. In this case the only time we should ever
|
|---|
| 1279 | actually delay is if the wake time has also overflowed,
|
|---|
| 1280 | and the wake time is greater than the tick time. When this
|
|---|
| 1281 | is the case it is as if neither time had overflowed. */
|
|---|
| 1282 | if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
|
|---|
| 1283 | {
|
|---|
| 1284 | xShouldDelay = pdTRUE;
|
|---|
| 1285 | }
|
|---|
| 1286 | else
|
|---|
| 1287 | {
|
|---|
| 1288 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1289 | }
|
|---|
| 1290 | }
|
|---|
| 1291 | else
|
|---|
| 1292 | {
|
|---|
| 1293 | /* The tick time has not overflowed. In this case we will
|
|---|
| 1294 | delay if either the wake time has overflowed, and/or the
|
|---|
| 1295 | tick time is less than the wake time. */
|
|---|
| 1296 | if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
|
|---|
| 1297 | {
|
|---|
| 1298 | xShouldDelay = pdTRUE;
|
|---|
| 1299 | }
|
|---|
| 1300 | else
|
|---|
| 1301 | {
|
|---|
| 1302 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1303 | }
|
|---|
| 1304 | }
|
|---|
| 1305 |
|
|---|
| 1306 | /* Update the wake time ready for the next call. */
|
|---|
| 1307 | *pxPreviousWakeTime = xTimeToWake;
|
|---|
| 1308 |
|
|---|
| 1309 | if( xShouldDelay != pdFALSE )
|
|---|
| 1310 | {
|
|---|
| 1311 | traceTASK_DELAY_UNTIL( xTimeToWake );
|
|---|
| 1312 |
|
|---|
| 1313 | /* prvAddCurrentTaskToDelayedList() needs the block time, not
|
|---|
| 1314 | the time to wake, so subtract the current tick count. */
|
|---|
| 1315 | prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
|
|---|
| 1316 | }
|
|---|
| 1317 | else
|
|---|
| 1318 | {
|
|---|
| 1319 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1320 | }
|
|---|
| 1321 | }
|
|---|
| 1322 | xAlreadyYielded = xTaskResumeAll();
|
|---|
| 1323 |
|
|---|
| 1324 | /* Force a reschedule if xTaskResumeAll has not already done so, we may
|
|---|
| 1325 | have put ourselves to sleep. */
|
|---|
| 1326 | if( xAlreadyYielded == pdFALSE )
|
|---|
| 1327 | {
|
|---|
| 1328 | portYIELD_WITHIN_API();
|
|---|
| 1329 | }
|
|---|
| 1330 | else
|
|---|
| 1331 | {
|
|---|
| 1332 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1333 | }
|
|---|
| 1334 | }
|
|---|
| 1335 |
|
|---|
| 1336 | #endif /* INCLUDE_vTaskDelayUntil */
|
|---|
| 1337 | /*-----------------------------------------------------------*/
|
|---|
| 1338 |
|
|---|
| 1339 | #if ( INCLUDE_vTaskDelay == 1 )
|
|---|
| 1340 |
|
|---|
| 1341 | void vTaskDelay( const TickType_t xTicksToDelay )
|
|---|
| 1342 | {
|
|---|
| 1343 | BaseType_t xAlreadyYielded = pdFALSE;
|
|---|
| 1344 |
|
|---|
| 1345 | /* A delay time of zero just forces a reschedule. */
|
|---|
| 1346 | if( xTicksToDelay > ( TickType_t ) 0U )
|
|---|
| 1347 | {
|
|---|
| 1348 | configASSERT( uxSchedulerSuspended == 0 );
|
|---|
| 1349 | vTaskSuspendAll();
|
|---|
| 1350 | {
|
|---|
| 1351 | traceTASK_DELAY();
|
|---|
| 1352 |
|
|---|
| 1353 | /* A task that is removed from the event list while the
|
|---|
| 1354 | scheduler is suspended will not get placed in the ready
|
|---|
| 1355 | list or removed from the blocked list until the scheduler
|
|---|
| 1356 | is resumed.
|
|---|
| 1357 |
|
|---|
| 1358 | This task cannot be in an event list as it is the currently
|
|---|
| 1359 | executing task. */
|
|---|
| 1360 | prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
|
|---|
| 1361 | }
|
|---|
| 1362 | xAlreadyYielded = xTaskResumeAll();
|
|---|
| 1363 | }
|
|---|
| 1364 | else
|
|---|
| 1365 | {
|
|---|
| 1366 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1367 | }
|
|---|
| 1368 |
|
|---|
| 1369 | /* Force a reschedule if xTaskResumeAll has not already done so, we may
|
|---|
| 1370 | have put ourselves to sleep. */
|
|---|
| 1371 | if( xAlreadyYielded == pdFALSE )
|
|---|
| 1372 | {
|
|---|
| 1373 | portYIELD_WITHIN_API();
|
|---|
| 1374 | }
|
|---|
| 1375 | else
|
|---|
| 1376 | {
|
|---|
| 1377 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1378 | }
|
|---|
| 1379 | }
|
|---|
| 1380 |
|
|---|
| 1381 | #endif /* INCLUDE_vTaskDelay */
|
|---|
| 1382 | /*-----------------------------------------------------------*/
|
|---|
| 1383 |
|
|---|
| 1384 | #if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
|
|---|
| 1385 |
|
|---|
| 1386 | eTaskState eTaskGetState( TaskHandle_t xTask )
|
|---|
| 1387 | {
|
|---|
| 1388 | eTaskState eReturn;
|
|---|
| 1389 | List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
|
|---|
| 1390 | const TCB_t * const pxTCB = xTask;
|
|---|
| 1391 |
|
|---|
| 1392 | configASSERT( pxTCB );
|
|---|
| 1393 |
|
|---|
| 1394 | if( pxTCB == pxCurrentTCB )
|
|---|
| 1395 | {
|
|---|
| 1396 | /* The task calling this function is querying its own state. */
|
|---|
| 1397 | eReturn = eRunning;
|
|---|
| 1398 | }
|
|---|
| 1399 | else
|
|---|
| 1400 | {
|
|---|
| 1401 | taskENTER_CRITICAL();
|
|---|
| 1402 | {
|
|---|
| 1403 | pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
|
|---|
| 1404 | pxDelayedList = pxDelayedTaskList;
|
|---|
| 1405 | pxOverflowedDelayedList = pxOverflowDelayedTaskList;
|
|---|
| 1406 | }
|
|---|
| 1407 | taskEXIT_CRITICAL();
|
|---|
| 1408 |
|
|---|
| 1409 | if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
|
|---|
| 1410 | {
|
|---|
| 1411 | /* The task being queried is referenced from one of the Blocked
|
|---|
| 1412 | lists. */
|
|---|
| 1413 | eReturn = eBlocked;
|
|---|
| 1414 | }
|
|---|
| 1415 |
|
|---|
| 1416 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 1417 | else if( pxStateList == &xSuspendedTaskList )
|
|---|
| 1418 | {
|
|---|
| 1419 | /* The task being queried is referenced from the suspended
|
|---|
| 1420 | list. Is it genuinely suspended or is it blocked
|
|---|
| 1421 | indefinitely? */
|
|---|
| 1422 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
|
|---|
| 1423 | {
|
|---|
| 1424 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 1425 | {
|
|---|
| 1426 | /* The task does not appear on the event list item of
|
|---|
| 1427 | and of the RTOS objects, but could still be in the
|
|---|
| 1428 | blocked state if it is waiting on its notification
|
|---|
| 1429 | rather than waiting on an object. */
|
|---|
| 1430 | if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
|
|---|
| 1431 | {
|
|---|
| 1432 | eReturn = eBlocked;
|
|---|
| 1433 | }
|
|---|
| 1434 | else
|
|---|
| 1435 | {
|
|---|
| 1436 | eReturn = eSuspended;
|
|---|
| 1437 | }
|
|---|
| 1438 | }
|
|---|
| 1439 | #else
|
|---|
| 1440 | {
|
|---|
| 1441 | eReturn = eSuspended;
|
|---|
| 1442 | }
|
|---|
| 1443 | #endif
|
|---|
| 1444 | }
|
|---|
| 1445 | else
|
|---|
| 1446 | {
|
|---|
| 1447 | eReturn = eBlocked;
|
|---|
| 1448 | }
|
|---|
| 1449 | }
|
|---|
| 1450 | #endif
|
|---|
| 1451 |
|
|---|
| 1452 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 1453 | else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
|
|---|
| 1454 | {
|
|---|
| 1455 | /* The task being queried is referenced from the deleted
|
|---|
| 1456 | tasks list, or it is not referenced from any lists at
|
|---|
| 1457 | all. */
|
|---|
| 1458 | eReturn = eDeleted;
|
|---|
| 1459 | }
|
|---|
| 1460 | #endif
|
|---|
| 1461 |
|
|---|
| 1462 | else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
|
|---|
| 1463 | {
|
|---|
| 1464 | /* If the task is not in any other state, it must be in the
|
|---|
| 1465 | Ready (including pending ready) state. */
|
|---|
| 1466 | eReturn = eReady;
|
|---|
| 1467 | }
|
|---|
| 1468 | }
|
|---|
| 1469 |
|
|---|
| 1470 | return eReturn;
|
|---|
| 1471 | } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
|
|---|
| 1472 |
|
|---|
| 1473 | #endif /* INCLUDE_eTaskGetState */
|
|---|
| 1474 | /*-----------------------------------------------------------*/
|
|---|
| 1475 |
|
|---|
| 1476 | #if ( INCLUDE_uxTaskPriorityGet == 1 )
|
|---|
| 1477 |
|
|---|
| 1478 | UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
|
|---|
| 1479 | {
|
|---|
| 1480 | TCB_t const *pxTCB;
|
|---|
| 1481 | UBaseType_t uxReturn;
|
|---|
| 1482 |
|
|---|
| 1483 | taskENTER_CRITICAL();
|
|---|
| 1484 | {
|
|---|
| 1485 | /* If null is passed in here then it is the priority of the task
|
|---|
| 1486 | that called uxTaskPriorityGet() that is being queried. */
|
|---|
| 1487 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 1488 | uxReturn = pxTCB->uxPriority;
|
|---|
| 1489 | }
|
|---|
| 1490 | taskEXIT_CRITICAL();
|
|---|
| 1491 |
|
|---|
| 1492 | return uxReturn;
|
|---|
| 1493 | }
|
|---|
| 1494 |
|
|---|
| 1495 | #endif /* INCLUDE_uxTaskPriorityGet */
|
|---|
| 1496 | /*-----------------------------------------------------------*/
|
|---|
| 1497 |
|
|---|
| 1498 | #if ( INCLUDE_uxTaskPriorityGet == 1 )
|
|---|
| 1499 |
|
|---|
| 1500 | UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
|
|---|
| 1501 | {
|
|---|
| 1502 | TCB_t const *pxTCB;
|
|---|
| 1503 | UBaseType_t uxReturn, uxSavedInterruptState;
|
|---|
| 1504 |
|
|---|
| 1505 | /* RTOS ports that support interrupt nesting have the concept of a
|
|---|
| 1506 | maximum system call (or maximum API call) interrupt priority.
|
|---|
| 1507 | Interrupts that are above the maximum system call priority are keep
|
|---|
| 1508 | permanently enabled, even when the RTOS kernel is in a critical section,
|
|---|
| 1509 | but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|---|
| 1510 | is defined in FreeRTOSConfig.h then
|
|---|
| 1511 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|---|
| 1512 | failure if a FreeRTOS API function is called from an interrupt that has
|
|---|
| 1513 | been assigned a priority above the configured maximum system call
|
|---|
| 1514 | priority. Only FreeRTOS functions that end in FromISR can be called
|
|---|
| 1515 | from interrupts that have been assigned a priority at or (logically)
|
|---|
| 1516 | below the maximum system call interrupt priority. FreeRTOS maintains a
|
|---|
| 1517 | separate interrupt safe API to ensure interrupt entry is as fast and as
|
|---|
| 1518 | simple as possible. More information (albeit Cortex-M specific) is
|
|---|
| 1519 | provided on the following link:
|
|---|
| 1520 | https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|---|
| 1521 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|---|
| 1522 |
|
|---|
| 1523 | uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 1524 | {
|
|---|
| 1525 | /* If null is passed in here then it is the priority of the calling
|
|---|
| 1526 | task that is being queried. */
|
|---|
| 1527 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 1528 | uxReturn = pxTCB->uxPriority;
|
|---|
| 1529 | }
|
|---|
| 1530 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
|
|---|
| 1531 |
|
|---|
| 1532 | return uxReturn;
|
|---|
| 1533 | }
|
|---|
| 1534 |
|
|---|
| 1535 | #endif /* INCLUDE_uxTaskPriorityGet */
|
|---|
| 1536 | /*-----------------------------------------------------------*/
|
|---|
| 1537 |
|
|---|
| 1538 | #if ( INCLUDE_vTaskPrioritySet == 1 )
|
|---|
| 1539 |
|
|---|
| 1540 | void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
|
|---|
| 1541 | {
|
|---|
| 1542 | TCB_t *pxTCB;
|
|---|
| 1543 | UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
|
|---|
| 1544 | BaseType_t xYieldRequired = pdFALSE;
|
|---|
| 1545 |
|
|---|
| 1546 | configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
|
|---|
| 1547 |
|
|---|
| 1548 | /* Ensure the new priority is valid. */
|
|---|
| 1549 | if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
|
|---|
| 1550 | {
|
|---|
| 1551 | uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
|
|---|
| 1552 | }
|
|---|
| 1553 | else
|
|---|
| 1554 | {
|
|---|
| 1555 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1556 | }
|
|---|
| 1557 |
|
|---|
| 1558 | taskENTER_CRITICAL();
|
|---|
| 1559 | {
|
|---|
| 1560 | /* If null is passed in here then it is the priority of the calling
|
|---|
| 1561 | task that is being changed. */
|
|---|
| 1562 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 1563 |
|
|---|
| 1564 | traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
|
|---|
| 1565 |
|
|---|
| 1566 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 1567 | {
|
|---|
| 1568 | uxCurrentBasePriority = pxTCB->uxBasePriority;
|
|---|
| 1569 | }
|
|---|
| 1570 | #else
|
|---|
| 1571 | {
|
|---|
| 1572 | uxCurrentBasePriority = pxTCB->uxPriority;
|
|---|
| 1573 | }
|
|---|
| 1574 | #endif
|
|---|
| 1575 |
|
|---|
| 1576 | if( uxCurrentBasePriority != uxNewPriority )
|
|---|
| 1577 | {
|
|---|
| 1578 | /* The priority change may have readied a task of higher
|
|---|
| 1579 | priority than the calling task. */
|
|---|
| 1580 | if( uxNewPriority > uxCurrentBasePriority )
|
|---|
| 1581 | {
|
|---|
| 1582 | if( pxTCB != pxCurrentTCB )
|
|---|
| 1583 | {
|
|---|
| 1584 | /* The priority of a task other than the currently
|
|---|
| 1585 | running task is being raised. Is the priority being
|
|---|
| 1586 | raised above that of the running task? */
|
|---|
| 1587 | if( uxNewPriority >= pxCurrentTCB->uxPriority )
|
|---|
| 1588 | {
|
|---|
| 1589 | xYieldRequired = pdTRUE;
|
|---|
| 1590 | }
|
|---|
| 1591 | else
|
|---|
| 1592 | {
|
|---|
| 1593 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1594 | }
|
|---|
| 1595 | }
|
|---|
| 1596 | else
|
|---|
| 1597 | {
|
|---|
| 1598 | /* The priority of the running task is being raised,
|
|---|
| 1599 | but the running task must already be the highest
|
|---|
| 1600 | priority task able to run so no yield is required. */
|
|---|
| 1601 | }
|
|---|
| 1602 | }
|
|---|
| 1603 | else if( pxTCB == pxCurrentTCB )
|
|---|
| 1604 | {
|
|---|
| 1605 | /* Setting the priority of the running task down means
|
|---|
| 1606 | there may now be another task of higher priority that
|
|---|
| 1607 | is ready to execute. */
|
|---|
| 1608 | xYieldRequired = pdTRUE;
|
|---|
| 1609 | }
|
|---|
| 1610 | else
|
|---|
| 1611 | {
|
|---|
| 1612 | /* Setting the priority of any other task down does not
|
|---|
| 1613 | require a yield as the running task must be above the
|
|---|
| 1614 | new priority of the task being modified. */
|
|---|
| 1615 | }
|
|---|
| 1616 |
|
|---|
| 1617 | /* Remember the ready list the task might be referenced from
|
|---|
| 1618 | before its uxPriority member is changed so the
|
|---|
| 1619 | taskRESET_READY_PRIORITY() macro can function correctly. */
|
|---|
| 1620 | uxPriorityUsedOnEntry = pxTCB->uxPriority;
|
|---|
| 1621 |
|
|---|
| 1622 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 1623 | {
|
|---|
| 1624 | /* Only change the priority being used if the task is not
|
|---|
| 1625 | currently using an inherited priority. */
|
|---|
| 1626 | if( pxTCB->uxBasePriority == pxTCB->uxPriority )
|
|---|
| 1627 | {
|
|---|
| 1628 | pxTCB->uxPriority = uxNewPriority;
|
|---|
| 1629 | }
|
|---|
| 1630 | else
|
|---|
| 1631 | {
|
|---|
| 1632 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1633 | }
|
|---|
| 1634 |
|
|---|
| 1635 | /* The base priority gets set whatever. */
|
|---|
| 1636 | pxTCB->uxBasePriority = uxNewPriority;
|
|---|
| 1637 | }
|
|---|
| 1638 | #else
|
|---|
| 1639 | {
|
|---|
| 1640 | pxTCB->uxPriority = uxNewPriority;
|
|---|
| 1641 | }
|
|---|
| 1642 | #endif
|
|---|
| 1643 |
|
|---|
| 1644 | /* Only reset the event list item value if the value is not
|
|---|
| 1645 | being used for anything else. */
|
|---|
| 1646 | if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|---|
| 1647 | {
|
|---|
| 1648 | listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|---|
| 1649 | }
|
|---|
| 1650 | else
|
|---|
| 1651 | {
|
|---|
| 1652 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1653 | }
|
|---|
| 1654 |
|
|---|
| 1655 | /* If the task is in the blocked or suspended list we need do
|
|---|
| 1656 | nothing more than change its priority variable. However, if
|
|---|
| 1657 | the task is in a ready list it needs to be removed and placed
|
|---|
| 1658 | in the list appropriate to its new priority. */
|
|---|
| 1659 | if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|---|
| 1660 | {
|
|---|
| 1661 | /* The task is currently in its ready list - remove before
|
|---|
| 1662 | adding it to it's new ready list. As we are in a critical
|
|---|
| 1663 | section we can do this even if the scheduler is suspended. */
|
|---|
| 1664 | if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 1665 | {
|
|---|
| 1666 | /* It is known that the task is in its ready list so
|
|---|
| 1667 | there is no need to check again and the port level
|
|---|
| 1668 | reset macro can be called directly. */
|
|---|
| 1669 | portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
|
|---|
| 1670 | }
|
|---|
| 1671 | else
|
|---|
| 1672 | {
|
|---|
| 1673 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1674 | }
|
|---|
| 1675 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 1676 | }
|
|---|
| 1677 | else
|
|---|
| 1678 | {
|
|---|
| 1679 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1680 | }
|
|---|
| 1681 |
|
|---|
| 1682 | if( xYieldRequired != pdFALSE )
|
|---|
| 1683 | {
|
|---|
| 1684 | taskYIELD_IF_USING_PREEMPTION();
|
|---|
| 1685 | }
|
|---|
| 1686 | else
|
|---|
| 1687 | {
|
|---|
| 1688 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1689 | }
|
|---|
| 1690 |
|
|---|
| 1691 | /* Remove compiler warning about unused variables when the port
|
|---|
| 1692 | optimised task selection is not being used. */
|
|---|
| 1693 | ( void ) uxPriorityUsedOnEntry;
|
|---|
| 1694 | }
|
|---|
| 1695 | }
|
|---|
| 1696 | taskEXIT_CRITICAL();
|
|---|
| 1697 | }
|
|---|
| 1698 |
|
|---|
| 1699 | #endif /* INCLUDE_vTaskPrioritySet */
|
|---|
| 1700 | /*-----------------------------------------------------------*/
|
|---|
| 1701 |
|
|---|
| 1702 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 1703 |
|
|---|
| 1704 | void vTaskSuspend( TaskHandle_t xTaskToSuspend )
|
|---|
| 1705 | {
|
|---|
| 1706 | TCB_t *pxTCB;
|
|---|
| 1707 |
|
|---|
| 1708 | taskENTER_CRITICAL();
|
|---|
| 1709 | {
|
|---|
| 1710 | /* If null is passed in here then it is the running task that is
|
|---|
| 1711 | being suspended. */
|
|---|
| 1712 | pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
|
|---|
| 1713 |
|
|---|
| 1714 | traceTASK_SUSPEND( pxTCB );
|
|---|
| 1715 |
|
|---|
| 1716 | /* Remove task from the ready/delayed list and place in the
|
|---|
| 1717 | suspended list. */
|
|---|
| 1718 | if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 1719 | {
|
|---|
| 1720 | taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|---|
| 1721 | }
|
|---|
| 1722 | else
|
|---|
| 1723 | {
|
|---|
| 1724 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1725 | }
|
|---|
| 1726 |
|
|---|
| 1727 | /* Is the task waiting on an event also? */
|
|---|
| 1728 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|---|
| 1729 | {
|
|---|
| 1730 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|---|
| 1731 | }
|
|---|
| 1732 | else
|
|---|
| 1733 | {
|
|---|
| 1734 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1735 | }
|
|---|
| 1736 |
|
|---|
| 1737 | vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
|
|---|
| 1738 |
|
|---|
| 1739 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 1740 | {
|
|---|
| 1741 | if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
|
|---|
| 1742 | {
|
|---|
| 1743 | /* The task was blocked to wait for a notification, but is
|
|---|
| 1744 | now suspended, so no notification was received. */
|
|---|
| 1745 | pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|---|
| 1746 | }
|
|---|
| 1747 | }
|
|---|
| 1748 | #endif
|
|---|
| 1749 | }
|
|---|
| 1750 | taskEXIT_CRITICAL();
|
|---|
| 1751 |
|
|---|
| 1752 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 1753 | {
|
|---|
| 1754 | /* Reset the next expected unblock time in case it referred to the
|
|---|
| 1755 | task that is now in the Suspended state. */
|
|---|
| 1756 | taskENTER_CRITICAL();
|
|---|
| 1757 | {
|
|---|
| 1758 | prvResetNextTaskUnblockTime();
|
|---|
| 1759 | }
|
|---|
| 1760 | taskEXIT_CRITICAL();
|
|---|
| 1761 | }
|
|---|
| 1762 | else
|
|---|
| 1763 | {
|
|---|
| 1764 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1765 | }
|
|---|
| 1766 |
|
|---|
| 1767 | if( pxTCB == pxCurrentTCB )
|
|---|
| 1768 | {
|
|---|
| 1769 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 1770 | {
|
|---|
| 1771 | /* The current task has just been suspended. */
|
|---|
| 1772 | configASSERT( uxSchedulerSuspended == 0 );
|
|---|
| 1773 | portYIELD_WITHIN_API();
|
|---|
| 1774 | }
|
|---|
| 1775 | else
|
|---|
| 1776 | {
|
|---|
| 1777 | /* The scheduler is not running, but the task that was pointed
|
|---|
| 1778 | to by pxCurrentTCB has just been suspended and pxCurrentTCB
|
|---|
| 1779 | must be adjusted to point to a different task. */
|
|---|
| 1780 | if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
|
|---|
| 1781 | {
|
|---|
| 1782 | /* No other tasks are ready, so set pxCurrentTCB back to
|
|---|
| 1783 | NULL so when the next task is created pxCurrentTCB will
|
|---|
| 1784 | be set to point to it no matter what its relative priority
|
|---|
| 1785 | is. */
|
|---|
| 1786 | pxCurrentTCB = NULL;
|
|---|
| 1787 | }
|
|---|
| 1788 | else
|
|---|
| 1789 | {
|
|---|
| 1790 | vTaskSwitchContext();
|
|---|
| 1791 | }
|
|---|
| 1792 | }
|
|---|
| 1793 | }
|
|---|
| 1794 | else
|
|---|
| 1795 | {
|
|---|
| 1796 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1797 | }
|
|---|
| 1798 | }
|
|---|
| 1799 |
|
|---|
| 1800 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 1801 | /*-----------------------------------------------------------*/
|
|---|
| 1802 |
|
|---|
| 1803 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 1804 |
|
|---|
| 1805 | static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
|
|---|
| 1806 | {
|
|---|
| 1807 | BaseType_t xReturn = pdFALSE;
|
|---|
| 1808 | const TCB_t * const pxTCB = xTask;
|
|---|
| 1809 |
|
|---|
| 1810 | /* Accesses xPendingReadyList so must be called from a critical
|
|---|
| 1811 | section. */
|
|---|
| 1812 |
|
|---|
| 1813 | /* It does not make sense to check if the calling task is suspended. */
|
|---|
| 1814 | configASSERT( xTask );
|
|---|
| 1815 |
|
|---|
| 1816 | /* Is the task being resumed actually in the suspended list? */
|
|---|
| 1817 | if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|---|
| 1818 | {
|
|---|
| 1819 | /* Has the task already been resumed from within an ISR? */
|
|---|
| 1820 | if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
|
|---|
| 1821 | {
|
|---|
| 1822 | /* Is it in the suspended list because it is in the Suspended
|
|---|
| 1823 | state, or because is is blocked with no timeout? */
|
|---|
| 1824 | if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
|
|---|
| 1825 | {
|
|---|
| 1826 | xReturn = pdTRUE;
|
|---|
| 1827 | }
|
|---|
| 1828 | else
|
|---|
| 1829 | {
|
|---|
| 1830 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1831 | }
|
|---|
| 1832 | }
|
|---|
| 1833 | else
|
|---|
| 1834 | {
|
|---|
| 1835 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1836 | }
|
|---|
| 1837 | }
|
|---|
| 1838 | else
|
|---|
| 1839 | {
|
|---|
| 1840 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1841 | }
|
|---|
| 1842 |
|
|---|
| 1843 | return xReturn;
|
|---|
| 1844 | } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
|
|---|
| 1845 |
|
|---|
| 1846 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 1847 | /*-----------------------------------------------------------*/
|
|---|
| 1848 |
|
|---|
| 1849 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 1850 |
|
|---|
| 1851 | void vTaskResume( TaskHandle_t xTaskToResume )
|
|---|
| 1852 | {
|
|---|
| 1853 | TCB_t * const pxTCB = xTaskToResume;
|
|---|
| 1854 |
|
|---|
| 1855 | /* It does not make sense to resume the calling task. */
|
|---|
| 1856 | configASSERT( xTaskToResume );
|
|---|
| 1857 |
|
|---|
| 1858 | /* The parameter cannot be NULL as it is impossible to resume the
|
|---|
| 1859 | currently executing task. */
|
|---|
| 1860 | if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
|
|---|
| 1861 | {
|
|---|
| 1862 | taskENTER_CRITICAL();
|
|---|
| 1863 | {
|
|---|
| 1864 | if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
|
|---|
| 1865 | {
|
|---|
| 1866 | traceTASK_RESUME( pxTCB );
|
|---|
| 1867 |
|
|---|
| 1868 | /* The ready list can be accessed even if the scheduler is
|
|---|
| 1869 | suspended because this is inside a critical section. */
|
|---|
| 1870 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 1871 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 1872 |
|
|---|
| 1873 | /* A higher priority task may have just been resumed. */
|
|---|
| 1874 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|---|
| 1875 | {
|
|---|
| 1876 | /* This yield may not cause the task just resumed to run,
|
|---|
| 1877 | but will leave the lists in the correct state for the
|
|---|
| 1878 | next yield. */
|
|---|
| 1879 | taskYIELD_IF_USING_PREEMPTION();
|
|---|
| 1880 | }
|
|---|
| 1881 | else
|
|---|
| 1882 | {
|
|---|
| 1883 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1884 | }
|
|---|
| 1885 | }
|
|---|
| 1886 | else
|
|---|
| 1887 | {
|
|---|
| 1888 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1889 | }
|
|---|
| 1890 | }
|
|---|
| 1891 | taskEXIT_CRITICAL();
|
|---|
| 1892 | }
|
|---|
| 1893 | else
|
|---|
| 1894 | {
|
|---|
| 1895 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1896 | }
|
|---|
| 1897 | }
|
|---|
| 1898 |
|
|---|
| 1899 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 1900 |
|
|---|
| 1901 | /*-----------------------------------------------------------*/
|
|---|
| 1902 |
|
|---|
| 1903 | #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
|---|
| 1904 |
|
|---|
| 1905 | BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
|
|---|
| 1906 | {
|
|---|
| 1907 | BaseType_t xYieldRequired = pdFALSE;
|
|---|
| 1908 | TCB_t * const pxTCB = xTaskToResume;
|
|---|
| 1909 | UBaseType_t uxSavedInterruptStatus;
|
|---|
| 1910 |
|
|---|
| 1911 | configASSERT( xTaskToResume );
|
|---|
| 1912 |
|
|---|
| 1913 | /* RTOS ports that support interrupt nesting have the concept of a
|
|---|
| 1914 | maximum system call (or maximum API call) interrupt priority.
|
|---|
| 1915 | Interrupts that are above the maximum system call priority are keep
|
|---|
| 1916 | permanently enabled, even when the RTOS kernel is in a critical section,
|
|---|
| 1917 | but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|---|
| 1918 | is defined in FreeRTOSConfig.h then
|
|---|
| 1919 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|---|
| 1920 | failure if a FreeRTOS API function is called from an interrupt that has
|
|---|
| 1921 | been assigned a priority above the configured maximum system call
|
|---|
| 1922 | priority. Only FreeRTOS functions that end in FromISR can be called
|
|---|
| 1923 | from interrupts that have been assigned a priority at or (logically)
|
|---|
| 1924 | below the maximum system call interrupt priority. FreeRTOS maintains a
|
|---|
| 1925 | separate interrupt safe API to ensure interrupt entry is as fast and as
|
|---|
| 1926 | simple as possible. More information (albeit Cortex-M specific) is
|
|---|
| 1927 | provided on the following link:
|
|---|
| 1928 | https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|---|
| 1929 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|---|
| 1930 |
|
|---|
| 1931 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 1932 | {
|
|---|
| 1933 | if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
|
|---|
| 1934 | {
|
|---|
| 1935 | traceTASK_RESUME_FROM_ISR( pxTCB );
|
|---|
| 1936 |
|
|---|
| 1937 | /* Check the ready lists can be accessed. */
|
|---|
| 1938 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 1939 | {
|
|---|
| 1940 | /* Ready lists can be accessed so move the task from the
|
|---|
| 1941 | suspended list to the ready list directly. */
|
|---|
| 1942 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|---|
| 1943 | {
|
|---|
| 1944 | xYieldRequired = pdTRUE;
|
|---|
| 1945 | }
|
|---|
| 1946 | else
|
|---|
| 1947 | {
|
|---|
| 1948 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1949 | }
|
|---|
| 1950 |
|
|---|
| 1951 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 1952 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 1953 | }
|
|---|
| 1954 | else
|
|---|
| 1955 | {
|
|---|
| 1956 | /* The delayed or ready lists cannot be accessed so the task
|
|---|
| 1957 | is held in the pending ready list until the scheduler is
|
|---|
| 1958 | unsuspended. */
|
|---|
| 1959 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|---|
| 1960 | }
|
|---|
| 1961 | }
|
|---|
| 1962 | else
|
|---|
| 1963 | {
|
|---|
| 1964 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 1965 | }
|
|---|
| 1966 | }
|
|---|
| 1967 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|---|
| 1968 |
|
|---|
| 1969 | return xYieldRequired;
|
|---|
| 1970 | }
|
|---|
| 1971 |
|
|---|
| 1972 | #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
|
|---|
| 1973 | /*-----------------------------------------------------------*/
|
|---|
| 1974 |
|
|---|
| 1975 | void vTaskStartScheduler( void )
|
|---|
| 1976 | {
|
|---|
| 1977 | BaseType_t xReturn;
|
|---|
| 1978 |
|
|---|
| 1979 | /* Add the idle task at the lowest priority. */
|
|---|
| 1980 | #if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|---|
| 1981 | {
|
|---|
| 1982 | StaticTask_t *pxIdleTaskTCBBuffer = NULL;
|
|---|
| 1983 | StackType_t *pxIdleTaskStackBuffer = NULL;
|
|---|
| 1984 | uint32_t ulIdleTaskStackSize;
|
|---|
| 1985 |
|
|---|
| 1986 | /* The Idle task is created using user provided RAM - obtain the
|
|---|
| 1987 | address of the RAM then create the idle task. */
|
|---|
| 1988 | vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
|
|---|
| 1989 | xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
|
|---|
| 1990 | configIDLE_TASK_NAME,
|
|---|
| 1991 | ulIdleTaskStackSize,
|
|---|
| 1992 | ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
|
|---|
| 1993 | portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
|---|
| 1994 | pxIdleTaskStackBuffer,
|
|---|
| 1995 | pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|---|
| 1996 |
|
|---|
| 1997 | if( xIdleTaskHandle != NULL )
|
|---|
| 1998 | {
|
|---|
| 1999 | xReturn = pdPASS;
|
|---|
| 2000 | }
|
|---|
| 2001 | else
|
|---|
| 2002 | {
|
|---|
| 2003 | xReturn = pdFAIL;
|
|---|
| 2004 | }
|
|---|
| 2005 | }
|
|---|
| 2006 | #else
|
|---|
| 2007 | {
|
|---|
| 2008 | /* The Idle task is being created using dynamically allocated RAM. */
|
|---|
| 2009 | xReturn = xTaskCreate( prvIdleTask,
|
|---|
| 2010 | configIDLE_TASK_NAME,
|
|---|
| 2011 | configMINIMAL_STACK_SIZE,
|
|---|
| 2012 | ( void * ) NULL,
|
|---|
| 2013 | portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
|
|---|
| 2014 | &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|---|
| 2015 | }
|
|---|
| 2016 | #endif /* configSUPPORT_STATIC_ALLOCATION */
|
|---|
| 2017 |
|
|---|
| 2018 | #if ( configUSE_TIMERS == 1 )
|
|---|
| 2019 | {
|
|---|
| 2020 | if( xReturn == pdPASS )
|
|---|
| 2021 | {
|
|---|
| 2022 | xReturn = xTimerCreateTimerTask();
|
|---|
| 2023 | }
|
|---|
| 2024 | else
|
|---|
| 2025 | {
|
|---|
| 2026 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2027 | }
|
|---|
| 2028 | }
|
|---|
| 2029 | #endif /* configUSE_TIMERS */
|
|---|
| 2030 |
|
|---|
| 2031 | if( xReturn == pdPASS )
|
|---|
| 2032 | {
|
|---|
| 2033 | /* freertos_tasks_c_additions_init() should only be called if the user
|
|---|
| 2034 | definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
|
|---|
| 2035 | the only macro called by the function. */
|
|---|
| 2036 | #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|---|
| 2037 | {
|
|---|
| 2038 | freertos_tasks_c_additions_init();
|
|---|
| 2039 | }
|
|---|
| 2040 | #endif
|
|---|
| 2041 |
|
|---|
| 2042 | /* Interrupts are turned off here, to ensure a tick does not occur
|
|---|
| 2043 | before or during the call to xPortStartScheduler(). The stacks of
|
|---|
| 2044 | the created tasks contain a status word with interrupts switched on
|
|---|
| 2045 | so interrupts will automatically get re-enabled when the first task
|
|---|
| 2046 | starts to run. */
|
|---|
| 2047 | portDISABLE_INTERRUPTS();
|
|---|
| 2048 |
|
|---|
| 2049 | #if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|---|
| 2050 | {
|
|---|
| 2051 | /* Switch Newlib's _impure_ptr variable to point to the _reent
|
|---|
| 2052 | structure specific to the task that will run first.
|
|---|
| 2053 | See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|---|
| 2054 | for additional information. */
|
|---|
| 2055 | _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
|
|---|
| 2056 | }
|
|---|
| 2057 | #endif /* configUSE_NEWLIB_REENTRANT */
|
|---|
| 2058 |
|
|---|
| 2059 | xNextTaskUnblockTime = portMAX_DELAY;
|
|---|
| 2060 | xSchedulerRunning = pdTRUE;
|
|---|
| 2061 | xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
|
|---|
| 2062 |
|
|---|
| 2063 | /* If configGENERATE_RUN_TIME_STATS is defined then the following
|
|---|
| 2064 | macro must be defined to configure the timer/counter used to generate
|
|---|
| 2065 | the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
|
|---|
| 2066 | is set to 0 and the following line fails to build then ensure you do not
|
|---|
| 2067 | have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
|
|---|
| 2068 | FreeRTOSConfig.h file. */
|
|---|
| 2069 | portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
|
|---|
| 2070 |
|
|---|
| 2071 | traceTASK_SWITCHED_IN();
|
|---|
| 2072 |
|
|---|
| 2073 | /* Setting up the timer tick is hardware specific and thus in the
|
|---|
| 2074 | portable interface. */
|
|---|
| 2075 | if( xPortStartScheduler() != pdFALSE )
|
|---|
| 2076 | {
|
|---|
| 2077 | /* Should not reach here as if the scheduler is running the
|
|---|
| 2078 | function will not return. */
|
|---|
| 2079 | }
|
|---|
| 2080 | else
|
|---|
| 2081 | {
|
|---|
| 2082 | /* Should only reach here if a task calls xTaskEndScheduler(). */
|
|---|
| 2083 | }
|
|---|
| 2084 | }
|
|---|
| 2085 | else
|
|---|
| 2086 | {
|
|---|
| 2087 | /* This line will only be reached if the kernel could not be started,
|
|---|
| 2088 | because there was not enough FreeRTOS heap to create the idle task
|
|---|
| 2089 | or the timer task. */
|
|---|
| 2090 | configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
|
|---|
| 2091 | }
|
|---|
| 2092 |
|
|---|
| 2093 | /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
|
|---|
| 2094 | meaning xIdleTaskHandle is not used anywhere else. */
|
|---|
| 2095 | ( void ) xIdleTaskHandle;
|
|---|
| 2096 | }
|
|---|
| 2097 | /*-----------------------------------------------------------*/
|
|---|
| 2098 |
|
|---|
| 2099 | void vTaskEndScheduler( void )
|
|---|
| 2100 | {
|
|---|
| 2101 | /* Stop the scheduler interrupts and call the portable scheduler end
|
|---|
| 2102 | routine so the original ISRs can be restored if necessary. The port
|
|---|
| 2103 | layer must ensure interrupts enable bit is left in the correct state. */
|
|---|
| 2104 | portDISABLE_INTERRUPTS();
|
|---|
| 2105 | xSchedulerRunning = pdFALSE;
|
|---|
| 2106 | vPortEndScheduler();
|
|---|
| 2107 | }
|
|---|
| 2108 | /*----------------------------------------------------------*/
|
|---|
| 2109 |
|
|---|
| 2110 | void vTaskSuspendAll( void )
|
|---|
| 2111 | {
|
|---|
| 2112 | /* A critical section is not required as the variable is of type
|
|---|
| 2113 | BaseType_t. Please read Richard Barry's reply in the following link to a
|
|---|
| 2114 | post in the FreeRTOS support forum before reporting this as a bug! -
|
|---|
| 2115 | http://goo.gl/wu4acr */
|
|---|
| 2116 |
|
|---|
| 2117 | /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
|
|---|
| 2118 | do not otherwise exhibit real time behaviour. */
|
|---|
| 2119 | portSOFTWARE_BARRIER();
|
|---|
| 2120 |
|
|---|
| 2121 | /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
|
|---|
| 2122 | is used to allow calls to vTaskSuspendAll() to nest. */
|
|---|
| 2123 | ++uxSchedulerSuspended;
|
|---|
| 2124 |
|
|---|
| 2125 | /* Enforces ordering for ports and optimised compilers that may otherwise place
|
|---|
| 2126 | the above increment elsewhere. */
|
|---|
| 2127 | portMEMORY_BARRIER();
|
|---|
| 2128 | }
|
|---|
| 2129 | /*----------------------------------------------------------*/
|
|---|
| 2130 |
|
|---|
| 2131 | #if ( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 2132 |
|
|---|
| 2133 | static TickType_t prvGetExpectedIdleTime( void )
|
|---|
| 2134 | {
|
|---|
| 2135 | TickType_t xReturn;
|
|---|
| 2136 | UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
|
|---|
| 2137 |
|
|---|
| 2138 | /* uxHigherPriorityReadyTasks takes care of the case where
|
|---|
| 2139 | configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
|
|---|
| 2140 | task that are in the Ready state, even though the idle task is
|
|---|
| 2141 | running. */
|
|---|
| 2142 | #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
|
|---|
| 2143 | {
|
|---|
| 2144 | if( uxTopReadyPriority > tskIDLE_PRIORITY )
|
|---|
| 2145 | {
|
|---|
| 2146 | uxHigherPriorityReadyTasks = pdTRUE;
|
|---|
| 2147 | }
|
|---|
| 2148 | }
|
|---|
| 2149 | #else
|
|---|
| 2150 | {
|
|---|
| 2151 | const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
|
|---|
| 2152 |
|
|---|
| 2153 | /* When port optimised task selection is used the uxTopReadyPriority
|
|---|
| 2154 | variable is used as a bit map. If bits other than the least
|
|---|
| 2155 | significant bit are set then there are tasks that have a priority
|
|---|
| 2156 | above the idle priority that are in the Ready state. This takes
|
|---|
| 2157 | care of the case where the co-operative scheduler is in use. */
|
|---|
| 2158 | if( uxTopReadyPriority > uxLeastSignificantBit )
|
|---|
| 2159 | {
|
|---|
| 2160 | uxHigherPriorityReadyTasks = pdTRUE;
|
|---|
| 2161 | }
|
|---|
| 2162 | }
|
|---|
| 2163 | #endif
|
|---|
| 2164 |
|
|---|
| 2165 | if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
|
|---|
| 2166 | {
|
|---|
| 2167 | xReturn = 0;
|
|---|
| 2168 | }
|
|---|
| 2169 | else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
|
|---|
| 2170 | {
|
|---|
| 2171 | /* There are other idle priority tasks in the ready state. If
|
|---|
| 2172 | time slicing is used then the very next tick interrupt must be
|
|---|
| 2173 | processed. */
|
|---|
| 2174 | xReturn = 0;
|
|---|
| 2175 | }
|
|---|
| 2176 | else if( uxHigherPriorityReadyTasks != pdFALSE )
|
|---|
| 2177 | {
|
|---|
| 2178 | /* There are tasks in the Ready state that have a priority above the
|
|---|
| 2179 | idle priority. This path can only be reached if
|
|---|
| 2180 | configUSE_PREEMPTION is 0. */
|
|---|
| 2181 | xReturn = 0;
|
|---|
| 2182 | }
|
|---|
| 2183 | else
|
|---|
| 2184 | {
|
|---|
| 2185 | xReturn = xNextTaskUnblockTime - xTickCount;
|
|---|
| 2186 | }
|
|---|
| 2187 |
|
|---|
| 2188 | return xReturn;
|
|---|
| 2189 | }
|
|---|
| 2190 |
|
|---|
| 2191 | #endif /* configUSE_TICKLESS_IDLE */
|
|---|
| 2192 | /*----------------------------------------------------------*/
|
|---|
| 2193 |
|
|---|
| 2194 | BaseType_t xTaskResumeAll( void )
|
|---|
| 2195 | {
|
|---|
| 2196 | TCB_t *pxTCB = NULL;
|
|---|
| 2197 | BaseType_t xAlreadyYielded = pdFALSE;
|
|---|
| 2198 |
|
|---|
| 2199 | /* If uxSchedulerSuspended is zero then this function does not match a
|
|---|
| 2200 | previous call to vTaskSuspendAll(). */
|
|---|
| 2201 | configASSERT( uxSchedulerSuspended );
|
|---|
| 2202 |
|
|---|
| 2203 | /* It is possible that an ISR caused a task to be removed from an event
|
|---|
| 2204 | list while the scheduler was suspended. If this was the case then the
|
|---|
| 2205 | removed task will have been added to the xPendingReadyList. Once the
|
|---|
| 2206 | scheduler has been resumed it is safe to move all the pending ready
|
|---|
| 2207 | tasks from this list into their appropriate ready list. */
|
|---|
| 2208 | taskENTER_CRITICAL();
|
|---|
| 2209 | {
|
|---|
| 2210 | --uxSchedulerSuspended;
|
|---|
| 2211 |
|
|---|
| 2212 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 2213 | {
|
|---|
| 2214 | if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
|
|---|
| 2215 | {
|
|---|
| 2216 | /* Move any readied tasks from the pending list into the
|
|---|
| 2217 | appropriate ready list. */
|
|---|
| 2218 | while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
|
|---|
| 2219 | {
|
|---|
| 2220 | pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
|
|---|
| 2221 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|---|
| 2222 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 2223 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 2224 |
|
|---|
| 2225 | /* If the moved task has a priority higher than the current
|
|---|
| 2226 | task then a yield must be performed. */
|
|---|
| 2227 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|---|
| 2228 | {
|
|---|
| 2229 | xYieldPending = pdTRUE;
|
|---|
| 2230 | }
|
|---|
| 2231 | else
|
|---|
| 2232 | {
|
|---|
| 2233 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2234 | }
|
|---|
| 2235 | }
|
|---|
| 2236 |
|
|---|
| 2237 | if( pxTCB != NULL )
|
|---|
| 2238 | {
|
|---|
| 2239 | /* A task was unblocked while the scheduler was suspended,
|
|---|
| 2240 | which may have prevented the next unblock time from being
|
|---|
| 2241 | re-calculated, in which case re-calculate it now. Mainly
|
|---|
| 2242 | important for low power tickless implementations, where
|
|---|
| 2243 | this can prevent an unnecessary exit from low power
|
|---|
| 2244 | state. */
|
|---|
| 2245 | prvResetNextTaskUnblockTime();
|
|---|
| 2246 | }
|
|---|
| 2247 |
|
|---|
| 2248 | /* If any ticks occurred while the scheduler was suspended then
|
|---|
| 2249 | they should be processed now. This ensures the tick count does
|
|---|
| 2250 | not slip, and that any delayed tasks are resumed at the correct
|
|---|
| 2251 | time. */
|
|---|
| 2252 | {
|
|---|
| 2253 | TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
|
|---|
| 2254 |
|
|---|
| 2255 | if( xPendedCounts > ( TickType_t ) 0U )
|
|---|
| 2256 | {
|
|---|
| 2257 | do
|
|---|
| 2258 | {
|
|---|
| 2259 | if( xTaskIncrementTick() != pdFALSE )
|
|---|
| 2260 | {
|
|---|
| 2261 | xYieldPending = pdTRUE;
|
|---|
| 2262 | }
|
|---|
| 2263 | else
|
|---|
| 2264 | {
|
|---|
| 2265 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2266 | }
|
|---|
| 2267 | --xPendedCounts;
|
|---|
| 2268 | } while( xPendedCounts > ( TickType_t ) 0U );
|
|---|
| 2269 |
|
|---|
| 2270 | xPendedTicks = 0;
|
|---|
| 2271 | }
|
|---|
| 2272 | else
|
|---|
| 2273 | {
|
|---|
| 2274 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2275 | }
|
|---|
| 2276 | }
|
|---|
| 2277 |
|
|---|
| 2278 | if( xYieldPending != pdFALSE )
|
|---|
| 2279 | {
|
|---|
| 2280 | #if( configUSE_PREEMPTION != 0 )
|
|---|
| 2281 | {
|
|---|
| 2282 | xAlreadyYielded = pdTRUE;
|
|---|
| 2283 | }
|
|---|
| 2284 | #endif
|
|---|
| 2285 | taskYIELD_IF_USING_PREEMPTION();
|
|---|
| 2286 | }
|
|---|
| 2287 | else
|
|---|
| 2288 | {
|
|---|
| 2289 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2290 | }
|
|---|
| 2291 | }
|
|---|
| 2292 | }
|
|---|
| 2293 | else
|
|---|
| 2294 | {
|
|---|
| 2295 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2296 | }
|
|---|
| 2297 | }
|
|---|
| 2298 | taskEXIT_CRITICAL();
|
|---|
| 2299 |
|
|---|
| 2300 | return xAlreadyYielded;
|
|---|
| 2301 | }
|
|---|
| 2302 | /*-----------------------------------------------------------*/
|
|---|
| 2303 |
|
|---|
| 2304 | TickType_t xTaskGetTickCount( void )
|
|---|
| 2305 | {
|
|---|
| 2306 | TickType_t xTicks;
|
|---|
| 2307 |
|
|---|
| 2308 | /* Critical section required if running on a 16 bit processor. */
|
|---|
| 2309 | portTICK_TYPE_ENTER_CRITICAL();
|
|---|
| 2310 | {
|
|---|
| 2311 | xTicks = xTickCount;
|
|---|
| 2312 | }
|
|---|
| 2313 | portTICK_TYPE_EXIT_CRITICAL();
|
|---|
| 2314 |
|
|---|
| 2315 | return xTicks;
|
|---|
| 2316 | }
|
|---|
| 2317 | /*-----------------------------------------------------------*/
|
|---|
| 2318 |
|
|---|
| 2319 | TickType_t xTaskGetTickCountFromISR( void )
|
|---|
| 2320 | {
|
|---|
| 2321 | TickType_t xReturn;
|
|---|
| 2322 | UBaseType_t uxSavedInterruptStatus;
|
|---|
| 2323 |
|
|---|
| 2324 | /* RTOS ports that support interrupt nesting have the concept of a maximum
|
|---|
| 2325 | system call (or maximum API call) interrupt priority. Interrupts that are
|
|---|
| 2326 | above the maximum system call priority are kept permanently enabled, even
|
|---|
| 2327 | when the RTOS kernel is in a critical section, but cannot make any calls to
|
|---|
| 2328 | FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
|
|---|
| 2329 | then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|---|
| 2330 | failure if a FreeRTOS API function is called from an interrupt that has been
|
|---|
| 2331 | assigned a priority above the configured maximum system call priority.
|
|---|
| 2332 | Only FreeRTOS functions that end in FromISR can be called from interrupts
|
|---|
| 2333 | that have been assigned a priority at or (logically) below the maximum
|
|---|
| 2334 | system call interrupt priority. FreeRTOS maintains a separate interrupt
|
|---|
| 2335 | safe API to ensure interrupt entry is as fast and as simple as possible.
|
|---|
| 2336 | More information (albeit Cortex-M specific) is provided on the following
|
|---|
| 2337 | link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|---|
| 2338 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|---|
| 2339 |
|
|---|
| 2340 | uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 2341 | {
|
|---|
| 2342 | xReturn = xTickCount;
|
|---|
| 2343 | }
|
|---|
| 2344 | portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|---|
| 2345 |
|
|---|
| 2346 | return xReturn;
|
|---|
| 2347 | }
|
|---|
| 2348 | /*-----------------------------------------------------------*/
|
|---|
| 2349 |
|
|---|
| 2350 | UBaseType_t uxTaskGetNumberOfTasks( void )
|
|---|
| 2351 | {
|
|---|
| 2352 | /* A critical section is not required because the variables are of type
|
|---|
| 2353 | BaseType_t. */
|
|---|
| 2354 | return uxCurrentNumberOfTasks;
|
|---|
| 2355 | }
|
|---|
| 2356 | /*-----------------------------------------------------------*/
|
|---|
| 2357 |
|
|---|
| 2358 | char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 2359 | {
|
|---|
| 2360 | TCB_t *pxTCB;
|
|---|
| 2361 |
|
|---|
| 2362 | /* If null is passed in here then the name of the calling task is being
|
|---|
| 2363 | queried. */
|
|---|
| 2364 | pxTCB = prvGetTCBFromHandle( xTaskToQuery );
|
|---|
| 2365 | configASSERT( pxTCB );
|
|---|
| 2366 | return &( pxTCB->pcTaskName[ 0 ] );
|
|---|
| 2367 | }
|
|---|
| 2368 | /*-----------------------------------------------------------*/
|
|---|
| 2369 |
|
|---|
| 2370 | #if ( INCLUDE_xTaskGetHandle == 1 )
|
|---|
| 2371 |
|
|---|
| 2372 | static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
|
|---|
| 2373 | {
|
|---|
| 2374 | TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
|
|---|
| 2375 | UBaseType_t x;
|
|---|
| 2376 | char cNextChar;
|
|---|
| 2377 | BaseType_t xBreakLoop;
|
|---|
| 2378 |
|
|---|
| 2379 | /* This function is called with the scheduler suspended. */
|
|---|
| 2380 |
|
|---|
| 2381 | if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
|
|---|
| 2382 | {
|
|---|
| 2383 | 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. */
|
|---|
| 2384 |
|
|---|
| 2385 | do
|
|---|
| 2386 | {
|
|---|
| 2387 | 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. */
|
|---|
| 2388 |
|
|---|
| 2389 | /* Check each character in the name looking for a match or
|
|---|
| 2390 | mismatch. */
|
|---|
| 2391 | xBreakLoop = pdFALSE;
|
|---|
| 2392 | for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
|
|---|
| 2393 | {
|
|---|
| 2394 | cNextChar = pxNextTCB->pcTaskName[ x ];
|
|---|
| 2395 |
|
|---|
| 2396 | if( cNextChar != pcNameToQuery[ x ] )
|
|---|
| 2397 | {
|
|---|
| 2398 | /* Characters didn't match. */
|
|---|
| 2399 | xBreakLoop = pdTRUE;
|
|---|
| 2400 | }
|
|---|
| 2401 | else if( cNextChar == ( char ) 0x00 )
|
|---|
| 2402 | {
|
|---|
| 2403 | /* Both strings terminated, a match must have been
|
|---|
| 2404 | found. */
|
|---|
| 2405 | pxReturn = pxNextTCB;
|
|---|
| 2406 | xBreakLoop = pdTRUE;
|
|---|
| 2407 | }
|
|---|
| 2408 | else
|
|---|
| 2409 | {
|
|---|
| 2410 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2411 | }
|
|---|
| 2412 |
|
|---|
| 2413 | if( xBreakLoop != pdFALSE )
|
|---|
| 2414 | {
|
|---|
| 2415 | break;
|
|---|
| 2416 | }
|
|---|
| 2417 | }
|
|---|
| 2418 |
|
|---|
| 2419 | if( pxReturn != NULL )
|
|---|
| 2420 | {
|
|---|
| 2421 | /* The handle has been found. */
|
|---|
| 2422 | break;
|
|---|
| 2423 | }
|
|---|
| 2424 |
|
|---|
| 2425 | } while( pxNextTCB != pxFirstTCB );
|
|---|
| 2426 | }
|
|---|
| 2427 | else
|
|---|
| 2428 | {
|
|---|
| 2429 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2430 | }
|
|---|
| 2431 |
|
|---|
| 2432 | return pxReturn;
|
|---|
| 2433 | }
|
|---|
| 2434 |
|
|---|
| 2435 | #endif /* INCLUDE_xTaskGetHandle */
|
|---|
| 2436 | /*-----------------------------------------------------------*/
|
|---|
| 2437 |
|
|---|
| 2438 | #if ( INCLUDE_xTaskGetHandle == 1 )
|
|---|
| 2439 |
|
|---|
| 2440 | TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|---|
| 2441 | {
|
|---|
| 2442 | UBaseType_t uxQueue = configMAX_PRIORITIES;
|
|---|
| 2443 | TCB_t* pxTCB;
|
|---|
| 2444 |
|
|---|
| 2445 | /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
|
|---|
| 2446 | configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
|
|---|
| 2447 |
|
|---|
| 2448 | vTaskSuspendAll();
|
|---|
| 2449 | {
|
|---|
| 2450 | /* Search the ready lists. */
|
|---|
| 2451 | do
|
|---|
| 2452 | {
|
|---|
| 2453 | uxQueue--;
|
|---|
| 2454 | pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
|
|---|
| 2455 |
|
|---|
| 2456 | if( pxTCB != NULL )
|
|---|
| 2457 | {
|
|---|
| 2458 | /* Found the handle. */
|
|---|
| 2459 | break;
|
|---|
| 2460 | }
|
|---|
| 2461 |
|
|---|
| 2462 | } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|---|
| 2463 |
|
|---|
| 2464 | /* Search the delayed lists. */
|
|---|
| 2465 | if( pxTCB == NULL )
|
|---|
| 2466 | {
|
|---|
| 2467 | pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
|
|---|
| 2468 | }
|
|---|
| 2469 |
|
|---|
| 2470 | if( pxTCB == NULL )
|
|---|
| 2471 | {
|
|---|
| 2472 | pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
|
|---|
| 2473 | }
|
|---|
| 2474 |
|
|---|
| 2475 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 2476 | {
|
|---|
| 2477 | if( pxTCB == NULL )
|
|---|
| 2478 | {
|
|---|
| 2479 | /* Search the suspended list. */
|
|---|
| 2480 | pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
|
|---|
| 2481 | }
|
|---|
| 2482 | }
|
|---|
| 2483 | #endif
|
|---|
| 2484 |
|
|---|
| 2485 | #if( INCLUDE_vTaskDelete == 1 )
|
|---|
| 2486 | {
|
|---|
| 2487 | if( pxTCB == NULL )
|
|---|
| 2488 | {
|
|---|
| 2489 | /* Search the deleted list. */
|
|---|
| 2490 | pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
|
|---|
| 2491 | }
|
|---|
| 2492 | }
|
|---|
| 2493 | #endif
|
|---|
| 2494 | }
|
|---|
| 2495 | ( void ) xTaskResumeAll();
|
|---|
| 2496 |
|
|---|
| 2497 | return pxTCB;
|
|---|
| 2498 | }
|
|---|
| 2499 |
|
|---|
| 2500 | #endif /* INCLUDE_xTaskGetHandle */
|
|---|
| 2501 | /*-----------------------------------------------------------*/
|
|---|
| 2502 |
|
|---|
| 2503 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 2504 |
|
|---|
| 2505 | UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
|
|---|
| 2506 | {
|
|---|
| 2507 | UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
|
|---|
| 2508 |
|
|---|
| 2509 | vTaskSuspendAll();
|
|---|
| 2510 | {
|
|---|
| 2511 | /* Is there a space in the array for each task in the system? */
|
|---|
| 2512 | if( uxArraySize >= uxCurrentNumberOfTasks )
|
|---|
| 2513 | {
|
|---|
| 2514 | /* Fill in an TaskStatus_t structure with information on each
|
|---|
| 2515 | task in the Ready state. */
|
|---|
| 2516 | do
|
|---|
| 2517 | {
|
|---|
| 2518 | uxQueue--;
|
|---|
| 2519 | uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
|
|---|
| 2520 |
|
|---|
| 2521 | } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|---|
| 2522 |
|
|---|
| 2523 | /* Fill in an TaskStatus_t structure with information on each
|
|---|
| 2524 | task in the Blocked state. */
|
|---|
| 2525 | uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
|
|---|
| 2526 | uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
|
|---|
| 2527 |
|
|---|
| 2528 | #if( INCLUDE_vTaskDelete == 1 )
|
|---|
| 2529 | {
|
|---|
| 2530 | /* Fill in an TaskStatus_t structure with information on
|
|---|
| 2531 | each task that has been deleted but not yet cleaned up. */
|
|---|
| 2532 | uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
|
|---|
| 2533 | }
|
|---|
| 2534 | #endif
|
|---|
| 2535 |
|
|---|
| 2536 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 2537 | {
|
|---|
| 2538 | /* Fill in an TaskStatus_t structure with information on
|
|---|
| 2539 | each task in the Suspended state. */
|
|---|
| 2540 | uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
|
|---|
| 2541 | }
|
|---|
| 2542 | #endif
|
|---|
| 2543 |
|
|---|
| 2544 | #if ( configGENERATE_RUN_TIME_STATS == 1)
|
|---|
| 2545 | {
|
|---|
| 2546 | if( pulTotalRunTime != NULL )
|
|---|
| 2547 | {
|
|---|
| 2548 | #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
|
|---|
| 2549 | portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
|
|---|
| 2550 | #else
|
|---|
| 2551 | *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
|
|---|
| 2552 | #endif
|
|---|
| 2553 | }
|
|---|
| 2554 | }
|
|---|
| 2555 | #else
|
|---|
| 2556 | {
|
|---|
| 2557 | if( pulTotalRunTime != NULL )
|
|---|
| 2558 | {
|
|---|
| 2559 | *pulTotalRunTime = 0;
|
|---|
| 2560 | }
|
|---|
| 2561 | }
|
|---|
| 2562 | #endif
|
|---|
| 2563 | }
|
|---|
| 2564 | else
|
|---|
| 2565 | {
|
|---|
| 2566 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2567 | }
|
|---|
| 2568 | }
|
|---|
| 2569 | ( void ) xTaskResumeAll();
|
|---|
| 2570 |
|
|---|
| 2571 | return uxTask;
|
|---|
| 2572 | }
|
|---|
| 2573 |
|
|---|
| 2574 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 2575 | /*----------------------------------------------------------*/
|
|---|
| 2576 |
|
|---|
| 2577 | #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
|
|---|
| 2578 |
|
|---|
| 2579 | TaskHandle_t xTaskGetIdleTaskHandle( void )
|
|---|
| 2580 | {
|
|---|
| 2581 | /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
|
|---|
| 2582 | started, then xIdleTaskHandle will be NULL. */
|
|---|
| 2583 | configASSERT( ( xIdleTaskHandle != NULL ) );
|
|---|
| 2584 | return xIdleTaskHandle;
|
|---|
| 2585 | }
|
|---|
| 2586 |
|
|---|
| 2587 | #endif /* INCLUDE_xTaskGetIdleTaskHandle */
|
|---|
| 2588 | /*----------------------------------------------------------*/
|
|---|
| 2589 |
|
|---|
| 2590 | /* This conditional compilation should use inequality to 0, not equality to 1.
|
|---|
| 2591 | This is to ensure vTaskStepTick() is available when user defined low power mode
|
|---|
| 2592 | implementations require configUSE_TICKLESS_IDLE to be set to a value other than
|
|---|
| 2593 | 1. */
|
|---|
| 2594 | #if ( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 2595 |
|
|---|
| 2596 | void vTaskStepTick( const TickType_t xTicksToJump )
|
|---|
| 2597 | {
|
|---|
| 2598 | /* Correct the tick count value after a period during which the tick
|
|---|
| 2599 | was suppressed. Note this does *not* call the tick hook function for
|
|---|
| 2600 | each stepped tick. */
|
|---|
| 2601 | configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
|
|---|
| 2602 | xTickCount += xTicksToJump;
|
|---|
| 2603 | traceINCREASE_TICK_COUNT( xTicksToJump );
|
|---|
| 2604 | }
|
|---|
| 2605 |
|
|---|
| 2606 | #endif /* configUSE_TICKLESS_IDLE */
|
|---|
| 2607 | /*----------------------------------------------------------*/
|
|---|
| 2608 |
|
|---|
| 2609 | BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
|
|---|
| 2610 | {
|
|---|
| 2611 | BaseType_t xYieldRequired = pdFALSE;
|
|---|
| 2612 |
|
|---|
| 2613 | /* Must not be called with the scheduler suspended as the implementation
|
|---|
| 2614 | relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
|
|---|
| 2615 | configASSERT( uxSchedulerSuspended == 0 );
|
|---|
| 2616 |
|
|---|
| 2617 | /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
|
|---|
| 2618 | the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
|
|---|
| 2619 | vTaskSuspendAll();
|
|---|
| 2620 | xPendedTicks += xTicksToCatchUp;
|
|---|
| 2621 | xYieldRequired = xTaskResumeAll();
|
|---|
| 2622 |
|
|---|
| 2623 | return xYieldRequired;
|
|---|
| 2624 | }
|
|---|
| 2625 | /*----------------------------------------------------------*/
|
|---|
| 2626 |
|
|---|
| 2627 | #if ( INCLUDE_xTaskAbortDelay == 1 )
|
|---|
| 2628 |
|
|---|
| 2629 | BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
|
|---|
| 2630 | {
|
|---|
| 2631 | TCB_t *pxTCB = xTask;
|
|---|
| 2632 | BaseType_t xReturn;
|
|---|
| 2633 |
|
|---|
| 2634 | configASSERT( pxTCB );
|
|---|
| 2635 |
|
|---|
| 2636 | vTaskSuspendAll();
|
|---|
| 2637 | {
|
|---|
| 2638 | /* A task can only be prematurely removed from the Blocked state if
|
|---|
| 2639 | it is actually in the Blocked state. */
|
|---|
| 2640 | if( eTaskGetState( xTask ) == eBlocked )
|
|---|
| 2641 | {
|
|---|
| 2642 | xReturn = pdPASS;
|
|---|
| 2643 |
|
|---|
| 2644 | /* Remove the reference to the task from the blocked list. An
|
|---|
| 2645 | interrupt won't touch the xStateListItem because the
|
|---|
| 2646 | scheduler is suspended. */
|
|---|
| 2647 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 2648 |
|
|---|
| 2649 | /* Is the task waiting on an event also? If so remove it from
|
|---|
| 2650 | the event list too. Interrupts can touch the event list item,
|
|---|
| 2651 | even though the scheduler is suspended, so a critical section
|
|---|
| 2652 | is used. */
|
|---|
| 2653 | taskENTER_CRITICAL();
|
|---|
| 2654 | {
|
|---|
| 2655 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|---|
| 2656 | {
|
|---|
| 2657 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|---|
| 2658 |
|
|---|
| 2659 | /* This lets the task know it was forcibly removed from the
|
|---|
| 2660 | blocked state so it should not re-evaluate its block time and
|
|---|
| 2661 | then block again. */
|
|---|
| 2662 | pxTCB->ucDelayAborted = pdTRUE;
|
|---|
| 2663 | }
|
|---|
| 2664 | else
|
|---|
| 2665 | {
|
|---|
| 2666 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2667 | }
|
|---|
| 2668 | }
|
|---|
| 2669 | taskEXIT_CRITICAL();
|
|---|
| 2670 |
|
|---|
| 2671 | /* Place the unblocked task into the appropriate ready list. */
|
|---|
| 2672 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 2673 |
|
|---|
| 2674 | /* A task being unblocked cannot cause an immediate context
|
|---|
| 2675 | switch if preemption is turned off. */
|
|---|
| 2676 | #if ( configUSE_PREEMPTION == 1 )
|
|---|
| 2677 | {
|
|---|
| 2678 | /* Preemption is on, but a context switch should only be
|
|---|
| 2679 | performed if the unblocked task has a priority that is
|
|---|
| 2680 | equal to or higher than the currently executing task. */
|
|---|
| 2681 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 2682 | {
|
|---|
| 2683 | /* Pend the yield to be performed when the scheduler
|
|---|
| 2684 | is unsuspended. */
|
|---|
| 2685 | xYieldPending = pdTRUE;
|
|---|
| 2686 | }
|
|---|
| 2687 | else
|
|---|
| 2688 | {
|
|---|
| 2689 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2690 | }
|
|---|
| 2691 | }
|
|---|
| 2692 | #endif /* configUSE_PREEMPTION */
|
|---|
| 2693 | }
|
|---|
| 2694 | else
|
|---|
| 2695 | {
|
|---|
| 2696 | xReturn = pdFAIL;
|
|---|
| 2697 | }
|
|---|
| 2698 | }
|
|---|
| 2699 | ( void ) xTaskResumeAll();
|
|---|
| 2700 |
|
|---|
| 2701 | return xReturn;
|
|---|
| 2702 | }
|
|---|
| 2703 |
|
|---|
| 2704 | #endif /* INCLUDE_xTaskAbortDelay */
|
|---|
| 2705 | /*----------------------------------------------------------*/
|
|---|
| 2706 |
|
|---|
| 2707 | BaseType_t xTaskIncrementTick( void )
|
|---|
| 2708 | {
|
|---|
| 2709 | TCB_t * pxTCB;
|
|---|
| 2710 | TickType_t xItemValue;
|
|---|
| 2711 | BaseType_t xSwitchRequired = pdFALSE;
|
|---|
| 2712 |
|
|---|
| 2713 | /* Called by the portable layer each time a tick interrupt occurs.
|
|---|
| 2714 | Increments the tick then checks to see if the new tick value will cause any
|
|---|
| 2715 | tasks to be unblocked. */
|
|---|
| 2716 | traceTASK_INCREMENT_TICK( xTickCount );
|
|---|
| 2717 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 2718 | {
|
|---|
| 2719 | /* Minor optimisation. The tick count cannot change in this
|
|---|
| 2720 | block. */
|
|---|
| 2721 | const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
|
|---|
| 2722 |
|
|---|
| 2723 | /* Increment the RTOS tick, switching the delayed and overflowed
|
|---|
| 2724 | delayed lists if it wraps to 0. */
|
|---|
| 2725 | xTickCount = xConstTickCount;
|
|---|
| 2726 |
|
|---|
| 2727 | if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
|
|---|
| 2728 | {
|
|---|
| 2729 | taskSWITCH_DELAYED_LISTS();
|
|---|
| 2730 | }
|
|---|
| 2731 | else
|
|---|
| 2732 | {
|
|---|
| 2733 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2734 | }
|
|---|
| 2735 |
|
|---|
| 2736 | /* See if this tick has made a timeout expire. Tasks are stored in
|
|---|
| 2737 | the queue in the order of their wake time - meaning once one task
|
|---|
| 2738 | has been found whose block time has not expired there is no need to
|
|---|
| 2739 | look any further down the list. */
|
|---|
| 2740 | if( xConstTickCount >= xNextTaskUnblockTime )
|
|---|
| 2741 | {
|
|---|
| 2742 | for( ;; )
|
|---|
| 2743 | {
|
|---|
| 2744 | if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
|
|---|
| 2745 | {
|
|---|
| 2746 | /* The delayed list is empty. Set xNextTaskUnblockTime
|
|---|
| 2747 | to the maximum possible value so it is extremely
|
|---|
| 2748 | unlikely that the
|
|---|
| 2749 | if( xTickCount >= xNextTaskUnblockTime ) test will pass
|
|---|
| 2750 | next time through. */
|
|---|
| 2751 | xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|---|
| 2752 | break;
|
|---|
| 2753 | }
|
|---|
| 2754 | else
|
|---|
| 2755 | {
|
|---|
| 2756 | /* The delayed list is not empty, get the value of the
|
|---|
| 2757 | item at the head of the delayed list. This is the time
|
|---|
| 2758 | at which the task at the head of the delayed list must
|
|---|
| 2759 | be removed from the Blocked state. */
|
|---|
| 2760 | 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. */
|
|---|
| 2761 | xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
|
|---|
| 2762 |
|
|---|
| 2763 | if( xConstTickCount < xItemValue )
|
|---|
| 2764 | {
|
|---|
| 2765 | /* It is not time to unblock this item yet, but the
|
|---|
| 2766 | item value is the time at which the task at the head
|
|---|
| 2767 | of the blocked list must be removed from the Blocked
|
|---|
| 2768 | state - so record the item value in
|
|---|
| 2769 | xNextTaskUnblockTime. */
|
|---|
| 2770 | xNextTaskUnblockTime = xItemValue;
|
|---|
| 2771 | break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
|
|---|
| 2772 | }
|
|---|
| 2773 | else
|
|---|
| 2774 | {
|
|---|
| 2775 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2776 | }
|
|---|
| 2777 |
|
|---|
| 2778 | /* It is time to remove the item from the Blocked state. */
|
|---|
| 2779 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 2780 |
|
|---|
| 2781 | /* Is the task waiting on an event also? If so remove
|
|---|
| 2782 | it from the event list. */
|
|---|
| 2783 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|---|
| 2784 | {
|
|---|
| 2785 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|---|
| 2786 | }
|
|---|
| 2787 | else
|
|---|
| 2788 | {
|
|---|
| 2789 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2790 | }
|
|---|
| 2791 |
|
|---|
| 2792 | /* Place the unblocked task into the appropriate ready
|
|---|
| 2793 | list. */
|
|---|
| 2794 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 2795 |
|
|---|
| 2796 | /* A task being unblocked cannot cause an immediate
|
|---|
| 2797 | context switch if preemption is turned off. */
|
|---|
| 2798 | #if ( configUSE_PREEMPTION == 1 )
|
|---|
| 2799 | {
|
|---|
| 2800 | /* Preemption is on, but a context switch should
|
|---|
| 2801 | only be performed if the unblocked task has a
|
|---|
| 2802 | priority that is equal to or higher than the
|
|---|
| 2803 | currently executing task. */
|
|---|
| 2804 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|---|
| 2805 | {
|
|---|
| 2806 | xSwitchRequired = pdTRUE;
|
|---|
| 2807 | }
|
|---|
| 2808 | else
|
|---|
| 2809 | {
|
|---|
| 2810 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2811 | }
|
|---|
| 2812 | }
|
|---|
| 2813 | #endif /* configUSE_PREEMPTION */
|
|---|
| 2814 | }
|
|---|
| 2815 | }
|
|---|
| 2816 | }
|
|---|
| 2817 |
|
|---|
| 2818 | /* Tasks of equal priority to the currently running task will share
|
|---|
| 2819 | processing time (time slice) if preemption is on, and the application
|
|---|
| 2820 | writer has not explicitly turned time slicing off. */
|
|---|
| 2821 | #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
|
|---|
| 2822 | {
|
|---|
| 2823 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
|
|---|
| 2824 | {
|
|---|
| 2825 | xSwitchRequired = pdTRUE;
|
|---|
| 2826 | }
|
|---|
| 2827 | else
|
|---|
| 2828 | {
|
|---|
| 2829 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2830 | }
|
|---|
| 2831 | }
|
|---|
| 2832 | #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
|
|---|
| 2833 |
|
|---|
| 2834 | #if ( configUSE_TICK_HOOK == 1 )
|
|---|
| 2835 | {
|
|---|
| 2836 | /* Guard against the tick hook being called when the pended tick
|
|---|
| 2837 | count is being unwound (when the scheduler is being unlocked). */
|
|---|
| 2838 | if( xPendedTicks == ( TickType_t ) 0 )
|
|---|
| 2839 | {
|
|---|
| 2840 | vApplicationTickHook();
|
|---|
| 2841 | }
|
|---|
| 2842 | else
|
|---|
| 2843 | {
|
|---|
| 2844 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2845 | }
|
|---|
| 2846 | }
|
|---|
| 2847 | #endif /* configUSE_TICK_HOOK */
|
|---|
| 2848 |
|
|---|
| 2849 | #if ( configUSE_PREEMPTION == 1 )
|
|---|
| 2850 | {
|
|---|
| 2851 | if( xYieldPending != pdFALSE )
|
|---|
| 2852 | {
|
|---|
| 2853 | xSwitchRequired = pdTRUE;
|
|---|
| 2854 | }
|
|---|
| 2855 | else
|
|---|
| 2856 | {
|
|---|
| 2857 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 2858 | }
|
|---|
| 2859 | }
|
|---|
| 2860 | #endif /* configUSE_PREEMPTION */
|
|---|
| 2861 | }
|
|---|
| 2862 | else
|
|---|
| 2863 | {
|
|---|
| 2864 | ++xPendedTicks;
|
|---|
| 2865 |
|
|---|
| 2866 | /* The tick hook gets called at regular intervals, even if the
|
|---|
| 2867 | scheduler is locked. */
|
|---|
| 2868 | #if ( configUSE_TICK_HOOK == 1 )
|
|---|
| 2869 | {
|
|---|
| 2870 | vApplicationTickHook();
|
|---|
| 2871 | }
|
|---|
| 2872 | #endif
|
|---|
| 2873 | }
|
|---|
| 2874 |
|
|---|
| 2875 | return xSwitchRequired;
|
|---|
| 2876 | }
|
|---|
| 2877 | /*-----------------------------------------------------------*/
|
|---|
| 2878 |
|
|---|
| 2879 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|---|
| 2880 |
|
|---|
| 2881 | void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
|
|---|
| 2882 | {
|
|---|
| 2883 | TCB_t *xTCB;
|
|---|
| 2884 |
|
|---|
| 2885 | /* If xTask is NULL then it is the task hook of the calling task that is
|
|---|
| 2886 | getting set. */
|
|---|
| 2887 | if( xTask == NULL )
|
|---|
| 2888 | {
|
|---|
| 2889 | xTCB = ( TCB_t * ) pxCurrentTCB;
|
|---|
| 2890 | }
|
|---|
| 2891 | else
|
|---|
| 2892 | {
|
|---|
| 2893 | xTCB = xTask;
|
|---|
| 2894 | }
|
|---|
| 2895 |
|
|---|
| 2896 | /* Save the hook function in the TCB. A critical section is required as
|
|---|
| 2897 | the value can be accessed from an interrupt. */
|
|---|
| 2898 | taskENTER_CRITICAL();
|
|---|
| 2899 | {
|
|---|
| 2900 | xTCB->pxTaskTag = pxHookFunction;
|
|---|
| 2901 | }
|
|---|
| 2902 | taskEXIT_CRITICAL();
|
|---|
| 2903 | }
|
|---|
| 2904 |
|
|---|
| 2905 | #endif /* configUSE_APPLICATION_TASK_TAG */
|
|---|
| 2906 | /*-----------------------------------------------------------*/
|
|---|
| 2907 |
|
|---|
| 2908 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|---|
| 2909 |
|
|---|
| 2910 | TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
|
|---|
| 2911 | {
|
|---|
| 2912 | TCB_t *pxTCB;
|
|---|
| 2913 | TaskHookFunction_t xReturn;
|
|---|
| 2914 |
|
|---|
| 2915 | /* If xTask is NULL then set the calling task's hook. */
|
|---|
| 2916 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 2917 |
|
|---|
| 2918 | /* Save the hook function in the TCB. A critical section is required as
|
|---|
| 2919 | the value can be accessed from an interrupt. */
|
|---|
| 2920 | taskENTER_CRITICAL();
|
|---|
| 2921 | {
|
|---|
| 2922 | xReturn = pxTCB->pxTaskTag;
|
|---|
| 2923 | }
|
|---|
| 2924 | taskEXIT_CRITICAL();
|
|---|
| 2925 |
|
|---|
| 2926 | return xReturn;
|
|---|
| 2927 | }
|
|---|
| 2928 |
|
|---|
| 2929 | #endif /* configUSE_APPLICATION_TASK_TAG */
|
|---|
| 2930 | /*-----------------------------------------------------------*/
|
|---|
| 2931 |
|
|---|
| 2932 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|---|
| 2933 |
|
|---|
| 2934 | TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
|
|---|
| 2935 | {
|
|---|
| 2936 | TCB_t *pxTCB;
|
|---|
| 2937 | TaskHookFunction_t xReturn;
|
|---|
| 2938 | UBaseType_t uxSavedInterruptStatus;
|
|---|
| 2939 |
|
|---|
| 2940 | /* If xTask is NULL then set the calling task's hook. */
|
|---|
| 2941 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 2942 |
|
|---|
| 2943 | /* Save the hook function in the TCB. A critical section is required as
|
|---|
| 2944 | the value can be accessed from an interrupt. */
|
|---|
| 2945 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 2946 | {
|
|---|
| 2947 | xReturn = pxTCB->pxTaskTag;
|
|---|
| 2948 | }
|
|---|
| 2949 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|---|
| 2950 |
|
|---|
| 2951 | return xReturn;
|
|---|
| 2952 | }
|
|---|
| 2953 |
|
|---|
| 2954 | #endif /* configUSE_APPLICATION_TASK_TAG */
|
|---|
| 2955 | /*-----------------------------------------------------------*/
|
|---|
| 2956 |
|
|---|
| 2957 | #if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|---|
| 2958 |
|
|---|
| 2959 | BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
|
|---|
| 2960 | {
|
|---|
| 2961 | TCB_t *xTCB;
|
|---|
| 2962 | BaseType_t xReturn;
|
|---|
| 2963 |
|
|---|
| 2964 | /* If xTask is NULL then we are calling our own task hook. */
|
|---|
| 2965 | if( xTask == NULL )
|
|---|
| 2966 | {
|
|---|
| 2967 | xTCB = pxCurrentTCB;
|
|---|
| 2968 | }
|
|---|
| 2969 | else
|
|---|
| 2970 | {
|
|---|
| 2971 | xTCB = xTask;
|
|---|
| 2972 | }
|
|---|
| 2973 |
|
|---|
| 2974 | if( xTCB->pxTaskTag != NULL )
|
|---|
| 2975 | {
|
|---|
| 2976 | xReturn = xTCB->pxTaskTag( pvParameter );
|
|---|
| 2977 | }
|
|---|
| 2978 | else
|
|---|
| 2979 | {
|
|---|
| 2980 | xReturn = pdFAIL;
|
|---|
| 2981 | }
|
|---|
| 2982 |
|
|---|
| 2983 | return xReturn;
|
|---|
| 2984 | }
|
|---|
| 2985 |
|
|---|
| 2986 | #endif /* configUSE_APPLICATION_TASK_TAG */
|
|---|
| 2987 | /*-----------------------------------------------------------*/
|
|---|
| 2988 |
|
|---|
| 2989 | void vTaskSwitchContext( void )
|
|---|
| 2990 | {
|
|---|
| 2991 | if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
|
|---|
| 2992 | {
|
|---|
| 2993 | /* The scheduler is currently suspended - do not allow a context
|
|---|
| 2994 | switch. */
|
|---|
| 2995 | xYieldPending = pdTRUE;
|
|---|
| 2996 | }
|
|---|
| 2997 | else
|
|---|
| 2998 | {
|
|---|
| 2999 | xYieldPending = pdFALSE;
|
|---|
| 3000 | traceTASK_SWITCHED_OUT();
|
|---|
| 3001 |
|
|---|
| 3002 | #if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|---|
| 3003 | {
|
|---|
| 3004 | #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
|
|---|
| 3005 | portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
|
|---|
| 3006 | #else
|
|---|
| 3007 | ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
|
|---|
| 3008 | #endif
|
|---|
| 3009 |
|
|---|
| 3010 | /* Add the amount of time the task has been running to the
|
|---|
| 3011 | accumulated time so far. The time the task started running was
|
|---|
| 3012 | stored in ulTaskSwitchedInTime. Note that there is no overflow
|
|---|
| 3013 | protection here so count values are only valid until the timer
|
|---|
| 3014 | overflows. The guard against negative values is to protect
|
|---|
| 3015 | against suspect run time stat counter implementations - which
|
|---|
| 3016 | are provided by the application, not the kernel. */
|
|---|
| 3017 | if( ulTotalRunTime > ulTaskSwitchedInTime )
|
|---|
| 3018 | {
|
|---|
| 3019 | pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
|
|---|
| 3020 | }
|
|---|
| 3021 | else
|
|---|
| 3022 | {
|
|---|
| 3023 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3024 | }
|
|---|
| 3025 | ulTaskSwitchedInTime = ulTotalRunTime;
|
|---|
| 3026 | }
|
|---|
| 3027 | #endif /* configGENERATE_RUN_TIME_STATS */
|
|---|
| 3028 |
|
|---|
| 3029 | /* Check for stack overflow, if configured. */
|
|---|
| 3030 | taskCHECK_FOR_STACK_OVERFLOW();
|
|---|
| 3031 |
|
|---|
| 3032 | /* Before the currently running task is switched out, save its errno. */
|
|---|
| 3033 | #if( configUSE_POSIX_ERRNO == 1 )
|
|---|
| 3034 | {
|
|---|
| 3035 | pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
|
|---|
| 3036 | }
|
|---|
| 3037 | #endif
|
|---|
| 3038 |
|
|---|
| 3039 | /* Select a new task to run using either the generic C or port
|
|---|
| 3040 | optimised asm code. */
|
|---|
| 3041 | 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. */
|
|---|
| 3042 | traceTASK_SWITCHED_IN();
|
|---|
| 3043 |
|
|---|
| 3044 | /* After the new task is switched in, update the global errno. */
|
|---|
| 3045 | #if( configUSE_POSIX_ERRNO == 1 )
|
|---|
| 3046 | {
|
|---|
| 3047 | FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
|
|---|
| 3048 | }
|
|---|
| 3049 | #endif
|
|---|
| 3050 |
|
|---|
| 3051 | #if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|---|
| 3052 | {
|
|---|
| 3053 | /* Switch Newlib's _impure_ptr variable to point to the _reent
|
|---|
| 3054 | structure specific to this task.
|
|---|
| 3055 | See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|---|
| 3056 | for additional information. */
|
|---|
| 3057 | _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
|
|---|
| 3058 | }
|
|---|
| 3059 | #endif /* configUSE_NEWLIB_REENTRANT */
|
|---|
| 3060 | }
|
|---|
| 3061 | }
|
|---|
| 3062 | /*-----------------------------------------------------------*/
|
|---|
| 3063 |
|
|---|
| 3064 | void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
|
|---|
| 3065 | {
|
|---|
| 3066 | configASSERT( pxEventList );
|
|---|
| 3067 |
|
|---|
| 3068 | /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
|
|---|
| 3069 | SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
|
|---|
| 3070 |
|
|---|
| 3071 | /* Place the event list item of the TCB in the appropriate event list.
|
|---|
| 3072 | This is placed in the list in priority order so the highest priority task
|
|---|
| 3073 | is the first to be woken by the event. The queue that contains the event
|
|---|
| 3074 | list is locked, preventing simultaneous access from interrupts. */
|
|---|
| 3075 | vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|---|
| 3076 |
|
|---|
| 3077 | prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|---|
| 3078 | }
|
|---|
| 3079 | /*-----------------------------------------------------------*/
|
|---|
| 3080 |
|
|---|
| 3081 | void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
|
|---|
| 3082 | {
|
|---|
| 3083 | configASSERT( pxEventList );
|
|---|
| 3084 |
|
|---|
| 3085 | /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
|
|---|
| 3086 | the event groups implementation. */
|
|---|
| 3087 | configASSERT( uxSchedulerSuspended != 0 );
|
|---|
| 3088 |
|
|---|
| 3089 | /* Store the item value in the event list item. It is safe to access the
|
|---|
| 3090 | event list item here as interrupts won't access the event list item of a
|
|---|
| 3091 | task that is not in the Blocked state. */
|
|---|
| 3092 | listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
|
|---|
| 3093 |
|
|---|
| 3094 | /* Place the event list item of the TCB at the end of the appropriate event
|
|---|
| 3095 | list. It is safe to access the event list here because it is part of an
|
|---|
| 3096 | event group implementation - and interrupts don't access event groups
|
|---|
| 3097 | directly (instead they access them indirectly by pending function calls to
|
|---|
| 3098 | the task level). */
|
|---|
| 3099 | vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|---|
| 3100 |
|
|---|
| 3101 | prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|---|
| 3102 | }
|
|---|
| 3103 | /*-----------------------------------------------------------*/
|
|---|
| 3104 |
|
|---|
| 3105 | #if( configUSE_TIMERS == 1 )
|
|---|
| 3106 |
|
|---|
| 3107 | void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
|
|---|
| 3108 | {
|
|---|
| 3109 | configASSERT( pxEventList );
|
|---|
| 3110 |
|
|---|
| 3111 | /* This function should not be called by application code hence the
|
|---|
| 3112 | 'Restricted' in its name. It is not part of the public API. It is
|
|---|
| 3113 | designed for use by kernel code, and has special calling requirements -
|
|---|
| 3114 | it should be called with the scheduler suspended. */
|
|---|
| 3115 |
|
|---|
| 3116 |
|
|---|
| 3117 | /* Place the event list item of the TCB in the appropriate event list.
|
|---|
| 3118 | In this case it is assume that this is the only task that is going to
|
|---|
| 3119 | be waiting on this event list, so the faster vListInsertEnd() function
|
|---|
| 3120 | can be used in place of vListInsert. */
|
|---|
| 3121 | vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|---|
| 3122 |
|
|---|
| 3123 | /* If the task should block indefinitely then set the block time to a
|
|---|
| 3124 | value that will be recognised as an indefinite delay inside the
|
|---|
| 3125 | prvAddCurrentTaskToDelayedList() function. */
|
|---|
| 3126 | if( xWaitIndefinitely != pdFALSE )
|
|---|
| 3127 | {
|
|---|
| 3128 | xTicksToWait = portMAX_DELAY;
|
|---|
| 3129 | }
|
|---|
| 3130 |
|
|---|
| 3131 | traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
|
|---|
| 3132 | prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
|
|---|
| 3133 | }
|
|---|
| 3134 |
|
|---|
| 3135 | #endif /* configUSE_TIMERS */
|
|---|
| 3136 | /*-----------------------------------------------------------*/
|
|---|
| 3137 |
|
|---|
| 3138 | BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
|
|---|
| 3139 | {
|
|---|
| 3140 | TCB_t *pxUnblockedTCB;
|
|---|
| 3141 | BaseType_t xReturn;
|
|---|
| 3142 |
|
|---|
| 3143 | /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
|
|---|
| 3144 | called from a critical section within an ISR. */
|
|---|
| 3145 |
|
|---|
| 3146 | /* The event list is sorted in priority order, so the first in the list can
|
|---|
| 3147 | be removed as it is known to be the highest priority. Remove the TCB from
|
|---|
| 3148 | the delayed list, and add it to the ready list.
|
|---|
| 3149 |
|
|---|
| 3150 | If an event is for a queue that is locked then this function will never
|
|---|
| 3151 | get called - the lock count on the queue will get modified instead. This
|
|---|
| 3152 | means exclusive access to the event list is guaranteed here.
|
|---|
| 3153 |
|
|---|
| 3154 | This function assumes that a check has already been made to ensure that
|
|---|
| 3155 | pxEventList is not empty. */
|
|---|
| 3156 | 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. */
|
|---|
| 3157 | configASSERT( pxUnblockedTCB );
|
|---|
| 3158 | ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
|
|---|
| 3159 |
|
|---|
| 3160 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 3161 | {
|
|---|
| 3162 | ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
|
|---|
| 3163 | prvAddTaskToReadyList( pxUnblockedTCB );
|
|---|
| 3164 |
|
|---|
| 3165 | #if( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 3166 | {
|
|---|
| 3167 | /* If a task is blocked on a kernel object then xNextTaskUnblockTime
|
|---|
| 3168 | might be set to the blocked task's time out time. If the task is
|
|---|
| 3169 | unblocked for a reason other than a timeout xNextTaskUnblockTime is
|
|---|
| 3170 | normally left unchanged, because it is automatically reset to a new
|
|---|
| 3171 | value when the tick count equals xNextTaskUnblockTime. However if
|
|---|
| 3172 | tickless idling is used it might be more important to enter sleep mode
|
|---|
| 3173 | at the earliest possible time - so reset xNextTaskUnblockTime here to
|
|---|
| 3174 | ensure it is updated at the earliest possible time. */
|
|---|
| 3175 | prvResetNextTaskUnblockTime();
|
|---|
| 3176 | }
|
|---|
| 3177 | #endif
|
|---|
| 3178 | }
|
|---|
| 3179 | else
|
|---|
| 3180 | {
|
|---|
| 3181 | /* The delayed and ready lists cannot be accessed, so hold this task
|
|---|
| 3182 | pending until the scheduler is resumed. */
|
|---|
| 3183 | vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
|
|---|
| 3184 | }
|
|---|
| 3185 |
|
|---|
| 3186 | if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 3187 | {
|
|---|
| 3188 | /* Return true if the task removed from the event list has a higher
|
|---|
| 3189 | priority than the calling task. This allows the calling task to know if
|
|---|
| 3190 | it should force a context switch now. */
|
|---|
| 3191 | xReturn = pdTRUE;
|
|---|
| 3192 |
|
|---|
| 3193 | /* Mark that a yield is pending in case the user is not using the
|
|---|
| 3194 | "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
|
|---|
| 3195 | xYieldPending = pdTRUE;
|
|---|
| 3196 | }
|
|---|
| 3197 | else
|
|---|
| 3198 | {
|
|---|
| 3199 | xReturn = pdFALSE;
|
|---|
| 3200 | }
|
|---|
| 3201 |
|
|---|
| 3202 | return xReturn;
|
|---|
| 3203 | }
|
|---|
| 3204 | /*-----------------------------------------------------------*/
|
|---|
| 3205 |
|
|---|
| 3206 | void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
|
|---|
| 3207 | {
|
|---|
| 3208 | TCB_t *pxUnblockedTCB;
|
|---|
| 3209 |
|
|---|
| 3210 | /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
|
|---|
| 3211 | the event flags implementation. */
|
|---|
| 3212 | configASSERT( uxSchedulerSuspended != pdFALSE );
|
|---|
| 3213 |
|
|---|
| 3214 | /* Store the new item value in the event list. */
|
|---|
| 3215 | listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
|
|---|
| 3216 |
|
|---|
| 3217 | /* Remove the event list form the event flag. Interrupts do not access
|
|---|
| 3218 | event flags. */
|
|---|
| 3219 | 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. */
|
|---|
| 3220 | configASSERT( pxUnblockedTCB );
|
|---|
| 3221 | ( void ) uxListRemove( pxEventListItem );
|
|---|
| 3222 |
|
|---|
| 3223 | #if( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 3224 | {
|
|---|
| 3225 | /* If a task is blocked on a kernel object then xNextTaskUnblockTime
|
|---|
| 3226 | might be set to the blocked task's time out time. If the task is
|
|---|
| 3227 | unblocked for a reason other than a timeout xNextTaskUnblockTime is
|
|---|
| 3228 | normally left unchanged, because it is automatically reset to a new
|
|---|
| 3229 | value when the tick count equals xNextTaskUnblockTime. However if
|
|---|
| 3230 | tickless idling is used it might be more important to enter sleep mode
|
|---|
| 3231 | at the earliest possible time - so reset xNextTaskUnblockTime here to
|
|---|
| 3232 | ensure it is updated at the earliest possible time. */
|
|---|
| 3233 | prvResetNextTaskUnblockTime();
|
|---|
| 3234 | }
|
|---|
| 3235 | #endif
|
|---|
| 3236 |
|
|---|
| 3237 | /* Remove the task from the delayed list and add it to the ready list. The
|
|---|
| 3238 | scheduler is suspended so interrupts will not be accessing the ready
|
|---|
| 3239 | lists. */
|
|---|
| 3240 | ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
|
|---|
| 3241 | prvAddTaskToReadyList( pxUnblockedTCB );
|
|---|
| 3242 |
|
|---|
| 3243 | if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 3244 | {
|
|---|
| 3245 | /* The unblocked task has a priority above that of the calling task, so
|
|---|
| 3246 | a context switch is required. This function is called with the
|
|---|
| 3247 | scheduler suspended so xYieldPending is set so the context switch
|
|---|
| 3248 | occurs immediately that the scheduler is resumed (unsuspended). */
|
|---|
| 3249 | xYieldPending = pdTRUE;
|
|---|
| 3250 | }
|
|---|
| 3251 | }
|
|---|
| 3252 | /*-----------------------------------------------------------*/
|
|---|
| 3253 |
|
|---|
| 3254 | void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
|
|---|
| 3255 | {
|
|---|
| 3256 | configASSERT( pxTimeOut );
|
|---|
| 3257 | taskENTER_CRITICAL();
|
|---|
| 3258 | {
|
|---|
| 3259 | pxTimeOut->xOverflowCount = xNumOfOverflows;
|
|---|
| 3260 | pxTimeOut->xTimeOnEntering = xTickCount;
|
|---|
| 3261 | }
|
|---|
| 3262 | taskEXIT_CRITICAL();
|
|---|
| 3263 | }
|
|---|
| 3264 | /*-----------------------------------------------------------*/
|
|---|
| 3265 |
|
|---|
| 3266 | void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
|
|---|
| 3267 | {
|
|---|
| 3268 | /* For internal use only as it does not use a critical section. */
|
|---|
| 3269 | pxTimeOut->xOverflowCount = xNumOfOverflows;
|
|---|
| 3270 | pxTimeOut->xTimeOnEntering = xTickCount;
|
|---|
| 3271 | }
|
|---|
| 3272 | /*-----------------------------------------------------------*/
|
|---|
| 3273 |
|
|---|
| 3274 | BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
|
|---|
| 3275 | {
|
|---|
| 3276 | BaseType_t xReturn;
|
|---|
| 3277 |
|
|---|
| 3278 | configASSERT( pxTimeOut );
|
|---|
| 3279 | configASSERT( pxTicksToWait );
|
|---|
| 3280 |
|
|---|
| 3281 | taskENTER_CRITICAL();
|
|---|
| 3282 | {
|
|---|
| 3283 | /* Minor optimisation. The tick count cannot change in this block. */
|
|---|
| 3284 | const TickType_t xConstTickCount = xTickCount;
|
|---|
| 3285 | const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
|
|---|
| 3286 |
|
|---|
| 3287 | #if( INCLUDE_xTaskAbortDelay == 1 )
|
|---|
| 3288 | if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
|
|---|
| 3289 | {
|
|---|
| 3290 | /* The delay was aborted, which is not the same as a time out,
|
|---|
| 3291 | but has the same result. */
|
|---|
| 3292 | pxCurrentTCB->ucDelayAborted = pdFALSE;
|
|---|
| 3293 | xReturn = pdTRUE;
|
|---|
| 3294 | }
|
|---|
| 3295 | else
|
|---|
| 3296 | #endif
|
|---|
| 3297 |
|
|---|
| 3298 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 3299 | if( *pxTicksToWait == portMAX_DELAY )
|
|---|
| 3300 | {
|
|---|
| 3301 | /* If INCLUDE_vTaskSuspend is set to 1 and the block time
|
|---|
| 3302 | specified is the maximum block time then the task should block
|
|---|
| 3303 | indefinitely, and therefore never time out. */
|
|---|
| 3304 | xReturn = pdFALSE;
|
|---|
| 3305 | }
|
|---|
| 3306 | else
|
|---|
| 3307 | #endif
|
|---|
| 3308 |
|
|---|
| 3309 | if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
|
|---|
| 3310 | {
|
|---|
| 3311 | /* The tick count is greater than the time at which
|
|---|
| 3312 | vTaskSetTimeout() was called, but has also overflowed since
|
|---|
| 3313 | vTaskSetTimeOut() was called. It must have wrapped all the way
|
|---|
| 3314 | around and gone past again. This passed since vTaskSetTimeout()
|
|---|
| 3315 | was called. */
|
|---|
| 3316 | xReturn = pdTRUE;
|
|---|
| 3317 | }
|
|---|
| 3318 | else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
|
|---|
| 3319 | {
|
|---|
| 3320 | /* Not a genuine timeout. Adjust parameters for time remaining. */
|
|---|
| 3321 | *pxTicksToWait -= xElapsedTime;
|
|---|
| 3322 | vTaskInternalSetTimeOutState( pxTimeOut );
|
|---|
| 3323 | xReturn = pdFALSE;
|
|---|
| 3324 | }
|
|---|
| 3325 | else
|
|---|
| 3326 | {
|
|---|
| 3327 | *pxTicksToWait = 0;
|
|---|
| 3328 | xReturn = pdTRUE;
|
|---|
| 3329 | }
|
|---|
| 3330 | }
|
|---|
| 3331 | taskEXIT_CRITICAL();
|
|---|
| 3332 |
|
|---|
| 3333 | return xReturn;
|
|---|
| 3334 | }
|
|---|
| 3335 | /*-----------------------------------------------------------*/
|
|---|
| 3336 |
|
|---|
| 3337 | void vTaskMissedYield( void )
|
|---|
| 3338 | {
|
|---|
| 3339 | xYieldPending = pdTRUE;
|
|---|
| 3340 | }
|
|---|
| 3341 | /*-----------------------------------------------------------*/
|
|---|
| 3342 |
|
|---|
| 3343 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 3344 |
|
|---|
| 3345 | UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
|
|---|
| 3346 | {
|
|---|
| 3347 | UBaseType_t uxReturn;
|
|---|
| 3348 | TCB_t const *pxTCB;
|
|---|
| 3349 |
|
|---|
| 3350 | if( xTask != NULL )
|
|---|
| 3351 | {
|
|---|
| 3352 | pxTCB = xTask;
|
|---|
| 3353 | uxReturn = pxTCB->uxTaskNumber;
|
|---|
| 3354 | }
|
|---|
| 3355 | else
|
|---|
| 3356 | {
|
|---|
| 3357 | uxReturn = 0U;
|
|---|
| 3358 | }
|
|---|
| 3359 |
|
|---|
| 3360 | return uxReturn;
|
|---|
| 3361 | }
|
|---|
| 3362 |
|
|---|
| 3363 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 3364 | /*-----------------------------------------------------------*/
|
|---|
| 3365 |
|
|---|
| 3366 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 3367 |
|
|---|
| 3368 | void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
|
|---|
| 3369 | {
|
|---|
| 3370 | TCB_t * pxTCB;
|
|---|
| 3371 |
|
|---|
| 3372 | if( xTask != NULL )
|
|---|
| 3373 | {
|
|---|
| 3374 | pxTCB = xTask;
|
|---|
| 3375 | pxTCB->uxTaskNumber = uxHandle;
|
|---|
| 3376 | }
|
|---|
| 3377 | }
|
|---|
| 3378 |
|
|---|
| 3379 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 3380 |
|
|---|
| 3381 | /*
|
|---|
| 3382 | * -----------------------------------------------------------
|
|---|
| 3383 | * The Idle task.
|
|---|
| 3384 | * ----------------------------------------------------------
|
|---|
| 3385 | *
|
|---|
| 3386 | * The portTASK_FUNCTION() macro is used to allow port/compiler specific
|
|---|
| 3387 | * language extensions. The equivalent prototype for this function is:
|
|---|
| 3388 | *
|
|---|
| 3389 | * void prvIdleTask( void *pvParameters );
|
|---|
| 3390 | *
|
|---|
| 3391 | */
|
|---|
| 3392 | static portTASK_FUNCTION( prvIdleTask, pvParameters )
|
|---|
| 3393 | {
|
|---|
| 3394 | /* Stop warnings. */
|
|---|
| 3395 | ( void ) pvParameters;
|
|---|
| 3396 |
|
|---|
| 3397 | /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
|
|---|
| 3398 | SCHEDULER IS STARTED. **/
|
|---|
| 3399 |
|
|---|
| 3400 | /* In case a task that has a secure context deletes itself, in which case
|
|---|
| 3401 | the idle task is responsible for deleting the task's secure context, if
|
|---|
| 3402 | any. */
|
|---|
| 3403 | portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
|
|---|
| 3404 |
|
|---|
| 3405 | for( ;; )
|
|---|
| 3406 | {
|
|---|
| 3407 | /* See if any tasks have deleted themselves - if so then the idle task
|
|---|
| 3408 | is responsible for freeing the deleted task's TCB and stack. */
|
|---|
| 3409 | prvCheckTasksWaitingTermination();
|
|---|
| 3410 |
|
|---|
| 3411 | #if ( configUSE_PREEMPTION == 0 )
|
|---|
| 3412 | {
|
|---|
| 3413 | /* If we are not using preemption we keep forcing a task switch to
|
|---|
| 3414 | see if any other task has become available. If we are using
|
|---|
| 3415 | preemption we don't need to do this as any task becoming available
|
|---|
| 3416 | will automatically get the processor anyway. */
|
|---|
| 3417 | taskYIELD();
|
|---|
| 3418 | }
|
|---|
| 3419 | #endif /* configUSE_PREEMPTION */
|
|---|
| 3420 |
|
|---|
| 3421 | #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
|
|---|
| 3422 | {
|
|---|
| 3423 | /* When using preemption tasks of equal priority will be
|
|---|
| 3424 | timesliced. If a task that is sharing the idle priority is ready
|
|---|
| 3425 | to run then the idle task should yield before the end of the
|
|---|
| 3426 | timeslice.
|
|---|
| 3427 |
|
|---|
| 3428 | A critical region is not required here as we are just reading from
|
|---|
| 3429 | the list, and an occasional incorrect value will not matter. If
|
|---|
| 3430 | the ready list at the idle priority contains more than one task
|
|---|
| 3431 | then a task other than the idle task is ready to execute. */
|
|---|
| 3432 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
|
|---|
| 3433 | {
|
|---|
| 3434 | taskYIELD();
|
|---|
| 3435 | }
|
|---|
| 3436 | else
|
|---|
| 3437 | {
|
|---|
| 3438 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3439 | }
|
|---|
| 3440 | }
|
|---|
| 3441 | #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
|
|---|
| 3442 |
|
|---|
| 3443 | #if ( configUSE_IDLE_HOOK == 1 )
|
|---|
| 3444 | {
|
|---|
| 3445 | extern void vApplicationIdleHook( void );
|
|---|
| 3446 |
|
|---|
| 3447 | /* Call the user defined function from within the idle task. This
|
|---|
| 3448 | allows the application designer to add background functionality
|
|---|
| 3449 | without the overhead of a separate task.
|
|---|
| 3450 | NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
|
|---|
| 3451 | CALL A FUNCTION THAT MIGHT BLOCK. */
|
|---|
| 3452 | vApplicationIdleHook();
|
|---|
| 3453 | }
|
|---|
| 3454 | #endif /* configUSE_IDLE_HOOK */
|
|---|
| 3455 |
|
|---|
| 3456 | /* This conditional compilation should use inequality to 0, not equality
|
|---|
| 3457 | to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
|
|---|
| 3458 | user defined low power mode implementations require
|
|---|
| 3459 | configUSE_TICKLESS_IDLE to be set to a value other than 1. */
|
|---|
| 3460 | #if ( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 3461 | {
|
|---|
| 3462 | TickType_t xExpectedIdleTime;
|
|---|
| 3463 |
|
|---|
| 3464 | /* It is not desirable to suspend then resume the scheduler on
|
|---|
| 3465 | each iteration of the idle task. Therefore, a preliminary
|
|---|
| 3466 | test of the expected idle time is performed without the
|
|---|
| 3467 | scheduler suspended. The result here is not necessarily
|
|---|
| 3468 | valid. */
|
|---|
| 3469 | xExpectedIdleTime = prvGetExpectedIdleTime();
|
|---|
| 3470 |
|
|---|
| 3471 | if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
|
|---|
| 3472 | {
|
|---|
| 3473 | vTaskSuspendAll();
|
|---|
| 3474 | {
|
|---|
| 3475 | /* Now the scheduler is suspended, the expected idle
|
|---|
| 3476 | time can be sampled again, and this time its value can
|
|---|
| 3477 | be used. */
|
|---|
| 3478 | configASSERT( xNextTaskUnblockTime >= xTickCount );
|
|---|
| 3479 | xExpectedIdleTime = prvGetExpectedIdleTime();
|
|---|
| 3480 |
|
|---|
| 3481 | /* Define the following macro to set xExpectedIdleTime to 0
|
|---|
| 3482 | if the application does not want
|
|---|
| 3483 | portSUPPRESS_TICKS_AND_SLEEP() to be called. */
|
|---|
| 3484 | configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
|
|---|
| 3485 |
|
|---|
| 3486 | if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
|
|---|
| 3487 | {
|
|---|
| 3488 | traceLOW_POWER_IDLE_BEGIN();
|
|---|
| 3489 | portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
|
|---|
| 3490 | traceLOW_POWER_IDLE_END();
|
|---|
| 3491 | }
|
|---|
| 3492 | else
|
|---|
| 3493 | {
|
|---|
| 3494 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3495 | }
|
|---|
| 3496 | }
|
|---|
| 3497 | ( void ) xTaskResumeAll();
|
|---|
| 3498 | }
|
|---|
| 3499 | else
|
|---|
| 3500 | {
|
|---|
| 3501 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3502 | }
|
|---|
| 3503 | }
|
|---|
| 3504 | #endif /* configUSE_TICKLESS_IDLE */
|
|---|
| 3505 | }
|
|---|
| 3506 | }
|
|---|
| 3507 | /*-----------------------------------------------------------*/
|
|---|
| 3508 |
|
|---|
| 3509 | #if( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 3510 |
|
|---|
| 3511 | eSleepModeStatus eTaskConfirmSleepModeStatus( void )
|
|---|
| 3512 | {
|
|---|
| 3513 | /* The idle task exists in addition to the application tasks. */
|
|---|
| 3514 | const UBaseType_t uxNonApplicationTasks = 1;
|
|---|
| 3515 | eSleepModeStatus eReturn = eStandardSleep;
|
|---|
| 3516 |
|
|---|
| 3517 | /* This function must be called from a critical section. */
|
|---|
| 3518 |
|
|---|
| 3519 | if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
|
|---|
| 3520 | {
|
|---|
| 3521 | /* A task was made ready while the scheduler was suspended. */
|
|---|
| 3522 | eReturn = eAbortSleep;
|
|---|
| 3523 | }
|
|---|
| 3524 | else if( xYieldPending != pdFALSE )
|
|---|
| 3525 | {
|
|---|
| 3526 | /* A yield was pended while the scheduler was suspended. */
|
|---|
| 3527 | eReturn = eAbortSleep;
|
|---|
| 3528 | }
|
|---|
| 3529 | else
|
|---|
| 3530 | {
|
|---|
| 3531 | /* If all the tasks are in the suspended list (which might mean they
|
|---|
| 3532 | have an infinite block time rather than actually being suspended)
|
|---|
| 3533 | then it is safe to turn all clocks off and just wait for external
|
|---|
| 3534 | interrupts. */
|
|---|
| 3535 | if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
|
|---|
| 3536 | {
|
|---|
| 3537 | eReturn = eNoTasksWaitingTimeout;
|
|---|
| 3538 | }
|
|---|
| 3539 | else
|
|---|
| 3540 | {
|
|---|
| 3541 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3542 | }
|
|---|
| 3543 | }
|
|---|
| 3544 |
|
|---|
| 3545 | return eReturn;
|
|---|
| 3546 | }
|
|---|
| 3547 |
|
|---|
| 3548 | #endif /* configUSE_TICKLESS_IDLE */
|
|---|
| 3549 | /*-----------------------------------------------------------*/
|
|---|
| 3550 |
|
|---|
| 3551 | #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|---|
| 3552 |
|
|---|
| 3553 | void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
|
|---|
| 3554 | {
|
|---|
| 3555 | TCB_t *pxTCB;
|
|---|
| 3556 |
|
|---|
| 3557 | if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
|
|---|
| 3558 | {
|
|---|
| 3559 | pxTCB = prvGetTCBFromHandle( xTaskToSet );
|
|---|
| 3560 | configASSERT( pxTCB != NULL );
|
|---|
| 3561 | pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
|
|---|
| 3562 | }
|
|---|
| 3563 | }
|
|---|
| 3564 |
|
|---|
| 3565 | #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
|
|---|
| 3566 | /*-----------------------------------------------------------*/
|
|---|
| 3567 |
|
|---|
| 3568 | #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
|
|---|
| 3569 |
|
|---|
| 3570 | void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
|
|---|
| 3571 | {
|
|---|
| 3572 | void *pvReturn = NULL;
|
|---|
| 3573 | TCB_t *pxTCB;
|
|---|
| 3574 |
|
|---|
| 3575 | if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
|
|---|
| 3576 | {
|
|---|
| 3577 | pxTCB = prvGetTCBFromHandle( xTaskToQuery );
|
|---|
| 3578 | pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
|
|---|
| 3579 | }
|
|---|
| 3580 | else
|
|---|
| 3581 | {
|
|---|
| 3582 | pvReturn = NULL;
|
|---|
| 3583 | }
|
|---|
| 3584 |
|
|---|
| 3585 | return pvReturn;
|
|---|
| 3586 | }
|
|---|
| 3587 |
|
|---|
| 3588 | #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
|
|---|
| 3589 | /*-----------------------------------------------------------*/
|
|---|
| 3590 |
|
|---|
| 3591 | #if ( portUSING_MPU_WRAPPERS == 1 )
|
|---|
| 3592 |
|
|---|
| 3593 | void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
|
|---|
| 3594 | {
|
|---|
| 3595 | TCB_t *pxTCB;
|
|---|
| 3596 |
|
|---|
| 3597 | /* If null is passed in here then we are modifying the MPU settings of
|
|---|
| 3598 | the calling task. */
|
|---|
| 3599 | pxTCB = prvGetTCBFromHandle( xTaskToModify );
|
|---|
| 3600 |
|
|---|
| 3601 | vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
|
|---|
| 3602 | }
|
|---|
| 3603 |
|
|---|
| 3604 | #endif /* portUSING_MPU_WRAPPERS */
|
|---|
| 3605 | /*-----------------------------------------------------------*/
|
|---|
| 3606 |
|
|---|
| 3607 | static void prvInitialiseTaskLists( void )
|
|---|
| 3608 | {
|
|---|
| 3609 | UBaseType_t uxPriority;
|
|---|
| 3610 |
|
|---|
| 3611 | for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
|
|---|
| 3612 | {
|
|---|
| 3613 | vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
|
|---|
| 3614 | }
|
|---|
| 3615 |
|
|---|
| 3616 | vListInitialise( &xDelayedTaskList1 );
|
|---|
| 3617 | vListInitialise( &xDelayedTaskList2 );
|
|---|
| 3618 | vListInitialise( &xPendingReadyList );
|
|---|
| 3619 |
|
|---|
| 3620 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 3621 | {
|
|---|
| 3622 | vListInitialise( &xTasksWaitingTermination );
|
|---|
| 3623 | }
|
|---|
| 3624 | #endif /* INCLUDE_vTaskDelete */
|
|---|
| 3625 |
|
|---|
| 3626 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 3627 | {
|
|---|
| 3628 | vListInitialise( &xSuspendedTaskList );
|
|---|
| 3629 | }
|
|---|
| 3630 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 3631 |
|
|---|
| 3632 | /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
|
|---|
| 3633 | using list2. */
|
|---|
| 3634 | pxDelayedTaskList = &xDelayedTaskList1;
|
|---|
| 3635 | pxOverflowDelayedTaskList = &xDelayedTaskList2;
|
|---|
| 3636 | }
|
|---|
| 3637 | /*-----------------------------------------------------------*/
|
|---|
| 3638 |
|
|---|
| 3639 | static void prvCheckTasksWaitingTermination( void )
|
|---|
| 3640 | {
|
|---|
| 3641 |
|
|---|
| 3642 | /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
|
|---|
| 3643 |
|
|---|
| 3644 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 3645 | {
|
|---|
| 3646 | TCB_t *pxTCB;
|
|---|
| 3647 |
|
|---|
| 3648 | /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
|
|---|
| 3649 | being called too often in the idle task. */
|
|---|
| 3650 | while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
|
|---|
| 3651 | {
|
|---|
| 3652 | taskENTER_CRITICAL();
|
|---|
| 3653 | {
|
|---|
| 3654 | 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. */
|
|---|
| 3655 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 3656 | --uxCurrentNumberOfTasks;
|
|---|
| 3657 | --uxDeletedTasksWaitingCleanUp;
|
|---|
| 3658 | }
|
|---|
| 3659 | taskEXIT_CRITICAL();
|
|---|
| 3660 |
|
|---|
| 3661 | prvDeleteTCB( pxTCB );
|
|---|
| 3662 | }
|
|---|
| 3663 | }
|
|---|
| 3664 | #endif /* INCLUDE_vTaskDelete */
|
|---|
| 3665 | }
|
|---|
| 3666 | /*-----------------------------------------------------------*/
|
|---|
| 3667 |
|
|---|
| 3668 | #if( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 3669 |
|
|---|
| 3670 | void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
|
|---|
| 3671 | {
|
|---|
| 3672 | TCB_t *pxTCB;
|
|---|
| 3673 |
|
|---|
| 3674 | /* xTask is NULL then get the state of the calling task. */
|
|---|
| 3675 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 3676 |
|
|---|
| 3677 | pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
|
|---|
| 3678 | pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
|
|---|
| 3679 | pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
|
|---|
| 3680 | pxTaskStatus->pxStackBase = pxTCB->pxStack;
|
|---|
| 3681 | pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
|
|---|
| 3682 |
|
|---|
| 3683 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 3684 | {
|
|---|
| 3685 | pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
|
|---|
| 3686 | }
|
|---|
| 3687 | #else
|
|---|
| 3688 | {
|
|---|
| 3689 | pxTaskStatus->uxBasePriority = 0;
|
|---|
| 3690 | }
|
|---|
| 3691 | #endif
|
|---|
| 3692 |
|
|---|
| 3693 | #if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|---|
| 3694 | {
|
|---|
| 3695 | pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
|
|---|
| 3696 | }
|
|---|
| 3697 | #else
|
|---|
| 3698 | {
|
|---|
| 3699 | pxTaskStatus->ulRunTimeCounter = 0;
|
|---|
| 3700 | }
|
|---|
| 3701 | #endif
|
|---|
| 3702 |
|
|---|
| 3703 | /* Obtaining the task state is a little fiddly, so is only done if the
|
|---|
| 3704 | value of eState passed into this function is eInvalid - otherwise the
|
|---|
| 3705 | state is just set to whatever is passed in. */
|
|---|
| 3706 | if( eState != eInvalid )
|
|---|
| 3707 | {
|
|---|
| 3708 | if( pxTCB == pxCurrentTCB )
|
|---|
| 3709 | {
|
|---|
| 3710 | pxTaskStatus->eCurrentState = eRunning;
|
|---|
| 3711 | }
|
|---|
| 3712 | else
|
|---|
| 3713 | {
|
|---|
| 3714 | pxTaskStatus->eCurrentState = eState;
|
|---|
| 3715 |
|
|---|
| 3716 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 3717 | {
|
|---|
| 3718 | /* If the task is in the suspended list then there is a
|
|---|
| 3719 | chance it is actually just blocked indefinitely - so really
|
|---|
| 3720 | it should be reported as being in the Blocked state. */
|
|---|
| 3721 | if( eState == eSuspended )
|
|---|
| 3722 | {
|
|---|
| 3723 | vTaskSuspendAll();
|
|---|
| 3724 | {
|
|---|
| 3725 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|---|
| 3726 | {
|
|---|
| 3727 | pxTaskStatus->eCurrentState = eBlocked;
|
|---|
| 3728 | }
|
|---|
| 3729 | }
|
|---|
| 3730 | ( void ) xTaskResumeAll();
|
|---|
| 3731 | }
|
|---|
| 3732 | }
|
|---|
| 3733 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 3734 | }
|
|---|
| 3735 | }
|
|---|
| 3736 | else
|
|---|
| 3737 | {
|
|---|
| 3738 | pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
|
|---|
| 3739 | }
|
|---|
| 3740 |
|
|---|
| 3741 | /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
|
|---|
| 3742 | parameter is provided to allow it to be skipped. */
|
|---|
| 3743 | if( xGetFreeStackSpace != pdFALSE )
|
|---|
| 3744 | {
|
|---|
| 3745 | #if ( portSTACK_GROWTH > 0 )
|
|---|
| 3746 | {
|
|---|
| 3747 | pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
|
|---|
| 3748 | }
|
|---|
| 3749 | #else
|
|---|
| 3750 | {
|
|---|
| 3751 | pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
|
|---|
| 3752 | }
|
|---|
| 3753 | #endif
|
|---|
| 3754 | }
|
|---|
| 3755 | else
|
|---|
| 3756 | {
|
|---|
| 3757 | pxTaskStatus->usStackHighWaterMark = 0;
|
|---|
| 3758 | }
|
|---|
| 3759 | }
|
|---|
| 3760 |
|
|---|
| 3761 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 3762 | /*-----------------------------------------------------------*/
|
|---|
| 3763 |
|
|---|
| 3764 | #if ( configUSE_TRACE_FACILITY == 1 )
|
|---|
| 3765 |
|
|---|
| 3766 | static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
|
|---|
| 3767 | {
|
|---|
| 3768 | configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
|
|---|
| 3769 | UBaseType_t uxTask = 0;
|
|---|
| 3770 |
|
|---|
| 3771 | if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
|
|---|
| 3772 | {
|
|---|
| 3773 | 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. */
|
|---|
| 3774 |
|
|---|
| 3775 | /* Populate an TaskStatus_t structure within the
|
|---|
| 3776 | pxTaskStatusArray array for each task that is referenced from
|
|---|
| 3777 | pxList. See the definition of TaskStatus_t in task.h for the
|
|---|
| 3778 | meaning of each TaskStatus_t structure member. */
|
|---|
| 3779 | do
|
|---|
| 3780 | {
|
|---|
| 3781 | 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. */
|
|---|
| 3782 | vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
|
|---|
| 3783 | uxTask++;
|
|---|
| 3784 | } while( pxNextTCB != pxFirstTCB );
|
|---|
| 3785 | }
|
|---|
| 3786 | else
|
|---|
| 3787 | {
|
|---|
| 3788 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3789 | }
|
|---|
| 3790 |
|
|---|
| 3791 | return uxTask;
|
|---|
| 3792 | }
|
|---|
| 3793 |
|
|---|
| 3794 | #endif /* configUSE_TRACE_FACILITY */
|
|---|
| 3795 | /*-----------------------------------------------------------*/
|
|---|
| 3796 |
|
|---|
| 3797 | #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
|
|---|
| 3798 |
|
|---|
| 3799 | static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
|
|---|
| 3800 | {
|
|---|
| 3801 | uint32_t ulCount = 0U;
|
|---|
| 3802 |
|
|---|
| 3803 | while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
|
|---|
| 3804 | {
|
|---|
| 3805 | pucStackByte -= portSTACK_GROWTH;
|
|---|
| 3806 | ulCount++;
|
|---|
| 3807 | }
|
|---|
| 3808 |
|
|---|
| 3809 | ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
|
|---|
| 3810 |
|
|---|
| 3811 | return ( configSTACK_DEPTH_TYPE ) ulCount;
|
|---|
| 3812 | }
|
|---|
| 3813 |
|
|---|
| 3814 | #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
|
|---|
| 3815 | /*-----------------------------------------------------------*/
|
|---|
| 3816 |
|
|---|
| 3817 | #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
|
|---|
| 3818 |
|
|---|
| 3819 | /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
|
|---|
| 3820 | same except for their return type. Using configSTACK_DEPTH_TYPE allows the
|
|---|
| 3821 | user to determine the return type. It gets around the problem of the value
|
|---|
| 3822 | overflowing on 8-bit types without breaking backward compatibility for
|
|---|
| 3823 | applications that expect an 8-bit return type. */
|
|---|
| 3824 | configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
|
|---|
| 3825 | {
|
|---|
| 3826 | TCB_t *pxTCB;
|
|---|
| 3827 | uint8_t *pucEndOfStack;
|
|---|
| 3828 | configSTACK_DEPTH_TYPE uxReturn;
|
|---|
| 3829 |
|
|---|
| 3830 | /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
|
|---|
| 3831 | the same except for their return type. Using configSTACK_DEPTH_TYPE
|
|---|
| 3832 | allows the user to determine the return type. It gets around the
|
|---|
| 3833 | problem of the value overflowing on 8-bit types without breaking
|
|---|
| 3834 | backward compatibility for applications that expect an 8-bit return
|
|---|
| 3835 | type. */
|
|---|
| 3836 |
|
|---|
| 3837 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 3838 |
|
|---|
| 3839 | #if portSTACK_GROWTH < 0
|
|---|
| 3840 | {
|
|---|
| 3841 | pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
|
|---|
| 3842 | }
|
|---|
| 3843 | #else
|
|---|
| 3844 | {
|
|---|
| 3845 | pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
|
|---|
| 3846 | }
|
|---|
| 3847 | #endif
|
|---|
| 3848 |
|
|---|
| 3849 | uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
|
|---|
| 3850 |
|
|---|
| 3851 | return uxReturn;
|
|---|
| 3852 | }
|
|---|
| 3853 |
|
|---|
| 3854 | #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
|
|---|
| 3855 | /*-----------------------------------------------------------*/
|
|---|
| 3856 |
|
|---|
| 3857 | #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
|
|---|
| 3858 |
|
|---|
| 3859 | UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
|
|---|
| 3860 | {
|
|---|
| 3861 | TCB_t *pxTCB;
|
|---|
| 3862 | uint8_t *pucEndOfStack;
|
|---|
| 3863 | UBaseType_t uxReturn;
|
|---|
| 3864 |
|
|---|
| 3865 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 3866 |
|
|---|
| 3867 | #if portSTACK_GROWTH < 0
|
|---|
| 3868 | {
|
|---|
| 3869 | pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
|
|---|
| 3870 | }
|
|---|
| 3871 | #else
|
|---|
| 3872 | {
|
|---|
| 3873 | pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
|
|---|
| 3874 | }
|
|---|
| 3875 | #endif
|
|---|
| 3876 |
|
|---|
| 3877 | uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
|
|---|
| 3878 |
|
|---|
| 3879 | return uxReturn;
|
|---|
| 3880 | }
|
|---|
| 3881 |
|
|---|
| 3882 | #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
|
|---|
| 3883 | /*-----------------------------------------------------------*/
|
|---|
| 3884 |
|
|---|
| 3885 | #if ( INCLUDE_vTaskDelete == 1 )
|
|---|
| 3886 |
|
|---|
| 3887 | static void prvDeleteTCB( TCB_t *pxTCB )
|
|---|
| 3888 | {
|
|---|
| 3889 | /* This call is required specifically for the TriCore port. It must be
|
|---|
| 3890 | above the vPortFree() calls. The call is also used by ports/demos that
|
|---|
| 3891 | want to allocate and clean RAM statically. */
|
|---|
| 3892 | portCLEAN_UP_TCB( pxTCB );
|
|---|
| 3893 |
|
|---|
| 3894 | /* Free up the memory allocated by the scheduler for the task. It is up
|
|---|
| 3895 | to the task to free any memory allocated at the application level.
|
|---|
| 3896 | See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
|
|---|
| 3897 | for additional information. */
|
|---|
| 3898 | #if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|---|
| 3899 | {
|
|---|
| 3900 | _reclaim_reent( &( pxTCB->xNewLib_reent ) );
|
|---|
| 3901 | }
|
|---|
| 3902 | #endif /* configUSE_NEWLIB_REENTRANT */
|
|---|
| 3903 |
|
|---|
| 3904 | #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
|
|---|
| 3905 | {
|
|---|
| 3906 | /* The task can only have been allocated dynamically - free both
|
|---|
| 3907 | the stack and TCB. */
|
|---|
| 3908 | vPortFree( pxTCB->pxStack );
|
|---|
| 3909 | vPortFree( pxTCB );
|
|---|
| 3910 | }
|
|---|
| 3911 | #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
|
|---|
| 3912 | {
|
|---|
| 3913 | /* The task could have been allocated statically or dynamically, so
|
|---|
| 3914 | check what was statically allocated before trying to free the
|
|---|
| 3915 | memory. */
|
|---|
| 3916 | if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
|
|---|
| 3917 | {
|
|---|
| 3918 | /* Both the stack and TCB were allocated dynamically, so both
|
|---|
| 3919 | must be freed. */
|
|---|
| 3920 | vPortFree( pxTCB->pxStack );
|
|---|
| 3921 | vPortFree( pxTCB );
|
|---|
| 3922 | }
|
|---|
| 3923 | else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
|
|---|
| 3924 | {
|
|---|
| 3925 | /* Only the stack was statically allocated, so the TCB is the
|
|---|
| 3926 | only memory that must be freed. */
|
|---|
| 3927 | vPortFree( pxTCB );
|
|---|
| 3928 | }
|
|---|
| 3929 | else
|
|---|
| 3930 | {
|
|---|
| 3931 | /* Neither the stack nor the TCB were allocated dynamically, so
|
|---|
| 3932 | nothing needs to be freed. */
|
|---|
| 3933 | configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
|
|---|
| 3934 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 3935 | }
|
|---|
| 3936 | }
|
|---|
| 3937 | #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
|
|---|
| 3938 | }
|
|---|
| 3939 |
|
|---|
| 3940 | #endif /* INCLUDE_vTaskDelete */
|
|---|
| 3941 | /*-----------------------------------------------------------*/
|
|---|
| 3942 |
|
|---|
| 3943 | static void prvResetNextTaskUnblockTime( void )
|
|---|
| 3944 | {
|
|---|
| 3945 | TCB_t *pxTCB;
|
|---|
| 3946 |
|
|---|
| 3947 | if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
|
|---|
| 3948 | {
|
|---|
| 3949 | /* The new current delayed list is empty. Set xNextTaskUnblockTime to
|
|---|
| 3950 | the maximum possible value so it is extremely unlikely that the
|
|---|
| 3951 | if( xTickCount >= xNextTaskUnblockTime ) test will pass until
|
|---|
| 3952 | there is an item in the delayed list. */
|
|---|
| 3953 | xNextTaskUnblockTime = portMAX_DELAY;
|
|---|
| 3954 | }
|
|---|
| 3955 | else
|
|---|
| 3956 | {
|
|---|
| 3957 | /* The new current delayed list is not empty, get the value of
|
|---|
| 3958 | the item at the head of the delayed list. This is the time at
|
|---|
| 3959 | which the task at the head of the delayed list should be removed
|
|---|
| 3960 | from the Blocked state. */
|
|---|
| 3961 | ( 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. */
|
|---|
| 3962 | xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
|
|---|
| 3963 | }
|
|---|
| 3964 | }
|
|---|
| 3965 | /*-----------------------------------------------------------*/
|
|---|
| 3966 |
|
|---|
| 3967 | #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
|
|---|
| 3968 |
|
|---|
| 3969 | TaskHandle_t xTaskGetCurrentTaskHandle( void )
|
|---|
| 3970 | {
|
|---|
| 3971 | TaskHandle_t xReturn;
|
|---|
| 3972 |
|
|---|
| 3973 | /* A critical section is not required as this is not called from
|
|---|
| 3974 | an interrupt and the current TCB will always be the same for any
|
|---|
| 3975 | individual execution thread. */
|
|---|
| 3976 | xReturn = pxCurrentTCB;
|
|---|
| 3977 |
|
|---|
| 3978 | return xReturn;
|
|---|
| 3979 | }
|
|---|
| 3980 |
|
|---|
| 3981 | #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
|
|---|
| 3982 | /*-----------------------------------------------------------*/
|
|---|
| 3983 |
|
|---|
| 3984 | #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
|
|---|
| 3985 |
|
|---|
| 3986 | BaseType_t xTaskGetSchedulerState( void )
|
|---|
| 3987 | {
|
|---|
| 3988 | BaseType_t xReturn;
|
|---|
| 3989 |
|
|---|
| 3990 | if( xSchedulerRunning == pdFALSE )
|
|---|
| 3991 | {
|
|---|
| 3992 | xReturn = taskSCHEDULER_NOT_STARTED;
|
|---|
| 3993 | }
|
|---|
| 3994 | else
|
|---|
| 3995 | {
|
|---|
| 3996 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 3997 | {
|
|---|
| 3998 | xReturn = taskSCHEDULER_RUNNING;
|
|---|
| 3999 | }
|
|---|
| 4000 | else
|
|---|
| 4001 | {
|
|---|
| 4002 | xReturn = taskSCHEDULER_SUSPENDED;
|
|---|
| 4003 | }
|
|---|
| 4004 | }
|
|---|
| 4005 |
|
|---|
| 4006 | return xReturn;
|
|---|
| 4007 | }
|
|---|
| 4008 |
|
|---|
| 4009 | #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
|
|---|
| 4010 | /*-----------------------------------------------------------*/
|
|---|
| 4011 |
|
|---|
| 4012 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 4013 |
|
|---|
| 4014 | BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
|
|---|
| 4015 | {
|
|---|
| 4016 | TCB_t * const pxMutexHolderTCB = pxMutexHolder;
|
|---|
| 4017 | BaseType_t xReturn = pdFALSE;
|
|---|
| 4018 |
|
|---|
| 4019 | /* If the mutex was given back by an interrupt while the queue was
|
|---|
| 4020 | locked then the mutex holder might now be NULL. _RB_ Is this still
|
|---|
| 4021 | needed as interrupts can no longer use mutexes? */
|
|---|
| 4022 | if( pxMutexHolder != NULL )
|
|---|
| 4023 | {
|
|---|
| 4024 | /* If the holder of the mutex has a priority below the priority of
|
|---|
| 4025 | the task attempting to obtain the mutex then it will temporarily
|
|---|
| 4026 | inherit the priority of the task attempting to obtain the mutex. */
|
|---|
| 4027 | if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
|
|---|
| 4028 | {
|
|---|
| 4029 | /* Adjust the mutex holder state to account for its new
|
|---|
| 4030 | priority. Only reset the event list item value if the value is
|
|---|
| 4031 | not being used for anything else. */
|
|---|
| 4032 | if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|---|
| 4033 | {
|
|---|
| 4034 | 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. */
|
|---|
| 4035 | }
|
|---|
| 4036 | else
|
|---|
| 4037 | {
|
|---|
| 4038 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4039 | }
|
|---|
| 4040 |
|
|---|
| 4041 | /* If the task being modified is in the ready state it will need
|
|---|
| 4042 | to be moved into a new list. */
|
|---|
| 4043 | if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
|
|---|
| 4044 | {
|
|---|
| 4045 | if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 4046 | {
|
|---|
| 4047 | /* It is known that the task is in its ready list so
|
|---|
| 4048 | there is no need to check again and the port level
|
|---|
| 4049 | reset macro can be called directly. */
|
|---|
| 4050 | portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
|
|---|
| 4051 | }
|
|---|
| 4052 | else
|
|---|
| 4053 | {
|
|---|
| 4054 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4055 | }
|
|---|
| 4056 |
|
|---|
| 4057 | /* Inherit the priority before being moved into the new list. */
|
|---|
| 4058 | pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
|
|---|
| 4059 | prvAddTaskToReadyList( pxMutexHolderTCB );
|
|---|
| 4060 | }
|
|---|
| 4061 | else
|
|---|
| 4062 | {
|
|---|
| 4063 | /* Just inherit the priority. */
|
|---|
| 4064 | pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
|
|---|
| 4065 | }
|
|---|
| 4066 |
|
|---|
| 4067 | traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
|
|---|
| 4068 |
|
|---|
| 4069 | /* Inheritance occurred. */
|
|---|
| 4070 | xReturn = pdTRUE;
|
|---|
| 4071 | }
|
|---|
| 4072 | else
|
|---|
| 4073 | {
|
|---|
| 4074 | if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
|
|---|
| 4075 | {
|
|---|
| 4076 | /* The base priority of the mutex holder is lower than the
|
|---|
| 4077 | priority of the task attempting to take the mutex, but the
|
|---|
| 4078 | current priority of the mutex holder is not lower than the
|
|---|
| 4079 | priority of the task attempting to take the mutex.
|
|---|
| 4080 | Therefore the mutex holder must have already inherited a
|
|---|
| 4081 | priority, but inheritance would have occurred if that had
|
|---|
| 4082 | not been the case. */
|
|---|
| 4083 | xReturn = pdTRUE;
|
|---|
| 4084 | }
|
|---|
| 4085 | else
|
|---|
| 4086 | {
|
|---|
| 4087 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4088 | }
|
|---|
| 4089 | }
|
|---|
| 4090 | }
|
|---|
| 4091 | else
|
|---|
| 4092 | {
|
|---|
| 4093 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4094 | }
|
|---|
| 4095 |
|
|---|
| 4096 | return xReturn;
|
|---|
| 4097 | }
|
|---|
| 4098 |
|
|---|
| 4099 | #endif /* configUSE_MUTEXES */
|
|---|
| 4100 | /*-----------------------------------------------------------*/
|
|---|
| 4101 |
|
|---|
| 4102 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 4103 |
|
|---|
| 4104 | BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
|
|---|
| 4105 | {
|
|---|
| 4106 | TCB_t * const pxTCB = pxMutexHolder;
|
|---|
| 4107 | BaseType_t xReturn = pdFALSE;
|
|---|
| 4108 |
|
|---|
| 4109 | if( pxMutexHolder != NULL )
|
|---|
| 4110 | {
|
|---|
| 4111 | /* A task can only have an inherited priority if it holds the mutex.
|
|---|
| 4112 | If the mutex is held by a task then it cannot be given from an
|
|---|
| 4113 | interrupt, and if a mutex is given by the holding task then it must
|
|---|
| 4114 | be the running state task. */
|
|---|
| 4115 | configASSERT( pxTCB == pxCurrentTCB );
|
|---|
| 4116 | configASSERT( pxTCB->uxMutexesHeld );
|
|---|
| 4117 | ( pxTCB->uxMutexesHeld )--;
|
|---|
| 4118 |
|
|---|
| 4119 | /* Has the holder of the mutex inherited the priority of another
|
|---|
| 4120 | task? */
|
|---|
| 4121 | if( pxTCB->uxPriority != pxTCB->uxBasePriority )
|
|---|
| 4122 | {
|
|---|
| 4123 | /* Only disinherit if no other mutexes are held. */
|
|---|
| 4124 | if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
|
|---|
| 4125 | {
|
|---|
| 4126 | /* A task can only have an inherited priority if it holds
|
|---|
| 4127 | the mutex. If the mutex is held by a task then it cannot be
|
|---|
| 4128 | given from an interrupt, and if a mutex is given by the
|
|---|
| 4129 | holding task then it must be the running state task. Remove
|
|---|
| 4130 | the holding task from the ready/delayed list. */
|
|---|
| 4131 | if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 4132 | {
|
|---|
| 4133 | taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|---|
| 4134 | }
|
|---|
| 4135 | else
|
|---|
| 4136 | {
|
|---|
| 4137 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4138 | }
|
|---|
| 4139 |
|
|---|
| 4140 | /* Disinherit the priority before adding the task into the
|
|---|
| 4141 | new ready list. */
|
|---|
| 4142 | traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
|
|---|
| 4143 | pxTCB->uxPriority = pxTCB->uxBasePriority;
|
|---|
| 4144 |
|
|---|
| 4145 | /* Reset the event list item value. It cannot be in use for
|
|---|
| 4146 | any other purpose if this task is running, and it must be
|
|---|
| 4147 | running to give back the mutex. */
|
|---|
| 4148 | 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. */
|
|---|
| 4149 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 4150 |
|
|---|
| 4151 | /* Return true to indicate that a context switch is required.
|
|---|
| 4152 | This is only actually required in the corner case whereby
|
|---|
| 4153 | multiple mutexes were held and the mutexes were given back
|
|---|
| 4154 | in an order different to that in which they were taken.
|
|---|
| 4155 | If a context switch did not occur when the first mutex was
|
|---|
| 4156 | returned, even if a task was waiting on it, then a context
|
|---|
| 4157 | switch should occur when the last mutex is returned whether
|
|---|
| 4158 | a task is waiting on it or not. */
|
|---|
| 4159 | xReturn = pdTRUE;
|
|---|
| 4160 | }
|
|---|
| 4161 | else
|
|---|
| 4162 | {
|
|---|
| 4163 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4164 | }
|
|---|
| 4165 | }
|
|---|
| 4166 | else
|
|---|
| 4167 | {
|
|---|
| 4168 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4169 | }
|
|---|
| 4170 | }
|
|---|
| 4171 | else
|
|---|
| 4172 | {
|
|---|
| 4173 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4174 | }
|
|---|
| 4175 |
|
|---|
| 4176 | return xReturn;
|
|---|
| 4177 | }
|
|---|
| 4178 |
|
|---|
| 4179 | #endif /* configUSE_MUTEXES */
|
|---|
| 4180 | /*-----------------------------------------------------------*/
|
|---|
| 4181 |
|
|---|
| 4182 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 4183 |
|
|---|
| 4184 | void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
|
|---|
| 4185 | {
|
|---|
| 4186 | TCB_t * const pxTCB = pxMutexHolder;
|
|---|
| 4187 | UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
|
|---|
| 4188 | const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
|
|---|
| 4189 |
|
|---|
| 4190 | if( pxMutexHolder != NULL )
|
|---|
| 4191 | {
|
|---|
| 4192 | /* If pxMutexHolder is not NULL then the holder must hold at least
|
|---|
| 4193 | one mutex. */
|
|---|
| 4194 | configASSERT( pxTCB->uxMutexesHeld );
|
|---|
| 4195 |
|
|---|
| 4196 | /* Determine the priority to which the priority of the task that
|
|---|
| 4197 | holds the mutex should be set. This will be the greater of the
|
|---|
| 4198 | holding task's base priority and the priority of the highest
|
|---|
| 4199 | priority task that is waiting to obtain the mutex. */
|
|---|
| 4200 | if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
|
|---|
| 4201 | {
|
|---|
| 4202 | uxPriorityToUse = uxHighestPriorityWaitingTask;
|
|---|
| 4203 | }
|
|---|
| 4204 | else
|
|---|
| 4205 | {
|
|---|
| 4206 | uxPriorityToUse = pxTCB->uxBasePriority;
|
|---|
| 4207 | }
|
|---|
| 4208 |
|
|---|
| 4209 | /* Does the priority need to change? */
|
|---|
| 4210 | if( pxTCB->uxPriority != uxPriorityToUse )
|
|---|
| 4211 | {
|
|---|
| 4212 | /* Only disinherit if no other mutexes are held. This is a
|
|---|
| 4213 | simplification in the priority inheritance implementation. If
|
|---|
| 4214 | the task that holds the mutex is also holding other mutexes then
|
|---|
| 4215 | the other mutexes may have caused the priority inheritance. */
|
|---|
| 4216 | if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
|
|---|
| 4217 | {
|
|---|
| 4218 | /* If a task has timed out because it already holds the
|
|---|
| 4219 | mutex it was trying to obtain then it cannot of inherited
|
|---|
| 4220 | its own priority. */
|
|---|
| 4221 | configASSERT( pxTCB != pxCurrentTCB );
|
|---|
| 4222 |
|
|---|
| 4223 | /* Disinherit the priority, remembering the previous
|
|---|
| 4224 | priority to facilitate determining the subject task's
|
|---|
| 4225 | state. */
|
|---|
| 4226 | traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
|
|---|
| 4227 | uxPriorityUsedOnEntry = pxTCB->uxPriority;
|
|---|
| 4228 | pxTCB->uxPriority = uxPriorityToUse;
|
|---|
| 4229 |
|
|---|
| 4230 | /* Only reset the event list item value if the value is not
|
|---|
| 4231 | being used for anything else. */
|
|---|
| 4232 | if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
|
|---|
| 4233 | {
|
|---|
| 4234 | 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. */
|
|---|
| 4235 | }
|
|---|
| 4236 | else
|
|---|
| 4237 | {
|
|---|
| 4238 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4239 | }
|
|---|
| 4240 |
|
|---|
| 4241 | /* If the running task is not the task that holds the mutex
|
|---|
| 4242 | then the task that holds the mutex could be in either the
|
|---|
| 4243 | Ready, Blocked or Suspended states. Only remove the task
|
|---|
| 4244 | from its current state list if it is in the Ready state as
|
|---|
| 4245 | the task's priority is going to change and there is one
|
|---|
| 4246 | Ready list per priority. */
|
|---|
| 4247 | if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
|
|---|
| 4248 | {
|
|---|
| 4249 | if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 4250 | {
|
|---|
| 4251 | /* It is known that the task is in its ready list so
|
|---|
| 4252 | there is no need to check again and the port level
|
|---|
| 4253 | reset macro can be called directly. */
|
|---|
| 4254 | portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
|
|---|
| 4255 | }
|
|---|
| 4256 | else
|
|---|
| 4257 | {
|
|---|
| 4258 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4259 | }
|
|---|
| 4260 |
|
|---|
| 4261 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 4262 | }
|
|---|
| 4263 | else
|
|---|
| 4264 | {
|
|---|
| 4265 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4266 | }
|
|---|
| 4267 | }
|
|---|
| 4268 | else
|
|---|
| 4269 | {
|
|---|
| 4270 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4271 | }
|
|---|
| 4272 | }
|
|---|
| 4273 | else
|
|---|
| 4274 | {
|
|---|
| 4275 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4276 | }
|
|---|
| 4277 | }
|
|---|
| 4278 | else
|
|---|
| 4279 | {
|
|---|
| 4280 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4281 | }
|
|---|
| 4282 | }
|
|---|
| 4283 |
|
|---|
| 4284 | #endif /* configUSE_MUTEXES */
|
|---|
| 4285 | /*-----------------------------------------------------------*/
|
|---|
| 4286 |
|
|---|
| 4287 | #if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|---|
| 4288 |
|
|---|
| 4289 | void vTaskEnterCritical( void )
|
|---|
| 4290 | {
|
|---|
| 4291 | portDISABLE_INTERRUPTS();
|
|---|
| 4292 |
|
|---|
| 4293 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 4294 | {
|
|---|
| 4295 | ( pxCurrentTCB->uxCriticalNesting )++;
|
|---|
| 4296 |
|
|---|
| 4297 | /* This is not the interrupt safe version of the enter critical
|
|---|
| 4298 | function so assert() if it is being called from an interrupt
|
|---|
| 4299 | context. Only API functions that end in "FromISR" can be used in an
|
|---|
| 4300 | interrupt. Only assert if the critical nesting count is 1 to
|
|---|
| 4301 | protect against recursive calls if the assert function also uses a
|
|---|
| 4302 | critical section. */
|
|---|
| 4303 | if( pxCurrentTCB->uxCriticalNesting == 1 )
|
|---|
| 4304 | {
|
|---|
| 4305 | portASSERT_IF_IN_ISR();
|
|---|
| 4306 | }
|
|---|
| 4307 | }
|
|---|
| 4308 | else
|
|---|
| 4309 | {
|
|---|
| 4310 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4311 | }
|
|---|
| 4312 | }
|
|---|
| 4313 |
|
|---|
| 4314 | #endif /* portCRITICAL_NESTING_IN_TCB */
|
|---|
| 4315 | /*-----------------------------------------------------------*/
|
|---|
| 4316 |
|
|---|
| 4317 | #if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|---|
| 4318 |
|
|---|
| 4319 | void vTaskExitCritical( void )
|
|---|
| 4320 | {
|
|---|
| 4321 | if( xSchedulerRunning != pdFALSE )
|
|---|
| 4322 | {
|
|---|
| 4323 | if( pxCurrentTCB->uxCriticalNesting > 0U )
|
|---|
| 4324 | {
|
|---|
| 4325 | ( pxCurrentTCB->uxCriticalNesting )--;
|
|---|
| 4326 |
|
|---|
| 4327 | if( pxCurrentTCB->uxCriticalNesting == 0U )
|
|---|
| 4328 | {
|
|---|
| 4329 | portENABLE_INTERRUPTS();
|
|---|
| 4330 | }
|
|---|
| 4331 | else
|
|---|
| 4332 | {
|
|---|
| 4333 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4334 | }
|
|---|
| 4335 | }
|
|---|
| 4336 | else
|
|---|
| 4337 | {
|
|---|
| 4338 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4339 | }
|
|---|
| 4340 | }
|
|---|
| 4341 | else
|
|---|
| 4342 | {
|
|---|
| 4343 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4344 | }
|
|---|
| 4345 | }
|
|---|
| 4346 |
|
|---|
| 4347 | #endif /* portCRITICAL_NESTING_IN_TCB */
|
|---|
| 4348 | /*-----------------------------------------------------------*/
|
|---|
| 4349 |
|
|---|
| 4350 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
|
|---|
| 4351 |
|
|---|
| 4352 | static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
|
|---|
| 4353 | {
|
|---|
| 4354 | size_t x;
|
|---|
| 4355 |
|
|---|
| 4356 | /* Start by copying the entire string. */
|
|---|
| 4357 | strcpy( pcBuffer, pcTaskName );
|
|---|
| 4358 |
|
|---|
| 4359 | /* Pad the end of the string with spaces to ensure columns line up when
|
|---|
| 4360 | printed out. */
|
|---|
| 4361 | for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
|
|---|
| 4362 | {
|
|---|
| 4363 | pcBuffer[ x ] = ' ';
|
|---|
| 4364 | }
|
|---|
| 4365 |
|
|---|
| 4366 | /* Terminate. */
|
|---|
| 4367 | pcBuffer[ x ] = ( char ) 0x00;
|
|---|
| 4368 |
|
|---|
| 4369 | /* Return the new end of string. */
|
|---|
| 4370 | return &( pcBuffer[ x ] );
|
|---|
| 4371 | }
|
|---|
| 4372 |
|
|---|
| 4373 | #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
|
|---|
| 4374 | /*-----------------------------------------------------------*/
|
|---|
| 4375 |
|
|---|
| 4376 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|---|
| 4377 |
|
|---|
| 4378 | void vTaskList( char * pcWriteBuffer )
|
|---|
| 4379 | {
|
|---|
| 4380 | TaskStatus_t *pxTaskStatusArray;
|
|---|
| 4381 | UBaseType_t uxArraySize, x;
|
|---|
| 4382 | char cStatus;
|
|---|
| 4383 |
|
|---|
| 4384 | /*
|
|---|
| 4385 | * PLEASE NOTE:
|
|---|
| 4386 | *
|
|---|
| 4387 | * This function is provided for convenience only, and is used by many
|
|---|
| 4388 | * of the demo applications. Do not consider it to be part of the
|
|---|
| 4389 | * scheduler.
|
|---|
| 4390 | *
|
|---|
| 4391 | * vTaskList() calls uxTaskGetSystemState(), then formats part of the
|
|---|
| 4392 | * uxTaskGetSystemState() output into a human readable table that
|
|---|
| 4393 | * displays task names, states and stack usage.
|
|---|
| 4394 | *
|
|---|
| 4395 | * vTaskList() has a dependency on the sprintf() C library function that
|
|---|
| 4396 | * might bloat the code size, use a lot of stack, and provide different
|
|---|
| 4397 | * results on different platforms. An alternative, tiny, third party,
|
|---|
| 4398 | * and limited functionality implementation of sprintf() is provided in
|
|---|
| 4399 | * many of the FreeRTOS/Demo sub-directories in a file called
|
|---|
| 4400 | * printf-stdarg.c (note printf-stdarg.c does not provide a full
|
|---|
| 4401 | * snprintf() implementation!).
|
|---|
| 4402 | *
|
|---|
| 4403 | * It is recommended that production systems call uxTaskGetSystemState()
|
|---|
| 4404 | * directly to get access to raw stats data, rather than indirectly
|
|---|
| 4405 | * through a call to vTaskList().
|
|---|
| 4406 | */
|
|---|
| 4407 |
|
|---|
| 4408 |
|
|---|
| 4409 | /* Make sure the write buffer does not contain a string. */
|
|---|
| 4410 | *pcWriteBuffer = ( char ) 0x00;
|
|---|
| 4411 |
|
|---|
| 4412 | /* Take a snapshot of the number of tasks in case it changes while this
|
|---|
| 4413 | function is executing. */
|
|---|
| 4414 | uxArraySize = uxCurrentNumberOfTasks;
|
|---|
| 4415 |
|
|---|
| 4416 | /* Allocate an array index for each task. NOTE! if
|
|---|
| 4417 | configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
|
|---|
| 4418 | equate to NULL. */
|
|---|
| 4419 | 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. */
|
|---|
| 4420 |
|
|---|
| 4421 | if( pxTaskStatusArray != NULL )
|
|---|
| 4422 | {
|
|---|
| 4423 | /* Generate the (binary) data. */
|
|---|
| 4424 | uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
|
|---|
| 4425 |
|
|---|
| 4426 | /* Create a human readable table from the binary data. */
|
|---|
| 4427 | for( x = 0; x < uxArraySize; x++ )
|
|---|
| 4428 | {
|
|---|
| 4429 | switch( pxTaskStatusArray[ x ].eCurrentState )
|
|---|
| 4430 | {
|
|---|
| 4431 | case eRunning: cStatus = tskRUNNING_CHAR;
|
|---|
| 4432 | break;
|
|---|
| 4433 |
|
|---|
| 4434 | case eReady: cStatus = tskREADY_CHAR;
|
|---|
| 4435 | break;
|
|---|
| 4436 |
|
|---|
| 4437 | case eBlocked: cStatus = tskBLOCKED_CHAR;
|
|---|
| 4438 | break;
|
|---|
| 4439 |
|
|---|
| 4440 | case eSuspended: cStatus = tskSUSPENDED_CHAR;
|
|---|
| 4441 | break;
|
|---|
| 4442 |
|
|---|
| 4443 | case eDeleted: cStatus = tskDELETED_CHAR;
|
|---|
| 4444 | break;
|
|---|
| 4445 |
|
|---|
| 4446 | case eInvalid: /* Fall through. */
|
|---|
| 4447 | default: /* Should not get here, but it is included
|
|---|
| 4448 | to prevent static checking errors. */
|
|---|
| 4449 | cStatus = ( char ) 0x00;
|
|---|
| 4450 | break;
|
|---|
| 4451 | }
|
|---|
| 4452 |
|
|---|
| 4453 | /* Write the task name to the string, padding with spaces so it
|
|---|
| 4454 | can be printed in tabular form more easily. */
|
|---|
| 4455 | pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
|
|---|
| 4456 |
|
|---|
| 4457 | /* Write the rest of the string. */
|
|---|
| 4458 | 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. */
|
|---|
| 4459 | 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. */
|
|---|
| 4460 | }
|
|---|
| 4461 |
|
|---|
| 4462 | /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
|
|---|
| 4463 | is 0 then vPortFree() will be #defined to nothing. */
|
|---|
| 4464 | vPortFree( pxTaskStatusArray );
|
|---|
| 4465 | }
|
|---|
| 4466 | else
|
|---|
| 4467 | {
|
|---|
| 4468 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4469 | }
|
|---|
| 4470 | }
|
|---|
| 4471 |
|
|---|
| 4472 | #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
|
|---|
| 4473 | /*----------------------------------------------------------*/
|
|---|
| 4474 |
|
|---|
| 4475 | #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
|
|---|
| 4476 |
|
|---|
| 4477 | void vTaskGetRunTimeStats( char *pcWriteBuffer )
|
|---|
| 4478 | {
|
|---|
| 4479 | TaskStatus_t *pxTaskStatusArray;
|
|---|
| 4480 | UBaseType_t uxArraySize, x;
|
|---|
| 4481 | uint32_t ulTotalTime, ulStatsAsPercentage;
|
|---|
| 4482 |
|
|---|
| 4483 | #if( configUSE_TRACE_FACILITY != 1 )
|
|---|
| 4484 | {
|
|---|
| 4485 | #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
|
|---|
| 4486 | }
|
|---|
| 4487 | #endif
|
|---|
| 4488 |
|
|---|
| 4489 | /*
|
|---|
| 4490 | * PLEASE NOTE:
|
|---|
| 4491 | *
|
|---|
| 4492 | * This function is provided for convenience only, and is used by many
|
|---|
| 4493 | * of the demo applications. Do not consider it to be part of the
|
|---|
| 4494 | * scheduler.
|
|---|
| 4495 | *
|
|---|
| 4496 | * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
|
|---|
| 4497 | * of the uxTaskGetSystemState() output into a human readable table that
|
|---|
| 4498 | * displays the amount of time each task has spent in the Running state
|
|---|
| 4499 | * in both absolute and percentage terms.
|
|---|
| 4500 | *
|
|---|
| 4501 | * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
|
|---|
| 4502 | * function that might bloat the code size, use a lot of stack, and
|
|---|
| 4503 | * provide different results on different platforms. An alternative,
|
|---|
| 4504 | * tiny, third party, and limited functionality implementation of
|
|---|
| 4505 | * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
|
|---|
| 4506 | * a file called printf-stdarg.c (note printf-stdarg.c does not provide
|
|---|
| 4507 | * a full snprintf() implementation!).
|
|---|
| 4508 | *
|
|---|
| 4509 | * It is recommended that production systems call uxTaskGetSystemState()
|
|---|
| 4510 | * directly to get access to raw stats data, rather than indirectly
|
|---|
| 4511 | * through a call to vTaskGetRunTimeStats().
|
|---|
| 4512 | */
|
|---|
| 4513 |
|
|---|
| 4514 | /* Make sure the write buffer does not contain a string. */
|
|---|
| 4515 | *pcWriteBuffer = ( char ) 0x00;
|
|---|
| 4516 |
|
|---|
| 4517 | /* Take a snapshot of the number of tasks in case it changes while this
|
|---|
| 4518 | function is executing. */
|
|---|
| 4519 | uxArraySize = uxCurrentNumberOfTasks;
|
|---|
| 4520 |
|
|---|
| 4521 | /* Allocate an array index for each task. NOTE! If
|
|---|
| 4522 | configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
|
|---|
| 4523 | equate to NULL. */
|
|---|
| 4524 | 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. */
|
|---|
| 4525 |
|
|---|
| 4526 | if( pxTaskStatusArray != NULL )
|
|---|
| 4527 | {
|
|---|
| 4528 | /* Generate the (binary) data. */
|
|---|
| 4529 | uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
|
|---|
| 4530 |
|
|---|
| 4531 | /* For percentage calculations. */
|
|---|
| 4532 | ulTotalTime /= 100UL;
|
|---|
| 4533 |
|
|---|
| 4534 | /* Avoid divide by zero errors. */
|
|---|
| 4535 | if( ulTotalTime > 0UL )
|
|---|
| 4536 | {
|
|---|
| 4537 | /* Create a human readable table from the binary data. */
|
|---|
| 4538 | for( x = 0; x < uxArraySize; x++ )
|
|---|
| 4539 | {
|
|---|
| 4540 | /* What percentage of the total run time has the task used?
|
|---|
| 4541 | This will always be rounded down to the nearest integer.
|
|---|
| 4542 | ulTotalRunTimeDiv100 has already been divided by 100. */
|
|---|
| 4543 | ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
|
|---|
| 4544 |
|
|---|
| 4545 | /* Write the task name to the string, padding with
|
|---|
| 4546 | spaces so it can be printed in tabular form more
|
|---|
| 4547 | easily. */
|
|---|
| 4548 | pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
|
|---|
| 4549 |
|
|---|
| 4550 | if( ulStatsAsPercentage > 0UL )
|
|---|
| 4551 | {
|
|---|
| 4552 | #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|---|
| 4553 | {
|
|---|
| 4554 | sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
|
|---|
| 4555 | }
|
|---|
| 4556 | #else
|
|---|
| 4557 | {
|
|---|
| 4558 | /* sizeof( int ) == sizeof( long ) so a smaller
|
|---|
| 4559 | printf() library can be used. */
|
|---|
| 4560 | 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. */
|
|---|
| 4561 | }
|
|---|
| 4562 | #endif
|
|---|
| 4563 | }
|
|---|
| 4564 | else
|
|---|
| 4565 | {
|
|---|
| 4566 | /* If the percentage is zero here then the task has
|
|---|
| 4567 | consumed less than 1% of the total run time. */
|
|---|
| 4568 | #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|---|
| 4569 | {
|
|---|
| 4570 | sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
|
|---|
| 4571 | }
|
|---|
| 4572 | #else
|
|---|
| 4573 | {
|
|---|
| 4574 | /* sizeof( int ) == sizeof( long ) so a smaller
|
|---|
| 4575 | printf() library can be used. */
|
|---|
| 4576 | 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. */
|
|---|
| 4577 | }
|
|---|
| 4578 | #endif
|
|---|
| 4579 | }
|
|---|
| 4580 |
|
|---|
| 4581 | 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. */
|
|---|
| 4582 | }
|
|---|
| 4583 | }
|
|---|
| 4584 | else
|
|---|
| 4585 | {
|
|---|
| 4586 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4587 | }
|
|---|
| 4588 |
|
|---|
| 4589 | /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
|
|---|
| 4590 | is 0 then vPortFree() will be #defined to nothing. */
|
|---|
| 4591 | vPortFree( pxTaskStatusArray );
|
|---|
| 4592 | }
|
|---|
| 4593 | else
|
|---|
| 4594 | {
|
|---|
| 4595 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4596 | }
|
|---|
| 4597 | }
|
|---|
| 4598 |
|
|---|
| 4599 | #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
|
|---|
| 4600 | /*-----------------------------------------------------------*/
|
|---|
| 4601 |
|
|---|
| 4602 | TickType_t uxTaskResetEventItemValue( void )
|
|---|
| 4603 | {
|
|---|
| 4604 | TickType_t uxReturn;
|
|---|
| 4605 |
|
|---|
| 4606 | uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
|
|---|
| 4607 |
|
|---|
| 4608 | /* Reset the event list item to its normal value - so it can be used with
|
|---|
| 4609 | queues and semaphores. */
|
|---|
| 4610 | 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. */
|
|---|
| 4611 |
|
|---|
| 4612 | return uxReturn;
|
|---|
| 4613 | }
|
|---|
| 4614 | /*-----------------------------------------------------------*/
|
|---|
| 4615 |
|
|---|
| 4616 | #if ( configUSE_MUTEXES == 1 )
|
|---|
| 4617 |
|
|---|
| 4618 | TaskHandle_t pvTaskIncrementMutexHeldCount( void )
|
|---|
| 4619 | {
|
|---|
| 4620 | /* If xSemaphoreCreateMutex() is called before any tasks have been created
|
|---|
| 4621 | then pxCurrentTCB will be NULL. */
|
|---|
| 4622 | if( pxCurrentTCB != NULL )
|
|---|
| 4623 | {
|
|---|
| 4624 | ( pxCurrentTCB->uxMutexesHeld )++;
|
|---|
| 4625 | }
|
|---|
| 4626 |
|
|---|
| 4627 | return pxCurrentTCB;
|
|---|
| 4628 | }
|
|---|
| 4629 |
|
|---|
| 4630 | #endif /* configUSE_MUTEXES */
|
|---|
| 4631 | /*-----------------------------------------------------------*/
|
|---|
| 4632 |
|
|---|
| 4633 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 4634 |
|
|---|
| 4635 | uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
|
|---|
| 4636 | {
|
|---|
| 4637 | uint32_t ulReturn;
|
|---|
| 4638 |
|
|---|
| 4639 | taskENTER_CRITICAL();
|
|---|
| 4640 | {
|
|---|
| 4641 | /* Only block if the notification count is not already non-zero. */
|
|---|
| 4642 | if( pxCurrentTCB->ulNotifiedValue == 0UL )
|
|---|
| 4643 | {
|
|---|
| 4644 | /* Mark this task as waiting for a notification. */
|
|---|
| 4645 | pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
|
|---|
| 4646 |
|
|---|
| 4647 | if( xTicksToWait > ( TickType_t ) 0 )
|
|---|
| 4648 | {
|
|---|
| 4649 | prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|---|
| 4650 | traceTASK_NOTIFY_TAKE_BLOCK();
|
|---|
| 4651 |
|
|---|
| 4652 | /* All ports are written to allow a yield in a critical
|
|---|
| 4653 | section (some will yield immediately, others wait until the
|
|---|
| 4654 | critical section exits) - but it is not something that
|
|---|
| 4655 | application code should ever do. */
|
|---|
| 4656 | portYIELD_WITHIN_API();
|
|---|
| 4657 | }
|
|---|
| 4658 | else
|
|---|
| 4659 | {
|
|---|
| 4660 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4661 | }
|
|---|
| 4662 | }
|
|---|
| 4663 | else
|
|---|
| 4664 | {
|
|---|
| 4665 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4666 | }
|
|---|
| 4667 | }
|
|---|
| 4668 | taskEXIT_CRITICAL();
|
|---|
| 4669 |
|
|---|
| 4670 | taskENTER_CRITICAL();
|
|---|
| 4671 | {
|
|---|
| 4672 | traceTASK_NOTIFY_TAKE();
|
|---|
| 4673 | ulReturn = pxCurrentTCB->ulNotifiedValue;
|
|---|
| 4674 |
|
|---|
| 4675 | if( ulReturn != 0UL )
|
|---|
| 4676 | {
|
|---|
| 4677 | if( xClearCountOnExit != pdFALSE )
|
|---|
| 4678 | {
|
|---|
| 4679 | pxCurrentTCB->ulNotifiedValue = 0UL;
|
|---|
| 4680 | }
|
|---|
| 4681 | else
|
|---|
| 4682 | {
|
|---|
| 4683 | pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
|
|---|
| 4684 | }
|
|---|
| 4685 | }
|
|---|
| 4686 | else
|
|---|
| 4687 | {
|
|---|
| 4688 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4689 | }
|
|---|
| 4690 |
|
|---|
| 4691 | pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|---|
| 4692 | }
|
|---|
| 4693 | taskEXIT_CRITICAL();
|
|---|
| 4694 |
|
|---|
| 4695 | return ulReturn;
|
|---|
| 4696 | }
|
|---|
| 4697 |
|
|---|
| 4698 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 4699 | /*-----------------------------------------------------------*/
|
|---|
| 4700 |
|
|---|
| 4701 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 4702 |
|
|---|
| 4703 | BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
|
|---|
| 4704 | {
|
|---|
| 4705 | BaseType_t xReturn;
|
|---|
| 4706 |
|
|---|
| 4707 | taskENTER_CRITICAL();
|
|---|
| 4708 | {
|
|---|
| 4709 | /* Only block if a notification is not already pending. */
|
|---|
| 4710 | if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
|
|---|
| 4711 | {
|
|---|
| 4712 | /* Clear bits in the task's notification value as bits may get
|
|---|
| 4713 | set by the notifying task or interrupt. This can be used to
|
|---|
| 4714 | clear the value to zero. */
|
|---|
| 4715 | pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
|
|---|
| 4716 |
|
|---|
| 4717 | /* Mark this task as waiting for a notification. */
|
|---|
| 4718 | pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
|
|---|
| 4719 |
|
|---|
| 4720 | if( xTicksToWait > ( TickType_t ) 0 )
|
|---|
| 4721 | {
|
|---|
| 4722 | prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
|
|---|
| 4723 | traceTASK_NOTIFY_WAIT_BLOCK();
|
|---|
| 4724 |
|
|---|
| 4725 | /* All ports are written to allow a yield in a critical
|
|---|
| 4726 | section (some will yield immediately, others wait until the
|
|---|
| 4727 | critical section exits) - but it is not something that
|
|---|
| 4728 | application code should ever do. */
|
|---|
| 4729 | portYIELD_WITHIN_API();
|
|---|
| 4730 | }
|
|---|
| 4731 | else
|
|---|
| 4732 | {
|
|---|
| 4733 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4734 | }
|
|---|
| 4735 | }
|
|---|
| 4736 | else
|
|---|
| 4737 | {
|
|---|
| 4738 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4739 | }
|
|---|
| 4740 | }
|
|---|
| 4741 | taskEXIT_CRITICAL();
|
|---|
| 4742 |
|
|---|
| 4743 | taskENTER_CRITICAL();
|
|---|
| 4744 | {
|
|---|
| 4745 | traceTASK_NOTIFY_WAIT();
|
|---|
| 4746 |
|
|---|
| 4747 | if( pulNotificationValue != NULL )
|
|---|
| 4748 | {
|
|---|
| 4749 | /* Output the current notification value, which may or may not
|
|---|
| 4750 | have changed. */
|
|---|
| 4751 | *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
|
|---|
| 4752 | }
|
|---|
| 4753 |
|
|---|
| 4754 | /* If ucNotifyValue is set then either the task never entered the
|
|---|
| 4755 | blocked state (because a notification was already pending) or the
|
|---|
| 4756 | task unblocked because of a notification. Otherwise the task
|
|---|
| 4757 | unblocked because of a timeout. */
|
|---|
| 4758 | if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
|
|---|
| 4759 | {
|
|---|
| 4760 | /* A notification was not received. */
|
|---|
| 4761 | xReturn = pdFALSE;
|
|---|
| 4762 | }
|
|---|
| 4763 | else
|
|---|
| 4764 | {
|
|---|
| 4765 | /* A notification was already pending or a notification was
|
|---|
| 4766 | received while the task was waiting. */
|
|---|
| 4767 | pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
|
|---|
| 4768 | xReturn = pdTRUE;
|
|---|
| 4769 | }
|
|---|
| 4770 |
|
|---|
| 4771 | pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|---|
| 4772 | }
|
|---|
| 4773 | taskEXIT_CRITICAL();
|
|---|
| 4774 |
|
|---|
| 4775 | return xReturn;
|
|---|
| 4776 | }
|
|---|
| 4777 |
|
|---|
| 4778 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 4779 | /*-----------------------------------------------------------*/
|
|---|
| 4780 |
|
|---|
| 4781 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 4782 |
|
|---|
| 4783 | BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
|
|---|
| 4784 | {
|
|---|
| 4785 | TCB_t * pxTCB;
|
|---|
| 4786 | BaseType_t xReturn = pdPASS;
|
|---|
| 4787 | uint8_t ucOriginalNotifyState;
|
|---|
| 4788 |
|
|---|
| 4789 | configASSERT( xTaskToNotify );
|
|---|
| 4790 | pxTCB = xTaskToNotify;
|
|---|
| 4791 |
|
|---|
| 4792 | taskENTER_CRITICAL();
|
|---|
| 4793 | {
|
|---|
| 4794 | if( pulPreviousNotificationValue != NULL )
|
|---|
| 4795 | {
|
|---|
| 4796 | *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
|
|---|
| 4797 | }
|
|---|
| 4798 |
|
|---|
| 4799 | ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|---|
| 4800 |
|
|---|
| 4801 | pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|---|
| 4802 |
|
|---|
| 4803 | switch( eAction )
|
|---|
| 4804 | {
|
|---|
| 4805 | case eSetBits :
|
|---|
| 4806 | pxTCB->ulNotifiedValue |= ulValue;
|
|---|
| 4807 | break;
|
|---|
| 4808 |
|
|---|
| 4809 | case eIncrement :
|
|---|
| 4810 | ( pxTCB->ulNotifiedValue )++;
|
|---|
| 4811 | break;
|
|---|
| 4812 |
|
|---|
| 4813 | case eSetValueWithOverwrite :
|
|---|
| 4814 | pxTCB->ulNotifiedValue = ulValue;
|
|---|
| 4815 | break;
|
|---|
| 4816 |
|
|---|
| 4817 | case eSetValueWithoutOverwrite :
|
|---|
| 4818 | if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
|
|---|
| 4819 | {
|
|---|
| 4820 | pxTCB->ulNotifiedValue = ulValue;
|
|---|
| 4821 | }
|
|---|
| 4822 | else
|
|---|
| 4823 | {
|
|---|
| 4824 | /* The value could not be written to the task. */
|
|---|
| 4825 | xReturn = pdFAIL;
|
|---|
| 4826 | }
|
|---|
| 4827 | break;
|
|---|
| 4828 |
|
|---|
| 4829 | case eNoAction:
|
|---|
| 4830 | /* The task is being notified without its notify value being
|
|---|
| 4831 | updated. */
|
|---|
| 4832 | break;
|
|---|
| 4833 |
|
|---|
| 4834 | default:
|
|---|
| 4835 | /* Should not get here if all enums are handled.
|
|---|
| 4836 | Artificially force an assert by testing a value the
|
|---|
| 4837 | compiler can't assume is const. */
|
|---|
| 4838 | configASSERT( pxTCB->ulNotifiedValue == ~0UL );
|
|---|
| 4839 |
|
|---|
| 4840 | break;
|
|---|
| 4841 | }
|
|---|
| 4842 |
|
|---|
| 4843 | traceTASK_NOTIFY();
|
|---|
| 4844 |
|
|---|
| 4845 | /* If the task is in the blocked state specifically to wait for a
|
|---|
| 4846 | notification then unblock it now. */
|
|---|
| 4847 | if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|---|
| 4848 | {
|
|---|
| 4849 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 4850 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 4851 |
|
|---|
| 4852 | /* The task should not have been on an event list. */
|
|---|
| 4853 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|---|
| 4854 |
|
|---|
| 4855 | #if( configUSE_TICKLESS_IDLE != 0 )
|
|---|
| 4856 | {
|
|---|
| 4857 | /* If a task is blocked waiting for a notification then
|
|---|
| 4858 | xNextTaskUnblockTime might be set to the blocked task's time
|
|---|
| 4859 | out time. If the task is unblocked for a reason other than
|
|---|
| 4860 | a timeout xNextTaskUnblockTime is normally left unchanged,
|
|---|
| 4861 | because it will automatically get reset to a new value when
|
|---|
| 4862 | the tick count equals xNextTaskUnblockTime. However if
|
|---|
| 4863 | tickless idling is used it might be more important to enter
|
|---|
| 4864 | sleep mode at the earliest possible time - so reset
|
|---|
| 4865 | xNextTaskUnblockTime here to ensure it is updated at the
|
|---|
| 4866 | earliest possible time. */
|
|---|
| 4867 | prvResetNextTaskUnblockTime();
|
|---|
| 4868 | }
|
|---|
| 4869 | #endif
|
|---|
| 4870 |
|
|---|
| 4871 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 4872 | {
|
|---|
| 4873 | /* The notified task has a priority above the currently
|
|---|
| 4874 | executing task so a yield is required. */
|
|---|
| 4875 | taskYIELD_IF_USING_PREEMPTION();
|
|---|
| 4876 | }
|
|---|
| 4877 | else
|
|---|
| 4878 | {
|
|---|
| 4879 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4880 | }
|
|---|
| 4881 | }
|
|---|
| 4882 | else
|
|---|
| 4883 | {
|
|---|
| 4884 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 4885 | }
|
|---|
| 4886 | }
|
|---|
| 4887 | taskEXIT_CRITICAL();
|
|---|
| 4888 |
|
|---|
| 4889 | return xReturn;
|
|---|
| 4890 | }
|
|---|
| 4891 |
|
|---|
| 4892 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 4893 | /*-----------------------------------------------------------*/
|
|---|
| 4894 |
|
|---|
| 4895 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 4896 |
|
|---|
| 4897 | BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
|
|---|
| 4898 | {
|
|---|
| 4899 | TCB_t * pxTCB;
|
|---|
| 4900 | uint8_t ucOriginalNotifyState;
|
|---|
| 4901 | BaseType_t xReturn = pdPASS;
|
|---|
| 4902 | UBaseType_t uxSavedInterruptStatus;
|
|---|
| 4903 |
|
|---|
| 4904 | configASSERT( xTaskToNotify );
|
|---|
| 4905 |
|
|---|
| 4906 | /* RTOS ports that support interrupt nesting have the concept of a
|
|---|
| 4907 | maximum system call (or maximum API call) interrupt priority.
|
|---|
| 4908 | Interrupts that are above the maximum system call priority are keep
|
|---|
| 4909 | permanently enabled, even when the RTOS kernel is in a critical section,
|
|---|
| 4910 | but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|---|
| 4911 | is defined in FreeRTOSConfig.h then
|
|---|
| 4912 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|---|
| 4913 | failure if a FreeRTOS API function is called from an interrupt that has
|
|---|
| 4914 | been assigned a priority above the configured maximum system call
|
|---|
| 4915 | priority. Only FreeRTOS functions that end in FromISR can be called
|
|---|
| 4916 | from interrupts that have been assigned a priority at or (logically)
|
|---|
| 4917 | below the maximum system call interrupt priority. FreeRTOS maintains a
|
|---|
| 4918 | separate interrupt safe API to ensure interrupt entry is as fast and as
|
|---|
| 4919 | simple as possible. More information (albeit Cortex-M specific) is
|
|---|
| 4920 | provided on the following link:
|
|---|
| 4921 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|---|
| 4922 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|---|
| 4923 |
|
|---|
| 4924 | pxTCB = xTaskToNotify;
|
|---|
| 4925 |
|
|---|
| 4926 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 4927 | {
|
|---|
| 4928 | if( pulPreviousNotificationValue != NULL )
|
|---|
| 4929 | {
|
|---|
| 4930 | *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
|
|---|
| 4931 | }
|
|---|
| 4932 |
|
|---|
| 4933 | ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|---|
| 4934 | pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|---|
| 4935 |
|
|---|
| 4936 | switch( eAction )
|
|---|
| 4937 | {
|
|---|
| 4938 | case eSetBits :
|
|---|
| 4939 | pxTCB->ulNotifiedValue |= ulValue;
|
|---|
| 4940 | break;
|
|---|
| 4941 |
|
|---|
| 4942 | case eIncrement :
|
|---|
| 4943 | ( pxTCB->ulNotifiedValue )++;
|
|---|
| 4944 | break;
|
|---|
| 4945 |
|
|---|
| 4946 | case eSetValueWithOverwrite :
|
|---|
| 4947 | pxTCB->ulNotifiedValue = ulValue;
|
|---|
| 4948 | break;
|
|---|
| 4949 |
|
|---|
| 4950 | case eSetValueWithoutOverwrite :
|
|---|
| 4951 | if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
|
|---|
| 4952 | {
|
|---|
| 4953 | pxTCB->ulNotifiedValue = ulValue;
|
|---|
| 4954 | }
|
|---|
| 4955 | else
|
|---|
| 4956 | {
|
|---|
| 4957 | /* The value could not be written to the task. */
|
|---|
| 4958 | xReturn = pdFAIL;
|
|---|
| 4959 | }
|
|---|
| 4960 | break;
|
|---|
| 4961 |
|
|---|
| 4962 | case eNoAction :
|
|---|
| 4963 | /* The task is being notified without its notify value being
|
|---|
| 4964 | updated. */
|
|---|
| 4965 | break;
|
|---|
| 4966 |
|
|---|
| 4967 | default:
|
|---|
| 4968 | /* Should not get here if all enums are handled.
|
|---|
| 4969 | Artificially force an assert by testing a value the
|
|---|
| 4970 | compiler can't assume is const. */
|
|---|
| 4971 | configASSERT( pxTCB->ulNotifiedValue == ~0UL );
|
|---|
| 4972 | break;
|
|---|
| 4973 | }
|
|---|
| 4974 |
|
|---|
| 4975 | traceTASK_NOTIFY_FROM_ISR();
|
|---|
| 4976 |
|
|---|
| 4977 | /* If the task is in the blocked state specifically to wait for a
|
|---|
| 4978 | notification then unblock it now. */
|
|---|
| 4979 | if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|---|
| 4980 | {
|
|---|
| 4981 | /* The task should not have been on an event list. */
|
|---|
| 4982 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|---|
| 4983 |
|
|---|
| 4984 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 4985 | {
|
|---|
| 4986 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 4987 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 4988 | }
|
|---|
| 4989 | else
|
|---|
| 4990 | {
|
|---|
| 4991 | /* The delayed and ready lists cannot be accessed, so hold
|
|---|
| 4992 | this task pending until the scheduler is resumed. */
|
|---|
| 4993 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|---|
| 4994 | }
|
|---|
| 4995 |
|
|---|
| 4996 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 4997 | {
|
|---|
| 4998 | /* The notified task has a priority above the currently
|
|---|
| 4999 | executing task so a yield is required. */
|
|---|
| 5000 | if( pxHigherPriorityTaskWoken != NULL )
|
|---|
| 5001 | {
|
|---|
| 5002 | *pxHigherPriorityTaskWoken = pdTRUE;
|
|---|
| 5003 | }
|
|---|
| 5004 |
|
|---|
| 5005 | /* Mark that a yield is pending in case the user is not
|
|---|
| 5006 | using the "xHigherPriorityTaskWoken" parameter to an ISR
|
|---|
| 5007 | safe FreeRTOS function. */
|
|---|
| 5008 | xYieldPending = pdTRUE;
|
|---|
| 5009 | }
|
|---|
| 5010 | else
|
|---|
| 5011 | {
|
|---|
| 5012 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 5013 | }
|
|---|
| 5014 | }
|
|---|
| 5015 | }
|
|---|
| 5016 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|---|
| 5017 |
|
|---|
| 5018 | return xReturn;
|
|---|
| 5019 | }
|
|---|
| 5020 |
|
|---|
| 5021 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 5022 | /*-----------------------------------------------------------*/
|
|---|
| 5023 |
|
|---|
| 5024 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 5025 |
|
|---|
| 5026 | void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
|
|---|
| 5027 | {
|
|---|
| 5028 | TCB_t * pxTCB;
|
|---|
| 5029 | uint8_t ucOriginalNotifyState;
|
|---|
| 5030 | UBaseType_t uxSavedInterruptStatus;
|
|---|
| 5031 |
|
|---|
| 5032 | configASSERT( xTaskToNotify );
|
|---|
| 5033 |
|
|---|
| 5034 | /* RTOS ports that support interrupt nesting have the concept of a
|
|---|
| 5035 | maximum system call (or maximum API call) interrupt priority.
|
|---|
| 5036 | Interrupts that are above the maximum system call priority are keep
|
|---|
| 5037 | permanently enabled, even when the RTOS kernel is in a critical section,
|
|---|
| 5038 | but cannot make any calls to FreeRTOS API functions. If configASSERT()
|
|---|
| 5039 | is defined in FreeRTOSConfig.h then
|
|---|
| 5040 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
|
|---|
| 5041 | failure if a FreeRTOS API function is called from an interrupt that has
|
|---|
| 5042 | been assigned a priority above the configured maximum system call
|
|---|
| 5043 | priority. Only FreeRTOS functions that end in FromISR can be called
|
|---|
| 5044 | from interrupts that have been assigned a priority at or (logically)
|
|---|
| 5045 | below the maximum system call interrupt priority. FreeRTOS maintains a
|
|---|
| 5046 | separate interrupt safe API to ensure interrupt entry is as fast and as
|
|---|
| 5047 | simple as possible. More information (albeit Cortex-M specific) is
|
|---|
| 5048 | provided on the following link:
|
|---|
| 5049 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */
|
|---|
| 5050 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
|
|---|
| 5051 |
|
|---|
| 5052 | pxTCB = xTaskToNotify;
|
|---|
| 5053 |
|
|---|
| 5054 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
|
|---|
| 5055 | {
|
|---|
| 5056 | ucOriginalNotifyState = pxTCB->ucNotifyState;
|
|---|
| 5057 | pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
|
|---|
| 5058 |
|
|---|
| 5059 | /* 'Giving' is equivalent to incrementing a count in a counting
|
|---|
| 5060 | semaphore. */
|
|---|
| 5061 | ( pxTCB->ulNotifiedValue )++;
|
|---|
| 5062 |
|
|---|
| 5063 | traceTASK_NOTIFY_GIVE_FROM_ISR();
|
|---|
| 5064 |
|
|---|
| 5065 | /* If the task is in the blocked state specifically to wait for a
|
|---|
| 5066 | notification then unblock it now. */
|
|---|
| 5067 | if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
|
|---|
| 5068 | {
|
|---|
| 5069 | /* The task should not have been on an event list. */
|
|---|
| 5070 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
|
|---|
| 5071 |
|
|---|
| 5072 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
|
|---|
| 5073 | {
|
|---|
| 5074 | ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
|
|---|
| 5075 | prvAddTaskToReadyList( pxTCB );
|
|---|
| 5076 | }
|
|---|
| 5077 | else
|
|---|
| 5078 | {
|
|---|
| 5079 | /* The delayed and ready lists cannot be accessed, so hold
|
|---|
| 5080 | this task pending until the scheduler is resumed. */
|
|---|
| 5081 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|---|
| 5082 | }
|
|---|
| 5083 |
|
|---|
| 5084 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
|
|---|
| 5085 | {
|
|---|
| 5086 | /* The notified task has a priority above the currently
|
|---|
| 5087 | executing task so a yield is required. */
|
|---|
| 5088 | if( pxHigherPriorityTaskWoken != NULL )
|
|---|
| 5089 | {
|
|---|
| 5090 | *pxHigherPriorityTaskWoken = pdTRUE;
|
|---|
| 5091 | }
|
|---|
| 5092 |
|
|---|
| 5093 | /* Mark that a yield is pending in case the user is not
|
|---|
| 5094 | using the "xHigherPriorityTaskWoken" parameter in an ISR
|
|---|
| 5095 | safe FreeRTOS function. */
|
|---|
| 5096 | xYieldPending = pdTRUE;
|
|---|
| 5097 | }
|
|---|
| 5098 | else
|
|---|
| 5099 | {
|
|---|
| 5100 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 5101 | }
|
|---|
| 5102 | }
|
|---|
| 5103 | }
|
|---|
| 5104 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|---|
| 5105 | }
|
|---|
| 5106 |
|
|---|
| 5107 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 5108 | /*-----------------------------------------------------------*/
|
|---|
| 5109 |
|
|---|
| 5110 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 5111 |
|
|---|
| 5112 | BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
|
|---|
| 5113 | {
|
|---|
| 5114 | TCB_t *pxTCB;
|
|---|
| 5115 | BaseType_t xReturn;
|
|---|
| 5116 |
|
|---|
| 5117 | /* If null is passed in here then it is the calling task that is having
|
|---|
| 5118 | its notification state cleared. */
|
|---|
| 5119 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 5120 |
|
|---|
| 5121 | taskENTER_CRITICAL();
|
|---|
| 5122 | {
|
|---|
| 5123 | if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
|
|---|
| 5124 | {
|
|---|
| 5125 | pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
|
|---|
| 5126 | xReturn = pdPASS;
|
|---|
| 5127 | }
|
|---|
| 5128 | else
|
|---|
| 5129 | {
|
|---|
| 5130 | xReturn = pdFAIL;
|
|---|
| 5131 | }
|
|---|
| 5132 | }
|
|---|
| 5133 | taskEXIT_CRITICAL();
|
|---|
| 5134 |
|
|---|
| 5135 | return xReturn;
|
|---|
| 5136 | }
|
|---|
| 5137 |
|
|---|
| 5138 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 5139 | /*-----------------------------------------------------------*/
|
|---|
| 5140 |
|
|---|
| 5141 | #if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|---|
| 5142 |
|
|---|
| 5143 | uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
|
|---|
| 5144 | {
|
|---|
| 5145 | TCB_t *pxTCB;
|
|---|
| 5146 | uint32_t ulReturn;
|
|---|
| 5147 |
|
|---|
| 5148 | /* If null is passed in here then it is the calling task that is having
|
|---|
| 5149 | its notification state cleared. */
|
|---|
| 5150 | pxTCB = prvGetTCBFromHandle( xTask );
|
|---|
| 5151 |
|
|---|
| 5152 | taskENTER_CRITICAL();
|
|---|
| 5153 | {
|
|---|
| 5154 | /* Return the notification as it was before the bits were cleared,
|
|---|
| 5155 | then clear the bit mask. */
|
|---|
| 5156 | ulReturn = pxCurrentTCB->ulNotifiedValue;
|
|---|
| 5157 | pxTCB->ulNotifiedValue &= ~ulBitsToClear;
|
|---|
| 5158 | }
|
|---|
| 5159 | taskEXIT_CRITICAL();
|
|---|
| 5160 |
|
|---|
| 5161 | return ulReturn;
|
|---|
| 5162 | }
|
|---|
| 5163 |
|
|---|
| 5164 | #endif /* configUSE_TASK_NOTIFICATIONS */
|
|---|
| 5165 | /*-----------------------------------------------------------*/
|
|---|
| 5166 |
|
|---|
| 5167 | #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
|
|---|
| 5168 |
|
|---|
| 5169 | uint32_t ulTaskGetIdleRunTimeCounter( void )
|
|---|
| 5170 | {
|
|---|
| 5171 | return xIdleTaskHandle->ulRunTimeCounter;
|
|---|
| 5172 | }
|
|---|
| 5173 |
|
|---|
| 5174 | #endif
|
|---|
| 5175 | /*-----------------------------------------------------------*/
|
|---|
| 5176 |
|
|---|
| 5177 | static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
|
|---|
| 5178 | {
|
|---|
| 5179 | TickType_t xTimeToWake;
|
|---|
| 5180 | const TickType_t xConstTickCount = xTickCount;
|
|---|
| 5181 |
|
|---|
| 5182 | #if( INCLUDE_xTaskAbortDelay == 1 )
|
|---|
| 5183 | {
|
|---|
| 5184 | /* About to enter a delayed list, so ensure the ucDelayAborted flag is
|
|---|
| 5185 | reset to pdFALSE so it can be detected as having been set to pdTRUE
|
|---|
| 5186 | when the task leaves the Blocked state. */
|
|---|
| 5187 | pxCurrentTCB->ucDelayAborted = pdFALSE;
|
|---|
| 5188 | }
|
|---|
| 5189 | #endif
|
|---|
| 5190 |
|
|---|
| 5191 | /* Remove the task from the ready list before adding it to the blocked list
|
|---|
| 5192 | as the same list item is used for both lists. */
|
|---|
| 5193 | if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
|
|---|
| 5194 | {
|
|---|
| 5195 | /* The current task must be in a ready list, so there is no need to
|
|---|
| 5196 | check, and the port reset macro can be called directly. */
|
|---|
| 5197 | 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. */
|
|---|
| 5198 | }
|
|---|
| 5199 | else
|
|---|
| 5200 | {
|
|---|
| 5201 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 5202 | }
|
|---|
| 5203 |
|
|---|
| 5204 | #if ( INCLUDE_vTaskSuspend == 1 )
|
|---|
| 5205 | {
|
|---|
| 5206 | if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
|
|---|
| 5207 | {
|
|---|
| 5208 | /* Add the task to the suspended task list instead of a delayed task
|
|---|
| 5209 | list to ensure it is not woken by a timing event. It will block
|
|---|
| 5210 | indefinitely. */
|
|---|
| 5211 | vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|---|
| 5212 | }
|
|---|
| 5213 | else
|
|---|
| 5214 | {
|
|---|
| 5215 | /* Calculate the time at which the task should be woken if the event
|
|---|
| 5216 | does not occur. This may overflow but this doesn't matter, the
|
|---|
| 5217 | kernel will manage it correctly. */
|
|---|
| 5218 | xTimeToWake = xConstTickCount + xTicksToWait;
|
|---|
| 5219 |
|
|---|
| 5220 | /* The list item will be inserted in wake time order. */
|
|---|
| 5221 | listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
|
|---|
| 5222 |
|
|---|
| 5223 | if( xTimeToWake < xConstTickCount )
|
|---|
| 5224 | {
|
|---|
| 5225 | /* Wake time has overflowed. Place this item in the overflow
|
|---|
| 5226 | list. */
|
|---|
| 5227 | vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|---|
| 5228 | }
|
|---|
| 5229 | else
|
|---|
| 5230 | {
|
|---|
| 5231 | /* The wake time has not overflowed, so the current block list
|
|---|
| 5232 | is used. */
|
|---|
| 5233 | vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|---|
| 5234 |
|
|---|
| 5235 | /* If the task entering the blocked state was placed at the
|
|---|
| 5236 | head of the list of blocked tasks then xNextTaskUnblockTime
|
|---|
| 5237 | needs to be updated too. */
|
|---|
| 5238 | if( xTimeToWake < xNextTaskUnblockTime )
|
|---|
| 5239 | {
|
|---|
| 5240 | xNextTaskUnblockTime = xTimeToWake;
|
|---|
| 5241 | }
|
|---|
| 5242 | else
|
|---|
| 5243 | {
|
|---|
| 5244 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 5245 | }
|
|---|
| 5246 | }
|
|---|
| 5247 | }
|
|---|
| 5248 | }
|
|---|
| 5249 | #else /* INCLUDE_vTaskSuspend */
|
|---|
| 5250 | {
|
|---|
| 5251 | /* Calculate the time at which the task should be woken if the event
|
|---|
| 5252 | does not occur. This may overflow but this doesn't matter, the kernel
|
|---|
| 5253 | will manage it correctly. */
|
|---|
| 5254 | xTimeToWake = xConstTickCount + xTicksToWait;
|
|---|
| 5255 |
|
|---|
| 5256 | /* The list item will be inserted in wake time order. */
|
|---|
| 5257 | listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
|
|---|
| 5258 |
|
|---|
| 5259 | if( xTimeToWake < xConstTickCount )
|
|---|
| 5260 | {
|
|---|
| 5261 | /* Wake time has overflowed. Place this item in the overflow list. */
|
|---|
| 5262 | vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|---|
| 5263 | }
|
|---|
| 5264 | else
|
|---|
| 5265 | {
|
|---|
| 5266 | /* The wake time has not overflowed, so the current block list is used. */
|
|---|
| 5267 | vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
|
|---|
| 5268 |
|
|---|
| 5269 | /* If the task entering the blocked state was placed at the head of the
|
|---|
| 5270 | list of blocked tasks then xNextTaskUnblockTime needs to be updated
|
|---|
| 5271 | too. */
|
|---|
| 5272 | if( xTimeToWake < xNextTaskUnblockTime )
|
|---|
| 5273 | {
|
|---|
| 5274 | xNextTaskUnblockTime = xTimeToWake;
|
|---|
| 5275 | }
|
|---|
| 5276 | else
|
|---|
| 5277 | {
|
|---|
| 5278 | mtCOVERAGE_TEST_MARKER();
|
|---|
| 5279 | }
|
|---|
| 5280 | }
|
|---|
| 5281 |
|
|---|
| 5282 | /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
|
|---|
| 5283 | ( void ) xCanBlockIndefinitely;
|
|---|
| 5284 | }
|
|---|
| 5285 | #endif /* INCLUDE_vTaskSuspend */
|
|---|
| 5286 | }
|
|---|
| 5287 |
|
|---|
| 5288 | /* Code below here allows additional code to be inserted into this source file,
|
|---|
| 5289 | especially where access to file scope functions and data is needed (for example
|
|---|
| 5290 | when performing module tests). */
|
|---|
| 5291 |
|
|---|
| 5292 | #ifdef FREERTOS_MODULE_TEST
|
|---|
| 5293 | #include "tasks_test_access_functions.h"
|
|---|
| 5294 | #endif
|
|---|
| 5295 |
|
|---|
| 5296 |
|
|---|
| 5297 | #if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
|
|---|
| 5298 |
|
|---|
| 5299 | #include "freertos_tasks_c_additions.h"
|
|---|
| 5300 |
|
|---|
| 5301 | #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
|
|---|
| 5302 | static void freertos_tasks_c_additions_init( void )
|
|---|
| 5303 | {
|
|---|
| 5304 | FREERTOS_TASKS_C_ADDITIONS_INIT();
|
|---|
| 5305 | }
|
|---|
| 5306 | #endif
|
|---|
| 5307 |
|
|---|
| 5308 | #endif
|
|---|
| 5309 |
|
|---|
| 5310 |
|
|---|
