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/*
* FreeRTOS Kernel V10.4.6 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * SPDX-License-Identifier: MIT * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in * the Software without restriction, including without limitation the rights to * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of * the Software, and to permit persons to whom the Software is furnished to do so, * subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all * copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * https://www.FreeRTOS.org
* https://github.com/FreeRTOS
* */
/* Standard includes. */#include <stdlib.h>
#include <string.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when * task.h is included from an application file. */#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* FreeRTOS includes. */#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "stack_macros.h"
/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined * for the header files above, but not in this file, in order to generate the * correct privileged Vs unprivileged linkage and placement. */#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
* functions but without including stdio.h here. */#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
/* At the bottom of this file are two optional functions that can be used
* to generate human readable text from the raw data generated by the * uxTaskGetSystemState() function. Note the formatting functions are provided * for convenience only, and are NOT considered part of the kernel. */ #include <stdio.h>
#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
#if ( configUSE_PREEMPTION == 0 )
/* If the cooperative scheduler is being used then a yield should not be
* performed just because a higher priority task has been woken. */ #define taskYIELD_IF_USING_PREEMPTION()
#else
#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
/* Values that can be assigned to the ucNotifyState member of the TCB. */#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
/*
* The value used to fill the stack of a task when the task is created. This * is used purely for checking the high water mark for tasks. */#define tskSTACK_FILL_BYTE ( 0xa5U )
/* Bits used to record how a task's stack and TCB were allocated. */#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
/* If any of the following are set then task stacks are filled with a known
* value so the high water mark can be determined. If none of the following are * set then don't fill the stack so there is no unnecessary dependency on memset. */#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
#else
#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
#endif
/*
* Macros used by vListTask to indicate which state a task is in. */#define tskRUNNING_CHAR ( 'X' )
#define tskBLOCKED_CHAR ( 'B' )
#define tskREADY_CHAR ( 'R' )
#define tskDELETED_CHAR ( 'D' )
#define tskSUSPENDED_CHAR ( 'S' )
/*
* Some kernel aware debuggers require the data the debugger needs access to to * be global, rather than file scope. */#ifdef portREMOVE_STATIC_QUALIFIER
#define static
#endif
/* The name allocated to the Idle task. This can be overridden by defining
* configIDLE_TASK_NAME in FreeRTOSConfig.h. */#ifndef configIDLE_TASK_NAME
#define configIDLE_TASK_NAME "IDLE"
#endif
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
* performed in a generic way that is not optimised to any particular * microcontroller architecture. */
/* uxTopReadyPriority holds the priority of the highest priority ready
* state task. */ #define taskRECORD_READY_PRIORITY( uxPriority ) \
{ \ if( ( uxPriority ) > uxTopReadyPriority ) \ { \ uxTopReadyPriority = ( uxPriority ); \ } \ } /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \ UBaseType_t uxTopPriority = uxTopReadyPriority; \ \ /* Find the highest priority queue that contains ready tasks. */ \ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \ { \ configASSERT( uxTopPriority ); \ --uxTopPriority; \ } \ \ /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
* the same priority get an equal share of the processor time. */ \ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ uxTopReadyPriority = uxTopPriority; \ } /* taskSELECT_HIGHEST_PRIORITY_TASK */
/*-----------------------------------------------------------*/
/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
* they are only required when a port optimised method of task selection is * being used. */ #define taskRESET_READY_PRIORITY( uxPriority )
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
* performed in a way that is tailored to the particular microcontroller * architecture being used. */
/* A port optimised version is provided. Call the port defined macros. */ #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \ UBaseType_t uxTopPriority; \ \ /* Find the highest priority list that contains ready tasks. */ \ portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset
* is being referenced from a ready list. If it is referenced from a delayed * or suspended list then it won't be in a ready list. */ #define taskRESET_READY_PRIORITY( uxPriority ) \
{ \ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ { \ portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ } \ }
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
* count overflows. */#define taskSWITCH_DELAYED_LISTS() \
{ \ List_t * pxTemp; \ \ /* The delayed tasks list should be empty when the lists are switched. */ \ configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ \ pxTemp = pxDelayedTaskList; \ pxDelayedTaskList = pxOverflowDelayedTaskList; \ pxOverflowDelayedTaskList = pxTemp; \ xNumOfOverflows++; \ prvResetNextTaskUnblockTime(); \ }
/*-----------------------------------------------------------*/
/*
* Place the task represented by pxTCB into the appropriate ready list for * the task. It is inserted at the end of the list. */#define prvAddTaskToReadyList( pxTCB ) \
traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )/*-----------------------------------------------------------*/
/*
* Several functions take a TaskHandle_t parameter that can optionally be NULL, * where NULL is used to indicate that the handle of the currently executing * task should be used in place of the parameter. This macro simply checks to * see if the parameter is NULL and returns a pointer to the appropriate TCB. */#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
/* The item value of the event list item is normally used to hold the priority
* of the task to which it belongs (coded to allow it to be held in reverse * priority order). However, it is occasionally borrowed for other purposes. It * is important its value is not updated due to a task priority change while it is * being used for another purpose. The following bit definition is used to inform * the scheduler that the value should not be changed - in which case it is the * responsibility of whichever module is using the value to ensure it gets set back * to its original value when it is released. */#if ( configUSE_16_BIT_TICKS == 1 )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
#else
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
#endif
/*
* Task control block. A task control block (TCB) is allocated for each task, * and stores task state information, including a pointer to the task's context * (the task's run time environment, including register values) */typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */{ 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. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ #endif
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 ). */ ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ StackType_t * pxStack; /*< Points to the start of the stack. */ 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. */
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */ #endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ #endif
#if ( configUSE_TRACE_FACILITY == 1 )
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. */ UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ #endif
#if ( configUSE_MUTEXES == 1 )
UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ UBaseType_t uxMutexesHeld; #endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag; #endif
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; #endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ #endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
* Note Newlib support has been included by popular demand, but is not * used by the FreeRTOS maintainers themselves. FreeRTOS is not * responsible for resulting newlib operation. User must be familiar with * newlib and must provide system-wide implementations of the necessary * stubs. Be warned that (at the time of writing) the current newlib design * implements a system-wide malloc() that must be provided with locks. * * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */ struct _reent xNewLib_reent; #endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; #endif
/* See the comments in FreeRTOS.h with the definition of
* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ #endif
#if ( INCLUDE_xTaskAbortDelay == 1 )
uint8_t ucDelayAborted; #endif
#if ( configUSE_POSIX_ERRNO == 1 )
int iTaskErrno; #endif
} tskTCB;
/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
* below to enable the use of older kernel aware debuggers. */typedef tskTCB TCB_t;
/*lint -save -e956 A manual analysis and inspection has been used to determine
* which static variables must be declared volatile. */PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
/* Lists for ready and blocked tasks. --------------------
* xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but * doing so breaks some kernel aware debuggers and debuggers that rely on removing * the static qualifier. */PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */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. */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. */
#if ( INCLUDE_vTaskDelete == 1 )
PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
#endif
/* Global POSIX errno. Its value is changed upon context switching to match
* the errno of the currently running task. */#if ( configUSE_POSIX_ERRNO == 1 )
int FreeRTOS_errno = 0;#endif
/* Other file private variables. --------------------------------*/PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */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. */
/* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
* For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority * to determine the number of priority lists to read back from the remote target. */const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
/* Context switches are held pending while the scheduler is suspended. Also,
* interrupts must not manipulate the xStateListItem of a TCB, or any of the * lists the xStateListItem can be referenced from, if the scheduler is suspended. * If an interrupt needs to unblock a task while the scheduler is suspended then it * moves the task's event list item into the xPendingReadyList, ready for the * kernel to move the task from the pending ready list into the real ready list * when the scheduler is unsuspended. The pending ready list itself can only be * accessed from a critical section. */PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Do not move these variables to function scope as doing so prevents the
* code working with debuggers that need to remove the static qualifier. */ PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
#endif
/*lint -restore */
/*-----------------------------------------------------------*/
/* File private functions. --------------------------------*/
/**
* Utility task that simply returns pdTRUE if the task referenced by xTask is * currently in the Suspended state, or pdFALSE if the task referenced by xTask * is in any other state. */#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
#endif /* INCLUDE_vTaskSuspend */
/*
* Utility to ready all the lists used by the scheduler. This is called * automatically upon the creation of the first task. */static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
/*
* The idle task, which as all tasks is implemented as a never ending loop. * The idle task is automatically created and added to the ready lists upon * creation of the first user task. * * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific * language extensions. The equivalent prototype for this function is: * * void prvIdleTask( void *pvParameters ); * */static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
/*
* Utility to free all memory allocated by the scheduler to hold a TCB, * including the stack pointed to by the TCB. * * This does not free memory allocated by the task itself (i.e. memory * allocated by calls to pvPortMalloc from within the tasks application code). */#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
#endif
/*
* Used only by the idle task. This checks to see if anything has been placed * in the list of tasks waiting to be deleted. If so the task is cleaned up * and its TCB deleted. */static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
/*
* The currently executing task is entering the Blocked state. Add the task to * either the current or the overflow delayed task list. */static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
/*
* Fills an TaskStatus_t structure with information on each task that is * referenced from the pxList list (which may be a ready list, a delayed list, * a suspended list, etc.). * * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM * NORMAL APPLICATION CODE. */#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray, List_t * pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
#endif
/*
* Searches pxList for a task with name pcNameToQuery - returning a handle to * the task if it is found, or NULL if the task is not found. */#if ( INCLUDE_xTaskGetHandle == 1 )
static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
#endif
/*
* When a task is created, the stack of the task is filled with a known value. * This function determines the 'high water mark' of the task stack by * determining how much of the stack remains at the original preset value. */#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
#endif
/*
* Return the amount of time, in ticks, that will pass before the kernel will * next move a task from the Blocked state to the Running state. * * This conditional compilation should use inequality to 0, not equality to 1. * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user * defined low power mode implementations require configUSE_TICKLESS_IDLE to be * set to a value other than 1. */#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
#endif
/*
* Set xNextTaskUnblockTime to the time at which the next Blocked state task * will exit the Blocked state. */static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
/*
* Helper function used to pad task names with spaces when printing out * human readable tables of task information. */ static char * prvWriteNameToBuffer( char * pcBuffer, const char * pcTaskName ) PRIVILEGED_FUNCTION;
#endif
/*
* Called after a Task_t structure has been allocated either statically or * dynamically to fill in the structure's members. */static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t * pxNewTCB, const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
/*
* Called after a new task has been created and initialised to place the task * under the control of the scheduler. */static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
/*
* freertos_tasks_c_additions_init() should only be called if the user definable * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro * called by the function. */#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
#endif
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) { TCB_t * pxNewTCB; TaskHandle_t xReturn;
configASSERT( puxStackBuffer != NULL ); configASSERT( pxTaskBuffer != NULL );
#if ( configASSERT_DEFINED == 1 )
{ /* Sanity check that the size of the structure used to declare a
* variable of type StaticTask_t equals the size of the real task * structure. */ volatile size_t xSize = sizeof( StaticTask_t ); configASSERT( xSize == sizeof( TCB_t ) ); ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */ } #endif /* configASSERT_DEFINED */
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) ) { /* The memory used for the task's TCB and stack are passed into this
* function - use them. */ pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{ /* Tasks can be created statically or dynamically, so note this
* task was created statically in case the task is later deleted. */ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; } #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); prvAddNewTaskToReadyList( pxNewTCB ); } else { xReturn = NULL; }
return xReturn; }
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t * pxCreatedTask ) { TCB_t * pxNewTCB; BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer != NULL ); configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) ) { /* Allocate space for the TCB. Where the memory comes from depends
* on the implementation of the port malloc function and whether or * not static allocation is being used. */ pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
/* Store the stack location in the TCB. */ pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{ /* Tasks can be created statically or dynamically, so note this
* task was created statically in case the task is later deleted. */ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; } #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, pxTaskDefinition->pcName, ( uint32_t ) pxTaskDefinition->usStackDepth, pxTaskDefinition->pvParameters, pxTaskDefinition->uxPriority, pxCreatedTask, pxNewTCB, pxTaskDefinition->xRegions );
prvAddNewTaskToReadyList( pxNewTCB ); xReturn = pdPASS; }
return xReturn; }
#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*-----------------------------------------------------------*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t * pxCreatedTask ) { TCB_t * pxNewTCB; BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer );
if( pxTaskDefinition->puxStackBuffer != NULL ) { /* Allocate space for the TCB. Where the memory comes from depends
* on the implementation of the port malloc function and whether or * not static allocation is being used. */ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL ) { /* Store the stack location in the TCB. */ pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{ /* Tasks can be created statically or dynamically, so note
* this task had a statically allocated stack in case it is * later deleted. The TCB was allocated dynamically. */ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; } #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, pxTaskDefinition->pcName, ( uint32_t ) pxTaskDefinition->usStackDepth, pxTaskDefinition->pvParameters, pxTaskDefinition->uxPriority, pxCreatedTask, pxNewTCB, pxTaskDefinition->xRegions );
prvAddNewTaskToReadyList( pxNewTCB ); xReturn = pdPASS; } }
return xReturn; }
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const configSTACK_DEPTH_TYPE usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) { TCB_t * pxNewTCB; BaseType_t xReturn;
/* If the stack grows down then allocate the stack then the TCB so the stack
* does not grow into the TCB. Likewise if the stack grows up then allocate * the TCB then the stack. */ #if ( portSTACK_GROWTH > 0 )
{ /* Allocate space for the TCB. Where the memory comes from depends on
* the implementation of the port malloc function and whether or not static * allocation is being used. */ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL ) { /* Allocate space for the stack used by the task being created.
* The base of the stack memory stored in the TCB so the task can * be deleted later if required. */ pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
if( pxNewTCB->pxStack == NULL ) { /* Could not allocate the stack. Delete the allocated TCB. */ vPortFree( pxNewTCB ); pxNewTCB = NULL; } } } #else /* portSTACK_GROWTH */
{ StackType_t * pxStack;
/* Allocate space for the stack used by the task being created. */ pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
if( pxStack != NULL ) { /* Allocate space for the TCB. */ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
if( pxNewTCB != NULL ) { /* Store the stack location in the TCB. */ pxNewTCB->pxStack = pxStack; } else { /* The stack cannot be used as the TCB was not created. Free
* it again. */ vPortFreeStack( pxStack ); } } else { pxNewTCB = NULL; } } #endif /* portSTACK_GROWTH */
if( pxNewTCB != NULL ) { #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
{ /* Tasks can be created statically or dynamically, so note this
* task was created dynamically in case it is later deleted. */ pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; } #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); prvAddNewTaskToReadyList( pxNewTCB ); xReturn = pdPASS; } else { xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; }
return xReturn; }
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, TCB_t * pxNewTCB, const MemoryRegion_t * const xRegions ){ StackType_t * pxTopOfStack; UBaseType_t x;
#if ( portUSING_MPU_WRAPPERS == 1 )
/* Should the task be created in privileged mode? */ BaseType_t xRunPrivileged;
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) { xRunPrivileged = pdTRUE; } else { xRunPrivileged = pdFALSE; } uxPriority &= ~portPRIVILEGE_BIT; #endif /* portUSING_MPU_WRAPPERS == 1 */
/* Avoid dependency on memset() if it is not required. */ #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
{ /* Fill the stack with a known value to assist debugging. */ ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) ); } #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
/* Calculate the top of stack address. This depends on whether the stack
* grows from high memory to low (as per the 80x86) or vice versa. * portSTACK_GROWTH is used to make the result positive or negative as required * by the port. */ #if ( portSTACK_GROWTH < 0 )
{ pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] ); pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
/* Check the alignment of the calculated top of stack is correct. */ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
#if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
{ /* Also record the stack's high address, which may assist
* debugging. */ pxNewTCB->pxEndOfStack = pxTopOfStack; } #endif /* configRECORD_STACK_HIGH_ADDRESS */
} #else /* portSTACK_GROWTH */
{ pxTopOfStack = pxNewTCB->pxStack;
/* Check the alignment of the stack buffer is correct. */ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
/* The other extreme of the stack space is required if stack checking is
* performed. */ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); } #endif /* portSTACK_GROWTH */
/* Store the task name in the TCB. */ if( pcName != NULL ) { for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) { pxNewTCB->pcTaskName[ x ] = pcName[ x ];
/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
* configMAX_TASK_NAME_LEN characters just in case the memory after the * string is not accessible (extremely unlikely). */ if( pcName[ x ] == ( char ) 0x00 ) { break; } else { mtCOVERAGE_TEST_MARKER(); } }
/* Ensure the name string is terminated in the case that the string length
* was greater or equal to configMAX_TASK_NAME_LEN. */ pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; } else { /* The task has not been given a name, so just ensure there is a NULL
* terminator when it is read out. */ pxNewTCB->pcTaskName[ 0 ] = 0x00; }
/* This is used as an array index so must ensure it's not too large. */ configASSERT( uxPriority < configMAX_PRIORITIES );
if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) { uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; } else { mtCOVERAGE_TEST_MARKER(); }
pxNewTCB->uxPriority = uxPriority; #if ( configUSE_MUTEXES == 1 )
{ pxNewTCB->uxBasePriority = uxPriority; pxNewTCB->uxMutexesHeld = 0; } #endif /* configUSE_MUTEXES */
vListInitialiseItem( &( pxNewTCB->xStateListItem ) ); vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
/* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
* back to the containing TCB from a generic item in a list. */ listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
/* Event lists are always in priority order. */ listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
{ pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U; } #endif /* portCRITICAL_NESTING_IN_TCB */
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
{ pxNewTCB->pxTaskTag = NULL; } #endif /* configUSE_APPLICATION_TASK_TAG */
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{ pxNewTCB->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0; } #endif /* configGENERATE_RUN_TIME_STATS */
#if ( portUSING_MPU_WRAPPERS == 1 )
{ vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); } #else
{ /* Avoid compiler warning about unreferenced parameter. */ ( void ) xRegions; } #endif
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
{ memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) ); } #endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{ memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) ); memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) ); } #endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{ /* Initialise this task's Newlib reent structure.
* See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */ _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) ); } #endif
#if ( INCLUDE_xTaskAbortDelay == 1 )
{ pxNewTCB->ucDelayAborted = pdFALSE; } #endif
/* Initialize the TCB stack to look as if the task was already running,
* but had been interrupted by the scheduler. The return address is set * to the start of the task function. Once the stack has been initialised * the top of stack variable is updated. */ #if ( portUSING_MPU_WRAPPERS == 1 )
{ /* If the port has capability to detect stack overflow,
* pass the stack end address to the stack initialization * function as well. */ #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
{ #if ( portSTACK_GROWTH < 0 )
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged ); } #else /* portSTACK_GROWTH */
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged ); } #endif /* portSTACK_GROWTH */
} #else /* portHAS_STACK_OVERFLOW_CHECKING */
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); } #endif /* portHAS_STACK_OVERFLOW_CHECKING */
} #else /* portUSING_MPU_WRAPPERS */
{ /* If the port has capability to detect stack overflow,
* pass the stack end address to the stack initialization * function as well. */ #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
{ #if ( portSTACK_GROWTH < 0 )
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters ); } #else /* portSTACK_GROWTH */
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters ); } #endif /* portSTACK_GROWTH */
} #else /* portHAS_STACK_OVERFLOW_CHECKING */
{ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); } #endif /* portHAS_STACK_OVERFLOW_CHECKING */
} #endif /* portUSING_MPU_WRAPPERS */
if( pxCreatedTask != NULL ) { /* Pass the handle out in an anonymous way. The handle can be used to
* change the created task's priority, delete the created task, etc.*/ *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; } else { mtCOVERAGE_TEST_MARKER(); }}/*-----------------------------------------------------------*/
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ){ /* Ensure interrupts don't access the task lists while the lists are being
* updated. */ taskENTER_CRITICAL(); { uxCurrentNumberOfTasks++;
if( pxCurrentTCB == NULL ) { /* There are no other tasks, or all the other tasks are in
* the suspended state - make this the current task. */ pxCurrentTCB = pxNewTCB;
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) { /* This is the first task to be created so do the preliminary
* initialisation required. We will not recover if this call * fails, but we will report the failure. */ prvInitialiseTaskLists(); } else { mtCOVERAGE_TEST_MARKER(); } } else { /* If the scheduler is not already running, make this task the
* current task if it is the highest priority task to be created * so far. */ if( xSchedulerRunning == pdFALSE ) { if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority ) { pxCurrentTCB = pxNewTCB; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } }
uxTaskNumber++;
#if ( configUSE_TRACE_FACILITY == 1 )
{ /* Add a counter into the TCB for tracing only. */ pxNewTCB->uxTCBNumber = uxTaskNumber; } #endif /* configUSE_TRACE_FACILITY */
traceTASK_CREATE( pxNewTCB );
prvAddTaskToReadyList( pxNewTCB );
portSETUP_TCB( pxNewTCB ); } taskEXIT_CRITICAL();
if( xSchedulerRunning != pdFALSE ) { /* If the created task is of a higher priority than the current task
* then it should run now. */ if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority ) { taskYIELD_IF_USING_PREEMPTION(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); }}/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
void vTaskDelete( TaskHandle_t xTaskToDelete ) { TCB_t * pxTCB;
taskENTER_CRITICAL(); { /* If null is passed in here then it is the calling task that is
* being deleted. */ pxTCB = prvGetTCBFromHandle( xTaskToDelete );
/* Remove task from the ready/delayed list. */ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { taskRESET_READY_PRIORITY( pxTCB->uxPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Is the task waiting on an event also? */ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) { ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Increment the uxTaskNumber also so kernel aware debuggers can
* detect that the task lists need re-generating. This is done before * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will * not return. */ uxTaskNumber++;
if( pxTCB == pxCurrentTCB ) { /* A task is deleting itself. This cannot complete within the
* task itself, as a context switch to another task is required. * Place the task in the termination list. The idle task will * check the termination list and free up any memory allocated by * the scheduler for the TCB and stack of the deleted task. */ vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
/* Increment the ucTasksDeleted variable so the idle task knows
* there is a task that has been deleted and that it should therefore * check the xTasksWaitingTermination list. */ ++uxDeletedTasksWaitingCleanUp;
/* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
* portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */ traceTASK_DELETE( pxTCB );
/* The pre-delete hook is primarily for the Windows simulator,
* in which Windows specific clean up operations are performed, * after which it is not possible to yield away from this task - * hence xYieldPending is used to latch that a context switch is * required. */ portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); } else { --uxCurrentNumberOfTasks; traceTASK_DELETE( pxTCB );
/* Reset the next expected unblock time in case it referred to
* the task that has just been deleted. */ prvResetNextTaskUnblockTime(); } } taskEXIT_CRITICAL();
/* If the task is not deleting itself, call prvDeleteTCB from outside of
* critical section. If a task deletes itself, prvDeleteTCB is called * from prvCheckTasksWaitingTermination which is called from Idle task. */ if( pxTCB != pxCurrentTCB ) { prvDeleteTCB( pxTCB ); }
/* Force a reschedule if it is the currently running task that has just
* been deleted. */ if( xSchedulerRunning != pdFALSE ) { if( pxTCB == pxCurrentTCB ) { configASSERT( uxSchedulerSuspended == 0 ); portYIELD_WITHIN_API(); } else { mtCOVERAGE_TEST_MARKER(); } } }
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskDelayUntil == 1 )
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) { TickType_t xTimeToWake; BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
configASSERT( pxPreviousWakeTime ); configASSERT( ( xTimeIncrement > 0U ) ); configASSERT( uxSchedulerSuspended == 0 );
vTaskSuspendAll(); { /* Minor optimisation. The tick count cannot change in this
* block. */ const TickType_t xConstTickCount = xTickCount;
/* Generate the tick time at which the task wants to wake. */ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
if( xConstTickCount < *pxPreviousWakeTime ) { /* The tick count has overflowed since this function was
* lasted called. In this case the only time we should ever * actually delay is if the wake time has also overflowed, * and the wake time is greater than the tick time. When this * is the case it is as if neither time had overflowed. */ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) { xShouldDelay = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { /* The tick time has not overflowed. In this case we will
* delay if either the wake time has overflowed, and/or the * tick time is less than the wake time. */ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) { xShouldDelay = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } }
/* Update the wake time ready for the next call. */ *pxPreviousWakeTime = xTimeToWake;
if( xShouldDelay != pdFALSE ) { traceTASK_DELAY_UNTIL( xTimeToWake );
/* prvAddCurrentTaskToDelayedList() needs the block time, not
* the time to wake, so subtract the current tick count. */ prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE ); } else { mtCOVERAGE_TEST_MARKER(); } } xAlreadyYielded = xTaskResumeAll();
/* Force a reschedule if xTaskResumeAll has not already done so, we may
* have put ourselves to sleep. */ if( xAlreadyYielded == pdFALSE ) { portYIELD_WITHIN_API(); } else { mtCOVERAGE_TEST_MARKER(); }
return xShouldDelay; }
#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
void vTaskDelay( const TickType_t xTicksToDelay ) { BaseType_t xAlreadyYielded = pdFALSE;
/* A delay time of zero just forces a reschedule. */ if( xTicksToDelay > ( TickType_t ) 0U ) { configASSERT( uxSchedulerSuspended == 0 ); vTaskSuspendAll(); { traceTASK_DELAY();
/* A task that is removed from the event list while the
* scheduler is suspended will not get placed in the ready * list or removed from the blocked list until the scheduler * is resumed. * * This task cannot be in an event list as it is the currently * executing task. */ prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE ); } xAlreadyYielded = xTaskResumeAll(); } else { mtCOVERAGE_TEST_MARKER(); }
/* Force a reschedule if xTaskResumeAll has not already done so, we may
* have put ourselves to sleep. */ if( xAlreadyYielded == pdFALSE ) { portYIELD_WITHIN_API(); } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
eTaskState eTaskGetState( TaskHandle_t xTask ) { eTaskState eReturn; List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList; const TCB_t * const pxTCB = xTask;
configASSERT( pxTCB );
if( pxTCB == pxCurrentTCB ) { /* The task calling this function is querying its own state. */ eReturn = eRunning; } else { taskENTER_CRITICAL(); { pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) ); pxDelayedList = pxDelayedTaskList; pxOverflowedDelayedList = pxOverflowDelayedTaskList; } taskEXIT_CRITICAL();
if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) ) { /* The task being queried is referenced from one of the Blocked
* lists. */ eReturn = eBlocked; }
#if ( INCLUDE_vTaskSuspend == 1 )
else if( pxStateList == &xSuspendedTaskList ) { /* The task being queried is referenced from the suspended
* list. Is it genuinely suspended or is it blocked * indefinitely? */ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) { #if ( configUSE_TASK_NOTIFICATIONS == 1 )
{ BaseType_t x;
/* The task does not appear on the event list item of
* and of the RTOS objects, but could still be in the * blocked state if it is waiting on its notification * rather than waiting on an object. If not, is * suspended. */ eReturn = eSuspended;
for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ ) { if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION ) { eReturn = eBlocked; break; } } } #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
{ eReturn = eSuspended; } #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
} else { eReturn = eBlocked; } } #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
#if ( INCLUDE_vTaskDelete == 1 )
else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) ) { /* The task being queried is referenced from the deleted
* tasks list, or it is not referenced from any lists at * all. */ eReturn = eDeleted; } #endif
else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ { /* If the task is not in any other state, it must be in the
* Ready (including pending ready) state. */ eReturn = eReady; } }
return eReturn; } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) { TCB_t const * pxTCB; UBaseType_t uxReturn;
taskENTER_CRITICAL(); { /* If null is passed in here then it is the priority of the task
* that called uxTaskPriorityGet() that is being queried. */ pxTCB = prvGetTCBFromHandle( xTask ); uxReturn = pxTCB->uxPriority; } taskEXIT_CRITICAL();
return uxReturn; }
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) { TCB_t const * pxTCB; UBaseType_t uxReturn, uxSavedInterruptState;
/* RTOS ports that support interrupt nesting have the concept of a
* maximum system call (or maximum API call) interrupt priority. * Interrupts that are above the maximum system call priority are keep * permanently enabled, even when the RTOS kernel is in a critical section, * but cannot make any calls to FreeRTOS API functions. If configASSERT() * is defined in FreeRTOSConfig.h then * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has * been assigned a priority above the configured maximum system call * priority. Only FreeRTOS functions that end in FromISR can be called * from interrupts that have been assigned a priority at or (logically) * below the maximum system call interrupt priority. FreeRTOS maintains a * separate interrupt safe API to ensure interrupt entry is as fast and as * simple as possible. More information (albeit Cortex-M specific) is * provided on the following link: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); { /* If null is passed in here then it is the priority of the calling
* task that is being queried. */ pxTCB = prvGetTCBFromHandle( xTask ); uxReturn = pxTCB->uxPriority; } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
return uxReturn; }
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) { TCB_t * pxTCB; UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; BaseType_t xYieldRequired = pdFALSE;
configASSERT( uxNewPriority < configMAX_PRIORITIES );
/* Ensure the new priority is valid. */ if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) { uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; } else { mtCOVERAGE_TEST_MARKER(); }
taskENTER_CRITICAL(); { /* If null is passed in here then it is the priority of the calling
* task that is being changed. */ pxTCB = prvGetTCBFromHandle( xTask );
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
#if ( configUSE_MUTEXES == 1 )
{ uxCurrentBasePriority = pxTCB->uxBasePriority; } #else
{ uxCurrentBasePriority = pxTCB->uxPriority; } #endif
if( uxCurrentBasePriority != uxNewPriority ) { /* The priority change may have readied a task of higher
* priority than the calling task. */ if( uxNewPriority > uxCurrentBasePriority ) { if( pxTCB != pxCurrentTCB ) { /* The priority of a task other than the currently
* running task is being raised. Is the priority being * raised above that of the running task? */ if( uxNewPriority >= pxCurrentTCB->uxPriority ) { xYieldRequired = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { /* The priority of the running task is being raised,
* but the running task must already be the highest * priority task able to run so no yield is required. */ } } else if( pxTCB == pxCurrentTCB ) { /* Setting the priority of the running task down means
* there may now be another task of higher priority that * is ready to execute. */ xYieldRequired = pdTRUE; } else { /* Setting the priority of any other task down does not
* require a yield as the running task must be above the * new priority of the task being modified. */ }
/* Remember the ready list the task might be referenced from
* before its uxPriority member is changed so the * taskRESET_READY_PRIORITY() macro can function correctly. */ uxPriorityUsedOnEntry = pxTCB->uxPriority;
#if ( configUSE_MUTEXES == 1 )
{ /* Only change the priority being used if the task is not
* currently using an inherited priority. */ if( pxTCB->uxBasePriority == pxTCB->uxPriority ) { pxTCB->uxPriority = uxNewPriority; } else { mtCOVERAGE_TEST_MARKER(); }
/* The base priority gets set whatever. */ pxTCB->uxBasePriority = uxNewPriority; } #else /* if ( configUSE_MUTEXES == 1 ) */
{ pxTCB->uxPriority = uxNewPriority; } #endif /* if ( configUSE_MUTEXES == 1 ) */
/* Only reset the event list item value if the value is not
* being used for anything else. */ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) { listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ } else { mtCOVERAGE_TEST_MARKER(); }
/* If the task is in the blocked or suspended list we need do
* nothing more than change its priority variable. However, if * the task is in a ready list it needs to be removed and placed * in the list appropriate to its new priority. */ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) { /* The task is currently in its ready list - remove before
* adding it to its new ready list. As we are in a critical * section we can do this even if the scheduler is suspended. */ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { /* It is known that the task is in its ready list so
* there is no need to check again and the port level * reset macro can be called directly. */ portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
prvAddTaskToReadyList( pxTCB ); } else { mtCOVERAGE_TEST_MARKER(); }
if( xYieldRequired != pdFALSE ) { taskYIELD_IF_USING_PREEMPTION(); } else { mtCOVERAGE_TEST_MARKER(); }
/* Remove compiler warning about unused variables when the port
* optimised task selection is not being used. */ ( void ) uxPriorityUsedOnEntry; } } taskEXIT_CRITICAL(); }
#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskSuspend( TaskHandle_t xTaskToSuspend ) { TCB_t * pxTCB;
taskENTER_CRITICAL(); { /* If null is passed in here then it is the running task that is
* being suspended. */ pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
traceTASK_SUSPEND( pxTCB );
/* Remove task from the ready/delayed list and place in the
* suspended list. */ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { taskRESET_READY_PRIORITY( pxTCB->uxPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Is the task waiting on an event also? */ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) { ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); } else { mtCOVERAGE_TEST_MARKER(); }
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{ BaseType_t x;
for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ ) { if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION ) { /* The task was blocked to wait for a notification, but is
* now suspended, so no notification was received. */ pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION; } } } #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
} taskEXIT_CRITICAL();
if( xSchedulerRunning != pdFALSE ) { /* Reset the next expected unblock time in case it referred to the
* task that is now in the Suspended state. */ taskENTER_CRITICAL(); { prvResetNextTaskUnblockTime(); } taskEXIT_CRITICAL(); } else { mtCOVERAGE_TEST_MARKER(); }
if( pxTCB == pxCurrentTCB ) { if( xSchedulerRunning != pdFALSE ) { /* The current task has just been suspended. */ configASSERT( uxSchedulerSuspended == 0 ); portYIELD_WITHIN_API(); } else { /* The scheduler is not running, but the task that was pointed
* to by pxCurrentTCB has just been suspended and pxCurrentTCB * must be adjusted to point to a different task. */ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */ { /* No other tasks are ready, so set pxCurrentTCB back to
* NULL so when the next task is created pxCurrentTCB will * be set to point to it no matter what its relative priority * is. */ pxCurrentTCB = NULL; } else { vTaskSwitchContext(); } } } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) { BaseType_t xReturn = pdFALSE; const TCB_t * const pxTCB = xTask;
/* Accesses xPendingReadyList so must be called from a critical
* section. */
/* It does not make sense to check if the calling task is suspended. */ configASSERT( xTask );
/* Is the task being resumed actually in the suspended list? */ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE ) { /* Has the task already been resumed from within an ISR? */ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) { /* Is it in the suspended list because it is in the Suspended
* state, or because is is blocked with no timeout? */ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */ { xReturn = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); }
return xReturn; } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskResume( TaskHandle_t xTaskToResume ) { TCB_t * const pxTCB = xTaskToResume;
/* It does not make sense to resume the calling task. */ configASSERT( xTaskToResume );
/* The parameter cannot be NULL as it is impossible to resume the
* currently executing task. */ if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) ) { taskENTER_CRITICAL(); { if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) { traceTASK_RESUME( pxTCB );
/* The ready list can be accessed even if the scheduler is
* suspended because this is inside a critical section. */ ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB );
/* A higher priority task may have just been resumed. */ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) { /* This yield may not cause the task just resumed to run,
* but will leave the lists in the correct state for the * next yield. */ taskYIELD_IF_USING_PREEMPTION(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL(); } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) { BaseType_t xYieldRequired = pdFALSE; TCB_t * const pxTCB = xTaskToResume; UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToResume );
/* RTOS ports that support interrupt nesting have the concept of a
* maximum system call (or maximum API call) interrupt priority. * Interrupts that are above the maximum system call priority are keep * permanently enabled, even when the RTOS kernel is in a critical section, * but cannot make any calls to FreeRTOS API functions. If configASSERT() * is defined in FreeRTOSConfig.h then * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has * been assigned a priority above the configured maximum system call * priority. Only FreeRTOS functions that end in FromISR can be called * from interrupts that have been assigned a priority at or (logically) * below the maximum system call interrupt priority. FreeRTOS maintains a * separate interrupt safe API to ensure interrupt entry is as fast and as * simple as possible. More information (albeit Cortex-M specific) is * provided on the following link: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); { if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) { traceTASK_RESUME_FROM_ISR( pxTCB );
/* Check the ready lists can be accessed. */ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { /* Ready lists can be accessed so move the task from the
* suspended list to the ready list directly. */ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) { xYieldRequired = pdTRUE;
/* Mark that a yield is pending in case the user is not
* using the return value to initiate a context switch * from the ISR using portYIELD_FROM_ISR. */ xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); }
( void ) uxListRemove( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB ); } else { /* The delayed or ready lists cannot be accessed so the task
* is held in the pending ready list until the scheduler is * unsuspended. */ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); } } else { mtCOVERAGE_TEST_MARKER(); } } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xYieldRequired; }
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/
void vTaskStartScheduler( void ){ BaseType_t xReturn;
/* Add the idle task at the lowest priority. */ #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{ StaticTask_t * pxIdleTaskTCBBuffer = NULL; StackType_t * pxIdleTaskStackBuffer = NULL; uint32_t ulIdleTaskStackSize;
/* The Idle task is created using user provided RAM - obtain the
* address of the RAM then create the idle task. */ vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, configIDLE_TASK_NAME, ulIdleTaskStackSize, ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */ portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ pxIdleTaskStackBuffer, pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
if( xIdleTaskHandle != NULL ) { xReturn = pdPASS; } else { xReturn = pdFAIL; } } #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{ /* The Idle task is being created using dynamically allocated RAM. */ xReturn = xTaskCreate( prvIdleTask, configIDLE_TASK_NAME, configMINIMAL_STACK_SIZE, ( void * ) NULL, portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */ &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ } #endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configUSE_TIMERS == 1 )
{ if( xReturn == pdPASS ) { xReturn = xTimerCreateTimerTask(); } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_TIMERS */
if( xReturn == pdPASS ) { /* freertos_tasks_c_additions_init() should only be called if the user
* definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is * the only macro called by the function. */ #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
{ freertos_tasks_c_additions_init(); } #endif
/* Interrupts are turned off here, to ensure a tick does not occur
* before or during the call to xPortStartScheduler(). The stacks of * the created tasks contain a status word with interrupts switched on * so interrupts will automatically get re-enabled when the first task * starts to run. */ portDISABLE_INTERRUPTS();
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{ /* Switch Newlib's _impure_ptr variable to point to the _reent
* structure specific to the task that will run first. * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */ _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); } #endif /* configUSE_NEWLIB_REENTRANT */
xNextTaskUnblockTime = portMAX_DELAY; xSchedulerRunning = pdTRUE; xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
/* If configGENERATE_RUN_TIME_STATS is defined then the following
* macro must be defined to configure the timer/counter used to generate * the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS * is set to 0 and the following line fails to build then ensure you do not * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your * FreeRTOSConfig.h file. */ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
traceTASK_SWITCHED_IN();
/* Setting up the timer tick is hardware specific and thus in the
* portable interface. */ if( xPortStartScheduler() != pdFALSE ) { /* Should not reach here as if the scheduler is running the
* function will not return. */ } else { /* Should only reach here if a task calls xTaskEndScheduler(). */ } } else { /* This line will only be reached if the kernel could not be started,
* because there was not enough FreeRTOS heap to create the idle task * or the timer task. */ configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ); }
/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
* meaning xIdleTaskHandle is not used anywhere else. */ ( void ) xIdleTaskHandle;
/* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
* from getting optimized out as it is no longer used by the kernel. */ ( void ) uxTopUsedPriority;}/*-----------------------------------------------------------*/
void vTaskEndScheduler( void ){ /* Stop the scheduler interrupts and call the portable scheduler end
* routine so the original ISRs can be restored if necessary. The port * layer must ensure interrupts enable bit is left in the correct state. */ portDISABLE_INTERRUPTS(); xSchedulerRunning = pdFALSE; vPortEndScheduler();}/*----------------------------------------------------------*/
void vTaskSuspendAll( void ){ /* A critical section is not required as the variable is of type
* BaseType_t. Please read Richard Barry's reply in the following link to a * post in the FreeRTOS support forum before reporting this as a bug! - * https://goo.gl/wu4acr */
/* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
* do not otherwise exhibit real time behaviour. */ portSOFTWARE_BARRIER();
/* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
* is used to allow calls to vTaskSuspendAll() to nest. */ ++uxSchedulerSuspended;
/* Enforces ordering for ports and optimised compilers that may otherwise place
* the above increment elsewhere. */ portMEMORY_BARRIER();}/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void ) { TickType_t xReturn; UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
/* uxHigherPriorityReadyTasks takes care of the case where
* configUSE_PREEMPTION is 0, so there may be tasks above the idle priority * task that are in the Ready state, even though the idle task is * running. */ #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
{ if( uxTopReadyPriority > tskIDLE_PRIORITY ) { uxHigherPriorityReadyTasks = pdTRUE; } } #else
{ const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
/* When port optimised task selection is used the uxTopReadyPriority
* variable is used as a bit map. If bits other than the least * significant bit are set then there are tasks that have a priority * above the idle priority that are in the Ready state. This takes * care of the case where the co-operative scheduler is in use. */ if( uxTopReadyPriority > uxLeastSignificantBit ) { uxHigherPriorityReadyTasks = pdTRUE; } } #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) { xReturn = 0; } else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) { /* There are other idle priority tasks in the ready state. If
* time slicing is used then the very next tick interrupt must be * processed. */ xReturn = 0; } else if( uxHigherPriorityReadyTasks != pdFALSE ) { /* There are tasks in the Ready state that have a priority above the
* idle priority. This path can only be reached if * configUSE_PREEMPTION is 0. */ xReturn = 0; } else { xReturn = xNextTaskUnblockTime - xTickCount; }
return xReturn; }
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskResumeAll( void ){ TCB_t * pxTCB = NULL; BaseType_t xAlreadyYielded = pdFALSE;
/* If uxSchedulerSuspended is zero then this function does not match a
* previous call to vTaskSuspendAll(). */ configASSERT( uxSchedulerSuspended );
/* It is possible that an ISR caused a task to be removed from an event
* list while the scheduler was suspended. If this was the case then the * removed task will have been added to the xPendingReadyList. Once the * scheduler has been resumed it is safe to move all the pending ready * tasks from this list into their appropriate ready list. */ taskENTER_CRITICAL(); { --uxSchedulerSuspended;
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) { /* Move any readied tasks from the pending list into the
* appropriate ready list. */ while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) { pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ listREMOVE_ITEM( &( pxTCB->xEventListItem ) ); portMEMORY_BARRIER(); listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB );
/* If the moved task has a priority higher than or equal to
* the current task then a yield must be performed. */ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) { xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } }
if( pxTCB != NULL ) { /* A task was unblocked while the scheduler was suspended,
* which may have prevented the next unblock time from being * re-calculated, in which case re-calculate it now. Mainly * important for low power tickless implementations, where * this can prevent an unnecessary exit from low power * state. */ prvResetNextTaskUnblockTime(); }
/* If any ticks occurred while the scheduler was suspended then
* they should be processed now. This ensures the tick count does * not slip, and that any delayed tasks are resumed at the correct * time. */ { TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
if( xPendedCounts > ( TickType_t ) 0U ) { do { if( xTaskIncrementTick() != pdFALSE ) { xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); }
--xPendedCounts; } while( xPendedCounts > ( TickType_t ) 0U );
xPendedTicks = 0; } else { mtCOVERAGE_TEST_MARKER(); } }
if( xYieldPending != pdFALSE ) { #if ( configUSE_PREEMPTION != 0 )
{ xAlreadyYielded = pdTRUE; } #endif
taskYIELD_IF_USING_PREEMPTION(); } else { mtCOVERAGE_TEST_MARKER(); } } } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL();
return xAlreadyYielded;}/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCount( void ){ TickType_t xTicks;
/* Critical section required if running on a 16 bit processor. */ portTICK_TYPE_ENTER_CRITICAL(); { xTicks = xTickCount; } portTICK_TYPE_EXIT_CRITICAL();
return xTicks;}/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCountFromISR( void ){ TickType_t xReturn; UBaseType_t uxSavedInterruptStatus;
/* RTOS ports that support interrupt nesting have the concept of a maximum
* system call (or maximum API call) interrupt priority. Interrupts that are * above the maximum system call priority are kept permanently enabled, even * when the RTOS kernel is in a critical section, but cannot make any calls to * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has been * assigned a priority above the configured maximum system call priority. * Only FreeRTOS functions that end in FromISR can be called from interrupts * that have been assigned a priority at or (logically) below the maximum * system call interrupt priority. FreeRTOS maintains a separate interrupt * safe API to ensure interrupt entry is as fast and as simple as possible. * More information (albeit Cortex-M specific) is provided on the following * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); { xReturn = xTickCount; } portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;}/*-----------------------------------------------------------*/
UBaseType_t uxTaskGetNumberOfTasks( void ){ /* A critical section is not required because the variables are of type
* BaseType_t. */ return uxCurrentNumberOfTasks;}/*-----------------------------------------------------------*/
char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */{ TCB_t * pxTCB;
/* If null is passed in here then the name of the calling task is being
* queried. */ pxTCB = prvGetTCBFromHandle( xTaskToQuery ); configASSERT( pxTCB ); return &( pxTCB->pcTaskName[ 0 ] );}/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetHandle == 1 )
static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList, const char pcNameToQuery[] ) { TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL; UBaseType_t x; char cNextChar; BaseType_t xBreakLoop;
/* This function is called with the scheduler suspended. */
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) { listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
do { listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
/* Check each character in the name looking for a match or
* mismatch. */ xBreakLoop = pdFALSE;
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) { cNextChar = pxNextTCB->pcTaskName[ x ];
if( cNextChar != pcNameToQuery[ x ] ) { /* Characters didn't match. */ xBreakLoop = pdTRUE; } else if( cNextChar == ( char ) 0x00 ) { /* Both strings terminated, a match must have been
* found. */ pxReturn = pxNextTCB; xBreakLoop = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); }
if( xBreakLoop != pdFALSE ) { break; } }
if( pxReturn != NULL ) { /* The handle has been found. */ break; } } while( pxNextTCB != pxFirstTCB ); } else { mtCOVERAGE_TEST_MARKER(); }
return pxReturn; }
#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetHandle == 1 )
TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ { UBaseType_t uxQueue = configMAX_PRIORITIES; TCB_t * pxTCB;
/* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */ configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
vTaskSuspendAll(); { /* Search the ready lists. */ do { uxQueue--; pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
if( pxTCB != NULL ) { /* Found the handle. */ break; } } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Search the delayed lists. */ if( pxTCB == NULL ) { pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery ); }
if( pxTCB == NULL ) { pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery ); }
#if ( INCLUDE_vTaskSuspend == 1 )
{ if( pxTCB == NULL ) { /* Search the suspended list. */ pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery ); } } #endif
#if ( INCLUDE_vTaskDelete == 1 )
{ if( pxTCB == NULL ) { /* Search the deleted list. */ pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery ); } } #endif
} ( void ) xTaskResumeAll();
return pxTCB; }
#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) { UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
vTaskSuspendAll(); { /* Is there a space in the array for each task in the system? */ if( uxArraySize >= uxCurrentNumberOfTasks ) { /* Fill in an TaskStatus_t structure with information on each
* task in the Ready state. */ do { uxQueue--; uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Fill in an TaskStatus_t structure with information on each
* task in the Blocked state. */ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
#if ( INCLUDE_vTaskDelete == 1 )
{ /* Fill in an TaskStatus_t structure with information on
* each task that has been deleted but not yet cleaned up. */ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); } #endif
#if ( INCLUDE_vTaskSuspend == 1 )
{ /* Fill in an TaskStatus_t structure with information on
* each task in the Suspended state. */ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); } #endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{ if( pulTotalRunTime != NULL ) { #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); #else
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); #endif
} } #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
{ if( pulTotalRunTime != NULL ) { *pulTotalRunTime = 0; } } #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
} else { mtCOVERAGE_TEST_MARKER(); } } ( void ) xTaskResumeAll();
return uxTask; }
#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t xTaskGetIdleTaskHandle( void ) { /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
* started, then xIdleTaskHandle will be NULL. */ configASSERT( ( xIdleTaskHandle != NULL ) ); return xIdleTaskHandle; }
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
/* This conditional compilation should use inequality to 0, not equality to 1.
* This is to ensure vTaskStepTick() is available when user defined low power mode * implementations require configUSE_TICKLESS_IDLE to be set to a value other than * 1. */#if ( configUSE_TICKLESS_IDLE != 0 )
void vTaskStepTick( const TickType_t xTicksToJump ) { /* Correct the tick count value after a period during which the tick
* was suppressed. Note this does *not* call the tick hook function for * each stepped tick. */ configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); xTickCount += xTicksToJump; traceINCREASE_TICK_COUNT( xTicksToJump ); }
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ){ BaseType_t xYieldOccurred;
/* Must not be called with the scheduler suspended as the implementation
* relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */ configASSERT( uxSchedulerSuspended == 0 );
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
* the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */ vTaskSuspendAll(); xPendedTicks += xTicksToCatchUp; xYieldOccurred = xTaskResumeAll();
return xYieldOccurred;}/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskAbortDelay == 1 )
BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) { TCB_t * pxTCB = xTask; BaseType_t xReturn;
configASSERT( pxTCB );
vTaskSuspendAll(); { /* A task can only be prematurely removed from the Blocked state if
* it is actually in the Blocked state. */ if( eTaskGetState( xTask ) == eBlocked ) { xReturn = pdPASS;
/* Remove the reference to the task from the blocked list. An
* interrupt won't touch the xStateListItem because the * scheduler is suspended. */ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
/* Is the task waiting on an event also? If so remove it from
* the event list too. Interrupts can touch the event list item, * even though the scheduler is suspended, so a critical section * is used. */ taskENTER_CRITICAL(); { if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) { ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
/* This lets the task know it was forcibly removed from the
* blocked state so it should not re-evaluate its block time and * then block again. */ pxTCB->ucDelayAborted = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL();
/* Place the unblocked task into the appropriate ready list. */ prvAddTaskToReadyList( pxTCB );
/* A task being unblocked cannot cause an immediate context
* switch if preemption is turned off. */ #if ( configUSE_PREEMPTION == 1 )
{ /* Preemption is on, but a context switch should only be
* performed if the unblocked task has a priority that is * higher than the currently executing task. */ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* Pend the yield to be performed when the scheduler
* is unsuspended. */ xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_PREEMPTION */
} else { xReturn = pdFAIL; } } ( void ) xTaskResumeAll();
return xReturn; }
#endif /* INCLUDE_xTaskAbortDelay */
/*----------------------------------------------------------*/
BaseType_t xTaskIncrementTick( void ){ TCB_t * pxTCB; TickType_t xItemValue; BaseType_t xSwitchRequired = pdFALSE;
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will cause any * tasks to be unblocked. */ traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { /* Minor optimisation. The tick count cannot change in this
* block. */ const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
/* Increment the RTOS tick, switching the delayed and overflowed
* delayed lists if it wraps to 0. */ xTickCount = xConstTickCount;
if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */ { taskSWITCH_DELAYED_LISTS(); } else { mtCOVERAGE_TEST_MARKER(); }
/* See if this tick has made a timeout expire. Tasks are stored in
* the queue in the order of their wake time - meaning once one task * has been found whose block time has not expired there is no need to * look any further down the list. */ if( xConstTickCount >= xNextTaskUnblockTime ) { for( ; ; ) { if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) { /* The delayed list is empty. Set xNextTaskUnblockTime
* to the maximum possible value so it is extremely * unlikely that the * if( xTickCount >= xNextTaskUnblockTime ) test will pass * next time through. */ xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ break; } else { /* The delayed list is not empty, get the value of the
* item at the head of the delayed list. This is the time * at which the task at the head of the delayed list must * be removed from the Blocked state. */ pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
if( xConstTickCount < xItemValue ) { /* It is not time to unblock this item yet, but the
* item value is the time at which the task at the head * of the blocked list must be removed from the Blocked * state - so record the item value in * xNextTaskUnblockTime. */ xNextTaskUnblockTime = xItemValue; break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */ } else { mtCOVERAGE_TEST_MARKER(); }
/* It is time to remove the item from the Blocked state. */ listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
/* Is the task waiting on an event also? If so remove
* it from the event list. */ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) { listREMOVE_ITEM( &( pxTCB->xEventListItem ) ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Place the unblocked task into the appropriate ready
* list. */ prvAddTaskToReadyList( pxTCB );
/* A task being unblocked cannot cause an immediate
* context switch if preemption is turned off. */ #if ( configUSE_PREEMPTION == 1 )
{ /* Preemption is on, but a context switch should
* only be performed if the unblocked task has a * priority that is equal to or higher than the * currently executing task. */ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) { xSwitchRequired = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_PREEMPTION */
} } }
/* Tasks of equal priority to the currently running task will share
* processing time (time slice) if preemption is on, and the application * writer has not explicitly turned time slicing off. */ #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) { xSwitchRequired = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
#if ( configUSE_TICK_HOOK == 1 )
{ /* Guard against the tick hook being called when the pended tick
* count is being unwound (when the scheduler is being unlocked). */ if( xPendedTicks == ( TickType_t ) 0 ) { vApplicationTickHook(); } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_TICK_HOOK */
#if ( configUSE_PREEMPTION == 1 )
{ if( xYieldPending != pdFALSE ) { xSwitchRequired = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_PREEMPTION */
} else { ++xPendedTicks;
/* The tick hook gets called at regular intervals, even if the
* scheduler is locked. */ #if ( configUSE_TICK_HOOK == 1 )
{ vApplicationTickHook(); } #endif
}
return xSwitchRequired;}/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) { TCB_t * xTCB;
/* If xTask is NULL then it is the task hook of the calling task that is
* getting set. */ if( xTask == NULL ) { xTCB = ( TCB_t * ) pxCurrentTCB; } else { xTCB = xTask; }
/* Save the hook function in the TCB. A critical section is required as
* the value can be accessed from an interrupt. */ taskENTER_CRITICAL(); { xTCB->pxTaskTag = pxHookFunction; } taskEXIT_CRITICAL(); }
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) { TCB_t * pxTCB; TaskHookFunction_t xReturn;
/* If xTask is NULL then set the calling task's hook. */ pxTCB = prvGetTCBFromHandle( xTask );
/* Save the hook function in the TCB. A critical section is required as
* the value can be accessed from an interrupt. */ taskENTER_CRITICAL(); { xReturn = pxTCB->pxTaskTag; } taskEXIT_CRITICAL();
return xReturn; }
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) { TCB_t * pxTCB; TaskHookFunction_t xReturn; UBaseType_t uxSavedInterruptStatus;
/* If xTask is NULL then set the calling task's hook. */ pxTCB = prvGetTCBFromHandle( xTask );
/* Save the hook function in the TCB. A critical section is required as
* the value can be accessed from an interrupt. */ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); { xReturn = pxTCB->pxTaskTag; } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn; }
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void * pvParameter ) { TCB_t * xTCB; BaseType_t xReturn;
/* If xTask is NULL then we are calling our own task hook. */ if( xTask == NULL ) { xTCB = pxCurrentTCB; } else { xTCB = xTask; }
if( xTCB->pxTaskTag != NULL ) { xReturn = xTCB->pxTaskTag( pvParameter ); } else { xReturn = pdFAIL; }
return xReturn; }
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
void vTaskSwitchContext( void ){ if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) { /* The scheduler is currently suspended - do not allow a context
* switch. */ xYieldPending = pdTRUE; } else { xYieldPending = pdFALSE; traceTASK_SWITCHED_OUT();
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); #else
ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); #endif
/* Add the amount of time the task has been running to the
* accumulated time so far. The time the task started running was * stored in ulTaskSwitchedInTime. Note that there is no overflow * protection here so count values are only valid until the timer * overflows. The guard against negative values is to protect * against suspect run time stat counter implementations - which * are provided by the application, not the kernel. */ if( ulTotalRunTime > ulTaskSwitchedInTime ) { pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); } else { mtCOVERAGE_TEST_MARKER(); }
ulTaskSwitchedInTime = ulTotalRunTime; } #endif /* configGENERATE_RUN_TIME_STATS */
/* Check for stack overflow, if configured. */ taskCHECK_FOR_STACK_OVERFLOW();
/* Before the currently running task is switched out, save its errno. */ #if ( configUSE_POSIX_ERRNO == 1 )
{ pxCurrentTCB->iTaskErrno = FreeRTOS_errno; } #endif
/* Select a new task to run using either the generic C or port
* optimised asm code. */ taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ traceTASK_SWITCHED_IN();
/* After the new task is switched in, update the global errno. */ #if ( configUSE_POSIX_ERRNO == 1 )
{ FreeRTOS_errno = pxCurrentTCB->iTaskErrno; } #endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{ /* Switch Newlib's _impure_ptr variable to point to the _reent
* structure specific to this task. * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */ _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); } #endif /* configUSE_NEWLIB_REENTRANT */
}}/*-----------------------------------------------------------*/
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ){ configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
* SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
/* Place the event list item of the TCB in the appropriate event list.
* This is placed in the list in priority order so the highest priority task * is the first to be woken by the event. * * Note: Lists are sorted in ascending order by ListItem_t.xItemValue. * Normally, the xItemValue of a TCB's ListItem_t members is: * xItemValue = ( configMAX_PRIORITIES - uxPriority ) * Therefore, the event list is sorted in descending priority order. * * The queue that contains the event list is locked, preventing * simultaneous access from interrupts. */ vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );}/*-----------------------------------------------------------*/
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ){ configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event groups implementation. */ configASSERT( uxSchedulerSuspended != 0 );
/* Store the item value in the event list item. It is safe to access the
* event list item here as interrupts won't access the event list item of a * task that is not in the Blocked state. */ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Place the event list item of the TCB at the end of the appropriate event
* list. It is safe to access the event list here because it is part of an * event group implementation - and interrupts don't access event groups * directly (instead they access them indirectly by pending function calls to * the task level). */ listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );}/*-----------------------------------------------------------*/
#if ( configUSE_TIMERS == 1 )
void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) { configASSERT( pxEventList );
/* This function should not be called by application code hence the
* 'Restricted' in its name. It is not part of the public API. It is * designed for use by kernel code, and has special calling requirements - * it should be called with the scheduler suspended. */
/* Place the event list item of the TCB in the appropriate event list.
* In this case it is assume that this is the only task that is going to * be waiting on this event list, so the faster vListInsertEnd() function * can be used in place of vListInsert. */ listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
/* If the task should block indefinitely then set the block time to a
* value that will be recognised as an indefinite delay inside the * prvAddCurrentTaskToDelayedList() function. */ if( xWaitIndefinitely != pdFALSE ) { xTicksToWait = portMAX_DELAY; }
traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) ); prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely ); }
#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ){ TCB_t * pxUnblockedTCB; BaseType_t xReturn;
/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
* called from a critical section within an ISR. */
/* The event list is sorted in priority order, so the first in the list can
* be removed as it is known to be the highest priority. Remove the TCB from * the delayed list, and add it to the ready list. * * If an event is for a queue that is locked then this function will never * get called - the lock count on the queue will get modified instead. This * means exclusive access to the event list is guaranteed here. * * This function assumes that a check has already been made to ensure that * pxEventList is not empty. */ pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ configASSERT( pxUnblockedTCB ); listREMOVE_ITEM( &( pxUnblockedTCB->xEventListItem ) );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) ); prvAddTaskToReadyList( pxUnblockedTCB );
#if ( configUSE_TICKLESS_IDLE != 0 )
{ /* If a task is blocked on a kernel object then xNextTaskUnblockTime
* might be set to the blocked task's time out time. If the task is * unblocked for a reason other than a timeout xNextTaskUnblockTime is * normally left unchanged, because it is automatically reset to a new * value when the tick count equals xNextTaskUnblockTime. However if * tickless idling is used it might be more important to enter sleep mode * at the earliest possible time - so reset xNextTaskUnblockTime here to * ensure it is updated at the earliest possible time. */ prvResetNextTaskUnblockTime(); } #endif
} else { /* The delayed and ready lists cannot be accessed, so hold this task
* pending until the scheduler is resumed. */ listINSERT_END( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); }
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* Return true if the task removed from the event list has a higher
* priority than the calling task. This allows the calling task to know if * it should force a context switch now. */ xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
* "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ xYieldPending = pdTRUE; } else { xReturn = pdFALSE; }
return xReturn;}/*-----------------------------------------------------------*/
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ){ TCB_t * pxUnblockedTCB;
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
* the event flags implementation. */ configASSERT( uxSchedulerSuspended != pdFALSE );
/* Store the new item value in the event list. */ listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Remove the event list form the event flag. Interrupts do not access
* event flags. */ pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ configASSERT( pxUnblockedTCB ); listREMOVE_ITEM( pxEventListItem );
#if ( configUSE_TICKLESS_IDLE != 0 )
{ /* If a task is blocked on a kernel object then xNextTaskUnblockTime
* might be set to the blocked task's time out time. If the task is * unblocked for a reason other than a timeout xNextTaskUnblockTime is * normally left unchanged, because it is automatically reset to a new * value when the tick count equals xNextTaskUnblockTime. However if * tickless idling is used it might be more important to enter sleep mode * at the earliest possible time - so reset xNextTaskUnblockTime here to * ensure it is updated at the earliest possible time. */ prvResetNextTaskUnblockTime(); } #endif
/* Remove the task from the delayed list and add it to the ready list. The
* scheduler is suspended so interrupts will not be accessing the ready * lists. */ listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) ); prvAddTaskToReadyList( pxUnblockedTCB );
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* The unblocked task has a priority above that of the calling task, so
* a context switch is required. This function is called with the * scheduler suspended so xYieldPending is set so the context switch * occurs immediately that the scheduler is resumed (unsuspended). */ xYieldPending = pdTRUE; }}/*-----------------------------------------------------------*/
void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ){ configASSERT( pxTimeOut ); taskENTER_CRITICAL(); { pxTimeOut->xOverflowCount = xNumOfOverflows; pxTimeOut->xTimeOnEntering = xTickCount; } taskEXIT_CRITICAL();}/*-----------------------------------------------------------*/
void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ){ /* For internal use only as it does not use a critical section. */ pxTimeOut->xOverflowCount = xNumOfOverflows; pxTimeOut->xTimeOnEntering = xTickCount;}/*-----------------------------------------------------------*/
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ){ BaseType_t xReturn;
configASSERT( pxTimeOut ); configASSERT( pxTicksToWait );
taskENTER_CRITICAL(); { /* Minor optimisation. The tick count cannot change in this block. */ const TickType_t xConstTickCount = xTickCount; const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
#if ( INCLUDE_xTaskAbortDelay == 1 )
if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE ) { /* The delay was aborted, which is not the same as a time out,
* but has the same result. */ pxCurrentTCB->ucDelayAborted = pdFALSE; xReturn = pdTRUE; } else #endif
#if ( INCLUDE_vTaskSuspend == 1 )
if( *pxTicksToWait == portMAX_DELAY ) { /* If INCLUDE_vTaskSuspend is set to 1 and the block time
* specified is the maximum block time then the task should block * indefinitely, and therefore never time out. */ xReturn = pdFALSE; } else #endif
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ { /* The tick count is greater than the time at which
* vTaskSetTimeout() was called, but has also overflowed since * vTaskSetTimeOut() was called. It must have wrapped all the way * around and gone past again. This passed since vTaskSetTimeout() * was called. */ xReturn = pdTRUE; *pxTicksToWait = ( TickType_t ) 0; } else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */ { /* Not a genuine timeout. Adjust parameters for time remaining. */ *pxTicksToWait -= xElapsedTime; vTaskInternalSetTimeOutState( pxTimeOut ); xReturn = pdFALSE; } else { *pxTicksToWait = ( TickType_t ) 0; xReturn = pdTRUE; } } taskEXIT_CRITICAL();
return xReturn;}/*-----------------------------------------------------------*/
void vTaskMissedYield( void ){ xYieldPending = pdTRUE;}/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) { UBaseType_t uxReturn; TCB_t const * pxTCB;
if( xTask != NULL ) { pxTCB = xTask; uxReturn = pxTCB->uxTaskNumber; } else { uxReturn = 0U; }
return uxReturn; }
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) { TCB_t * pxTCB;
if( xTask != NULL ) { pxTCB = xTask; pxTCB->uxTaskNumber = uxHandle; } }
#endif /* configUSE_TRACE_FACILITY */
/*
* ----------------------------------------------------------- * The Idle task. * ---------------------------------------------------------- * * The portTASK_FUNCTION() macro is used to allow port/compiler specific * language extensions. The equivalent prototype for this function is: * * void prvIdleTask( void *pvParameters ); * */static portTASK_FUNCTION( prvIdleTask, pvParameters ){ /* Stop warnings. */ ( void ) pvParameters;
/** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
* SCHEDULER IS STARTED. **/
/* In case a task that has a secure context deletes itself, in which case
* the idle task is responsible for deleting the task's secure context, if * any. */ portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
for( ; ; ) { /* See if any tasks have deleted themselves - if so then the idle task
* is responsible for freeing the deleted task's TCB and stack. */ prvCheckTasksWaitingTermination();
#if ( configUSE_PREEMPTION == 0 )
{ /* If we are not using preemption we keep forcing a task switch to
* see if any other task has become available. If we are using * preemption we don't need to do this as any task becoming available * will automatically get the processor anyway. */ taskYIELD(); } #endif /* configUSE_PREEMPTION */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{ /* When using preemption tasks of equal priority will be
* timesliced. If a task that is sharing the idle priority is ready * to run then the idle task should yield before the end of the * timeslice. * * A critical region is not required here as we are just reading from * the list, and an occasional incorrect value will not matter. If * the ready list at the idle priority contains more than one task * then a task other than the idle task is ready to execute. */ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) { taskYIELD(); } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
#if ( configUSE_IDLE_HOOK == 1 )
{ extern void vApplicationIdleHook( void );
/* Call the user defined function from within the idle task. This
* allows the application designer to add background functionality * without the overhead of a separate task. * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, * CALL A FUNCTION THAT MIGHT BLOCK. */ vApplicationIdleHook(); } #endif /* configUSE_IDLE_HOOK */
/* This conditional compilation should use inequality to 0, not equality
* to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when * user defined low power mode implementations require * configUSE_TICKLESS_IDLE to be set to a value other than 1. */ #if ( configUSE_TICKLESS_IDLE != 0 )
{ TickType_t xExpectedIdleTime;
/* It is not desirable to suspend then resume the scheduler on
* each iteration of the idle task. Therefore, a preliminary * test of the expected idle time is performed without the * scheduler suspended. The result here is not necessarily * valid. */ xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) { vTaskSuspendAll(); { /* Now the scheduler is suspended, the expected idle
* time can be sampled again, and this time its value can * be used. */ configASSERT( xNextTaskUnblockTime >= xTickCount ); xExpectedIdleTime = prvGetExpectedIdleTime();
/* Define the following macro to set xExpectedIdleTime to 0
* if the application does not want * portSUPPRESS_TICKS_AND_SLEEP() to be called. */ configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) { traceLOW_POWER_IDLE_BEGIN(); portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); traceLOW_POWER_IDLE_END(); } else { mtCOVERAGE_TEST_MARKER(); } } ( void ) xTaskResumeAll(); } else { mtCOVERAGE_TEST_MARKER(); } } #endif /* configUSE_TICKLESS_IDLE */
}}/*-----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
eSleepModeStatus eTaskConfirmSleepModeStatus( void ) { /* The idle task exists in addition to the application tasks. */ const UBaseType_t uxNonApplicationTasks = 1; eSleepModeStatus eReturn = eStandardSleep;
/* This function must be called from a critical section. */
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) { /* A task was made ready while the scheduler was suspended. */ eReturn = eAbortSleep; } else if( xYieldPending != pdFALSE ) { /* A yield was pended while the scheduler was suspended. */ eReturn = eAbortSleep; } else if( xPendedTicks != 0 ) { /* A tick interrupt has already occurred but was held pending
* because the scheduler is suspended. */ eReturn = eAbortSleep; } else { /* If all the tasks are in the suspended list (which might mean they
* have an infinite block time rather than actually being suspended) * then it is safe to turn all clocks off and just wait for external * interrupts. */ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) { eReturn = eNoTasksWaitingTimeout; } else { mtCOVERAGE_TEST_MARKER(); } }
return eReturn; }
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void * pvValue ) { TCB_t * pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) { pxTCB = prvGetTCBFromHandle( xTaskToSet ); configASSERT( pxTCB != NULL ); pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; } }
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) { void * pvReturn = NULL; TCB_t * pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) { pxTCB = prvGetTCBFromHandle( xTaskToQuery ); pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; } else { pvReturn = NULL; }
return pvReturn; }
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/
#if ( portUSING_MPU_WRAPPERS == 1 )
void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) { TCB_t * pxTCB;
/* If null is passed in here then we are modifying the MPU settings of
* the calling task. */ pxTCB = prvGetTCBFromHandle( xTaskToModify );
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); }
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
static void prvInitialiseTaskLists( void ){ UBaseType_t uxPriority;
for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) { vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); }
vListInitialise( &xDelayedTaskList1 ); vListInitialise( &xDelayedTaskList2 ); vListInitialise( &xPendingReadyList );
#if ( INCLUDE_vTaskDelete == 1 )
{ vListInitialise( &xTasksWaitingTermination ); } #endif /* INCLUDE_vTaskDelete */
#if ( INCLUDE_vTaskSuspend == 1 )
{ vListInitialise( &xSuspendedTaskList ); } #endif /* INCLUDE_vTaskSuspend */
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
* using list2. */ pxDelayedTaskList = &xDelayedTaskList1; pxOverflowDelayedTaskList = &xDelayedTaskList2;}/*-----------------------------------------------------------*/
static void prvCheckTasksWaitingTermination( void ){ /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
#if ( INCLUDE_vTaskDelete == 1 )
{ TCB_t * pxTCB;
/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
* being called too often in the idle task. */ while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U ) { taskENTER_CRITICAL(); { pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); --uxCurrentNumberOfTasks; --uxDeletedTasksWaitingCleanUp; } taskEXIT_CRITICAL();
prvDeleteTCB( pxTCB ); } } #endif /* INCLUDE_vTaskDelete */
}/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t * pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) { TCB_t * pxTCB;
/* xTask is NULL then get the state of the calling task. */ pxTCB = prvGetTCBFromHandle( xTask );
pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB; pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] ); pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority; pxTaskStatus->pxStackBase = pxTCB->pxStack; pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
#if ( configUSE_MUTEXES == 1 )
{ pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority; } #else
{ pxTaskStatus->uxBasePriority = 0; } #endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{ pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter; } #else
{ pxTaskStatus->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0; } #endif
/* Obtaining the task state is a little fiddly, so is only done if the
* value of eState passed into this function is eInvalid - otherwise the * state is just set to whatever is passed in. */ if( eState != eInvalid ) { if( pxTCB == pxCurrentTCB ) { pxTaskStatus->eCurrentState = eRunning; } else { pxTaskStatus->eCurrentState = eState;
#if ( INCLUDE_vTaskSuspend == 1 )
{ /* If the task is in the suspended list then there is a
* chance it is actually just blocked indefinitely - so really * it should be reported as being in the Blocked state. */ if( eState == eSuspended ) { vTaskSuspendAll(); { if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) { pxTaskStatus->eCurrentState = eBlocked; } } ( void ) xTaskResumeAll(); } } #endif /* INCLUDE_vTaskSuspend */
} } else { pxTaskStatus->eCurrentState = eTaskGetState( pxTCB ); }
/* Obtaining the stack space takes some time, so the xGetFreeStackSpace
* parameter is provided to allow it to be skipped. */ if( xGetFreeStackSpace != pdFALSE ) { #if ( portSTACK_GROWTH > 0 )
{ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack ); } #else
{ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack ); } #endif
} else { pxTaskStatus->usStackHighWaterMark = 0; } }
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray, List_t * pxList, eTaskState eState ) { configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB; UBaseType_t uxTask = 0;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) { listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
/* Populate an TaskStatus_t structure within the
* pxTaskStatusArray array for each task that is referenced from * pxList. See the definition of TaskStatus_t in task.h for the * meaning of each TaskStatus_t structure member. */ do { listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */ vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState ); uxTask++; } while( pxNextTCB != pxFirstTCB ); } else { mtCOVERAGE_TEST_MARKER(); }
return uxTask; }
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) { uint32_t ulCount = 0U;
while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) { pucStackByte -= portSTACK_GROWTH; ulCount++; }
ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
return ( configSTACK_DEPTH_TYPE ) ulCount; }
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
* same except for their return type. Using configSTACK_DEPTH_TYPE allows the * user to determine the return type. It gets around the problem of the value * overflowing on 8-bit types without breaking backward compatibility for * applications that expect an 8-bit return type. */ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) { TCB_t * pxTCB; uint8_t * pucEndOfStack; configSTACK_DEPTH_TYPE uxReturn;
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
* the same except for their return type. Using configSTACK_DEPTH_TYPE * allows the user to determine the return type. It gets around the * problem of the value overflowing on 8-bit types without breaking * backward compatibility for applications that expect an 8-bit return * type. */
pxTCB = prvGetTCBFromHandle( xTask );
#if portSTACK_GROWTH < 0
{ pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; } #else
{ pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; } #endif
uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
return uxReturn; }
#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) { TCB_t * pxTCB; uint8_t * pucEndOfStack; UBaseType_t uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
#if portSTACK_GROWTH < 0
{ pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; } #else
{ pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; } #endif
uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
return uxReturn; }
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t * pxTCB ) { /* This call is required specifically for the TriCore port. It must be
* above the vPortFree() calls. The call is also used by ports/demos that * want to allocate and clean RAM statically. */ portCLEAN_UP_TCB( pxTCB );
/* Free up the memory allocated by the scheduler for the task. It is up
* to the task to free any memory allocated at the application level. * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
* for additional information. */ #if ( configUSE_NEWLIB_REENTRANT == 1 )
{ _reclaim_reent( &( pxTCB->xNewLib_reent ) ); } #endif /* configUSE_NEWLIB_REENTRANT */
#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
{ /* The task can only have been allocated dynamically - free both
* the stack and TCB. */ vPortFreeStack( pxTCB->pxStack ); vPortFree( pxTCB ); } #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{ /* The task could have been allocated statically or dynamically, so
* check what was statically allocated before trying to free the * memory. */ if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) { /* Both the stack and TCB were allocated dynamically, so both
* must be freed. */ vPortFreeStack( pxTCB->pxStack ); vPortFree( pxTCB ); } else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) { /* Only the stack was statically allocated, so the TCB is the
* only memory that must be freed. */ vPortFree( pxTCB ); } else { /* Neither the stack nor the TCB were allocated dynamically, so
* nothing needs to be freed. */ configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ); mtCOVERAGE_TEST_MARKER(); } } #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
static void prvResetNextTaskUnblockTime( void ){ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) { /* The new current delayed list is empty. Set xNextTaskUnblockTime to
* the maximum possible value so it is extremely unlikely that the * if( xTickCount >= xNextTaskUnblockTime ) test will pass until * there is an item in the delayed list. */ xNextTaskUnblockTime = portMAX_DELAY; } else { /* The new current delayed list is not empty, get the value of
* the item at the head of the delayed list. This is the time at * which the task at the head of the delayed list should be removed * from the Blocked state. */ xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList ); }}/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
TaskHandle_t xTaskGetCurrentTaskHandle( void ) { TaskHandle_t xReturn;
/* A critical section is not required as this is not called from
* an interrupt and the current TCB will always be the same for any * individual execution thread. */ xReturn = pxCurrentTCB;
return xReturn; }
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
BaseType_t xTaskGetSchedulerState( void ) { BaseType_t xReturn;
if( xSchedulerRunning == pdFALSE ) { xReturn = taskSCHEDULER_NOT_STARTED; } else { if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { xReturn = taskSCHEDULER_RUNNING; } else { xReturn = taskSCHEDULER_SUSPENDED; } }
return xReturn; }
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) { TCB_t * const pxMutexHolderTCB = pxMutexHolder; BaseType_t xReturn = pdFALSE;
/* If the mutex was given back by an interrupt while the queue was
* locked then the mutex holder might now be NULL. _RB_ Is this still * needed as interrupts can no longer use mutexes? */ if( pxMutexHolder != NULL ) { /* If the holder of the mutex has a priority below the priority of
* the task attempting to obtain the mutex then it will temporarily * inherit the priority of the task attempting to obtain the mutex. */ if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority ) { /* Adjust the mutex holder state to account for its new
* priority. Only reset the event list item value if the value is * not being used for anything else. */ if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) { listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ } else { mtCOVERAGE_TEST_MARKER(); }
/* If the task being modified is in the ready state it will need
* to be moved into a new list. */ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE ) { if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { /* It is known that the task is in its ready list so
* there is no need to check again and the port level * reset macro can be called directly. */ portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Inherit the priority before being moved into the new list. */ pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority; prvAddTaskToReadyList( pxMutexHolderTCB ); } else { /* Just inherit the priority. */ pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority; }
traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
/* Inheritance occurred. */ xReturn = pdTRUE; } else { if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority ) { /* The base priority of the mutex holder is lower than the
* priority of the task attempting to take the mutex, but the * current priority of the mutex holder is not lower than the * priority of the task attempting to take the mutex. * Therefore the mutex holder must have already inherited a * priority, but inheritance would have occurred if that had * not been the case. */ xReturn = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } } else { mtCOVERAGE_TEST_MARKER(); }
return xReturn; }
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) { TCB_t * const pxTCB = pxMutexHolder; BaseType_t xReturn = pdFALSE;
if( pxMutexHolder != NULL ) { /* A task can only have an inherited priority if it holds the mutex.
* If the mutex is held by a task then it cannot be given from an * interrupt, and if a mutex is given by the holding task then it must * be the running state task. */ configASSERT( pxTCB == pxCurrentTCB ); configASSERT( pxTCB->uxMutexesHeld ); ( pxTCB->uxMutexesHeld )--;
/* Has the holder of the mutex inherited the priority of another
* task? */ if( pxTCB->uxPriority != pxTCB->uxBasePriority ) { /* Only disinherit if no other mutexes are held. */ if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) { /* A task can only have an inherited priority if it holds
* the mutex. If the mutex is held by a task then it cannot be * given from an interrupt, and if a mutex is given by the * holding task then it must be the running state task. Remove * the holding task from the ready list. */ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
/* Disinherit the priority before adding the task into the
* new ready list. */ traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); pxTCB->uxPriority = pxTCB->uxBasePriority;
/* Reset the event list item value. It cannot be in use for
* any other purpose if this task is running, and it must be * running to give back the mutex. */ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ prvAddTaskToReadyList( pxTCB );
/* Return true to indicate that a context switch is required.
* This is only actually required in the corner case whereby * multiple mutexes were held and the mutexes were given back * in an order different to that in which they were taken. * If a context switch did not occur when the first mutex was * returned, even if a task was waiting on it, then a context * switch should occur when the last mutex is returned whether * a task is waiting on it or not. */ xReturn = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); }
return xReturn; }
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) { TCB_t * const pxTCB = pxMutexHolder; UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse; const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
if( pxMutexHolder != NULL ) { /* If pxMutexHolder is not NULL then the holder must hold at least
* one mutex. */ configASSERT( pxTCB->uxMutexesHeld );
/* Determine the priority to which the priority of the task that
* holds the mutex should be set. This will be the greater of the * holding task's base priority and the priority of the highest * priority task that is waiting to obtain the mutex. */ if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask ) { uxPriorityToUse = uxHighestPriorityWaitingTask; } else { uxPriorityToUse = pxTCB->uxBasePriority; }
/* Does the priority need to change? */ if( pxTCB->uxPriority != uxPriorityToUse ) { /* Only disinherit if no other mutexes are held. This is a
* simplification in the priority inheritance implementation. If * the task that holds the mutex is also holding other mutexes then * the other mutexes may have caused the priority inheritance. */ if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld ) { /* If a task has timed out because it already holds the
* mutex it was trying to obtain then it cannot of inherited * its own priority. */ configASSERT( pxTCB != pxCurrentTCB );
/* Disinherit the priority, remembering the previous
* priority to facilitate determining the subject task's * state. */ traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse ); uxPriorityUsedOnEntry = pxTCB->uxPriority; pxTCB->uxPriority = uxPriorityToUse;
/* Only reset the event list item value if the value is not
* being used for anything else. */ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) { listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ } else { mtCOVERAGE_TEST_MARKER(); }
/* If the running task is not the task that holds the mutex
* then the task that holds the mutex could be in either the * Ready, Blocked or Suspended states. Only remove the task * from its current state list if it is in the Ready state as * the task's priority is going to change and there is one * Ready list per priority. */ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) { if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { /* It is known that the task is in its ready list so
* there is no need to check again and the port level * reset macro can be called directly. */ portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority ); } else { mtCOVERAGE_TEST_MARKER(); }
prvAddTaskToReadyList( pxTCB ); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskEnterCritical( void ) { portDISABLE_INTERRUPTS();
if( xSchedulerRunning != pdFALSE ) { ( pxCurrentTCB->uxCriticalNesting )++;
/* This is not the interrupt safe version of the enter critical
* function so assert() if it is being called from an interrupt * context. Only API functions that end in "FromISR" can be used in an * interrupt. Only assert if the critical nesting count is 1 to * protect against recursive calls if the assert function also uses a * critical section. */ if( pxCurrentTCB->uxCriticalNesting == 1 ) { portASSERT_IF_IN_ISR(); } } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskExitCritical( void ) { if( xSchedulerRunning != pdFALSE ) { if( pxCurrentTCB->uxCriticalNesting > 0U ) { ( pxCurrentTCB->uxCriticalNesting )--;
if( pxCurrentTCB->uxCriticalNesting == 0U ) { portENABLE_INTERRUPTS(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
static char * prvWriteNameToBuffer( char * pcBuffer, const char * pcTaskName ) { size_t x;
/* Start by copying the entire string. */ strcpy( pcBuffer, pcTaskName );
/* Pad the end of the string with spaces to ensure columns line up when
* printed out. */ for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) { pcBuffer[ x ] = ' '; }
/* Terminate. */ pcBuffer[ x ] = ( char ) 0x00;
/* Return the new end of string. */ return &( pcBuffer[ x ] ); }
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
void vTaskList( char * pcWriteBuffer ) { TaskStatus_t * pxTaskStatusArray; UBaseType_t uxArraySize, x; char cStatus;
/*
* PLEASE NOTE: * * This function is provided for convenience only, and is used by many * of the demo applications. Do not consider it to be part of the * scheduler. * * vTaskList() calls uxTaskGetSystemState(), then formats part of the * uxTaskGetSystemState() output into a human readable table that * displays task: names, states, priority, stack usage and task number. * Stack usage specified as the number of unused StackType_t words stack can hold * on top of stack - not the number of bytes. * * vTaskList() has a dependency on the sprintf() C library function that * might bloat the code size, use a lot of stack, and provide different * results on different platforms. An alternative, tiny, third party, * and limited functionality implementation of sprintf() is provided in * many of the FreeRTOS/Demo sub-directories in a file called * printf-stdarg.c (note printf-stdarg.c does not provide a full * snprintf() implementation!). * * It is recommended that production systems call uxTaskGetSystemState() * directly to get access to raw stats data, rather than indirectly * through a call to vTaskList(). */
/* Make sure the write buffer does not contain a string. */ *pcWriteBuffer = ( char ) 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
* function is executing. */ uxArraySize = uxCurrentNumberOfTasks;
/* Allocate an array index for each task. NOTE! if
* configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will * equate to NULL. */ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
if( pxTaskStatusArray != NULL ) { /* Generate the (binary) data. */ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
/* Create a human readable table from the binary data. */ for( x = 0; x < uxArraySize; x++ ) { switch( pxTaskStatusArray[ x ].eCurrentState ) { case eRunning: cStatus = tskRUNNING_CHAR; break;
case eReady: cStatus = tskREADY_CHAR; break;
case eBlocked: cStatus = tskBLOCKED_CHAR; break;
case eSuspended: cStatus = tskSUSPENDED_CHAR; break;
case eDeleted: cStatus = tskDELETED_CHAR; break;
case eInvalid: /* Fall through. */ default: /* Should not get here, but it is included
* to prevent static checking errors. */ cStatus = ( char ) 0x00; break; }
/* Write the task name to the string, padding with spaces so it
* can be printed in tabular form more easily. */ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
/* Write the rest of the string. */ sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */ }
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
* is 0 then vPortFree() will be #defined to nothing. */ vPortFree( pxTaskStatusArray ); } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
void vTaskGetRunTimeStats( char * pcWriteBuffer ) { TaskStatus_t * pxTaskStatusArray; UBaseType_t uxArraySize, x; configRUN_TIME_COUNTER_TYPE ulTotalTime, ulStatsAsPercentage;
#if ( configUSE_TRACE_FACILITY != 1 )
{ #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
} #endif
/*
* PLEASE NOTE: * * This function is provided for convenience only, and is used by many * of the demo applications. Do not consider it to be part of the * scheduler. * * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part * of the uxTaskGetSystemState() output into a human readable table that * displays the amount of time each task has spent in the Running state * in both absolute and percentage terms. * * vTaskGetRunTimeStats() has a dependency on the sprintf() C library * function that might bloat the code size, use a lot of stack, and * provide different results on different platforms. An alternative, * tiny, third party, and limited functionality implementation of * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in * a file called printf-stdarg.c (note printf-stdarg.c does not provide * a full snprintf() implementation!). * * It is recommended that production systems call uxTaskGetSystemState() * directly to get access to raw stats data, rather than indirectly * through a call to vTaskGetRunTimeStats(). */
/* Make sure the write buffer does not contain a string. */ *pcWriteBuffer = ( char ) 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
* function is executing. */ uxArraySize = uxCurrentNumberOfTasks;
/* Allocate an array index for each task. NOTE! If
* configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will * equate to NULL. */ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
if( pxTaskStatusArray != NULL ) { /* Generate the (binary) data. */ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
/* For percentage calculations. */ ulTotalTime /= 100UL;
/* Avoid divide by zero errors. */ if( ulTotalTime > 0UL ) { /* Create a human readable table from the binary data. */ for( x = 0; x < uxArraySize; x++ ) { /* What percentage of the total run time has the task used?
* This will always be rounded down to the nearest integer. * ulTotalRunTime has already been divided by 100. */ ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
/* Write the task name to the string, padding with
* spaces so it can be printed in tabular form more * easily. */ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
if( ulStatsAsPercentage > 0UL ) { #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{ sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); } #else
{ /* sizeof( int ) == sizeof( long ) so a smaller
* printf() library can be used. */ sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ } #endif
} else { /* If the percentage is zero here then the task has
* consumed less than 1% of the total run time. */ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{ sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); } #else
{ /* sizeof( int ) == sizeof( long ) so a smaller
* printf() library can be used. */ sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */ } #endif
}
pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */ } } else { mtCOVERAGE_TEST_MARKER(); }
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
* is 0 then vPortFree() will be #defined to nothing. */ vPortFree( pxTaskStatusArray ); } else { mtCOVERAGE_TEST_MARKER(); } }
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
TickType_t uxTaskResetEventItemValue( void ){ TickType_t uxReturn;
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
/* Reset the event list item to its normal value - so it can be used with
* queues and semaphores. */ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
return uxReturn;}/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
TaskHandle_t pvTaskIncrementMutexHeldCount( void ) { /* If xSemaphoreCreateMutex() is called before any tasks have been created
* then pxCurrentTCB will be NULL. */ if( pxCurrentTCB != NULL ) { ( pxCurrentTCB->uxMutexesHeld )++; }
return pxCurrentTCB; }
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait, BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) { uint32_t ulReturn;
configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
taskENTER_CRITICAL(); { /* Only block if the notification count is not already non-zero. */ if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL ) { /* Mark this task as waiting for a notification. */ pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 ) { prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );
/* All ports are written to allow a yield in a critical
* section (some will yield immediately, others wait until the * critical section exits) - but it is not something that * application code should ever do. */ portYIELD_WITHIN_API(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL();
taskENTER_CRITICAL(); { traceTASK_NOTIFY_TAKE( uxIndexToWait ); ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
if( ulReturn != 0UL ) { if( xClearCountOnExit != pdFALSE ) { pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL; } else { pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1; } } else { mtCOVERAGE_TEST_MARKER(); }
pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION; } taskEXIT_CRITICAL();
return ulReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t * pulNotificationValue, TickType_t xTicksToWait ) { BaseType_t xReturn;
configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
taskENTER_CRITICAL(); { /* Only block if a notification is not already pending. */ if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED ) { /* Clear bits in the task's notification value as bits may get
* set by the notifying task or interrupt. This can be used to * clear the value to zero. */ pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */ pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 ) { prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );
/* All ports are written to allow a yield in a critical
* section (some will yield immediately, others wait until the * critical section exits) - but it is not something that * application code should ever do. */ portYIELD_WITHIN_API(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL();
taskENTER_CRITICAL(); { traceTASK_NOTIFY_WAIT( uxIndexToWait );
if( pulNotificationValue != NULL ) { /* Output the current notification value, which may or may not
* have changed. */ *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ]; }
/* If ucNotifyValue is set then either the task never entered the
* blocked state (because a notification was already pending) or the * task unblocked because of a notification. Otherwise the task * unblocked because of a timeout. */ if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED ) { /* A notification was not received. */ xReturn = pdFALSE; } else { /* A notification was already pending or a notification was
* received while the task was waiting. */ pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit; xReturn = pdTRUE; }
pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION; } taskEXIT_CRITICAL();
return xReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t * pulPreviousNotificationValue ) { TCB_t * pxTCB; BaseType_t xReturn = pdPASS; uint8_t ucOriginalNotifyState;
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES ); configASSERT( xTaskToNotify ); pxTCB = xTaskToNotify;
taskENTER_CRITICAL(); { if( pulPreviousNotificationValue != NULL ) { *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ]; }
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
switch( eAction ) { case eSetBits: pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue; break;
case eIncrement: ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++; break;
case eSetValueWithOverwrite: pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; break;
case eSetValueWithoutOverwrite:
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) { pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; } else { /* The value could not be written to the task. */ xReturn = pdFAIL; }
break;
case eNoAction:
/* The task is being notified without its notify value being
* updated. */ break;
default:
/* Should not get here if all enums are handled.
* Artificially force an assert by testing a value the * compiler can't assume is const. */ configASSERT( xTickCount == ( TickType_t ) 0 );
break; }
traceTASK_NOTIFY( uxIndexToNotify );
/* If the task is in the blocked state specifically to wait for a
* notification then unblock it now. */ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) { listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB );
/* The task should not have been on an event list. */ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
#if ( configUSE_TICKLESS_IDLE != 0 )
{ /* If a task is blocked waiting for a notification then
* xNextTaskUnblockTime might be set to the blocked task's time * out time. If the task is unblocked for a reason other than * a timeout xNextTaskUnblockTime is normally left unchanged, * because it will automatically get reset to a new value when * the tick count equals xNextTaskUnblockTime. However if * tickless idling is used it might be more important to enter * sleep mode at the earliest possible time - so reset * xNextTaskUnblockTime here to ensure it is updated at the * earliest possible time. */ prvResetNextTaskUnblockTime(); } #endif
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* The notified task has a priority above the currently
* executing task so a yield is required. */ taskYIELD_IF_USING_PREEMPTION(); } else { mtCOVERAGE_TEST_MARKER(); } } else { mtCOVERAGE_TEST_MARKER(); } } taskEXIT_CRITICAL();
return xReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t * pulPreviousNotificationValue, BaseType_t * pxHigherPriorityTaskWoken ) { TCB_t * pxTCB; uint8_t ucOriginalNotifyState; BaseType_t xReturn = pdPASS; UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify ); configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* RTOS ports that support interrupt nesting have the concept of a
* maximum system call (or maximum API call) interrupt priority. * Interrupts that are above the maximum system call priority are keep * permanently enabled, even when the RTOS kernel is in a critical section, * but cannot make any calls to FreeRTOS API functions. If configASSERT() * is defined in FreeRTOSConfig.h then * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has * been assigned a priority above the configured maximum system call * priority. Only FreeRTOS functions that end in FromISR can be called * from interrupts that have been assigned a priority at or (logically) * below the maximum system call interrupt priority. FreeRTOS maintains a * separate interrupt safe API to ensure interrupt entry is as fast and as * simple as possible. More information (albeit Cortex-M specific) is * provided on the following link: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); { if( pulPreviousNotificationValue != NULL ) { *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ]; }
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ]; pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
switch( eAction ) { case eSetBits: pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue; break;
case eIncrement: ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++; break;
case eSetValueWithOverwrite: pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; break;
case eSetValueWithoutOverwrite:
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) { pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue; } else { /* The value could not be written to the task. */ xReturn = pdFAIL; }
break;
case eNoAction:
/* The task is being notified without its notify value being
* updated. */ break;
default:
/* Should not get here if all enums are handled.
* Artificially force an assert by testing a value the * compiler can't assume is const. */ configASSERT( xTickCount == ( TickType_t ) 0 ); break; }
traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
/* If the task is in the blocked state specifically to wait for a
* notification then unblock it now. */ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) { /* The task should not have been on an event list. */ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB ); } else { /* The delayed and ready lists cannot be accessed, so hold
* this task pending until the scheduler is resumed. */ listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); }
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* The notified task has a priority above the currently
* executing task so a yield is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; }
/* Mark that a yield is pending in case the user is not
* using the "xHigherPriorityTaskWoken" parameter to an ISR * safe FreeRTOS function. */ xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, BaseType_t * pxHigherPriorityTaskWoken ) { TCB_t * pxTCB; uint8_t ucOriginalNotifyState; UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify ); configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* RTOS ports that support interrupt nesting have the concept of a
* maximum system call (or maximum API call) interrupt priority. * Interrupts that are above the maximum system call priority are keep * permanently enabled, even when the RTOS kernel is in a critical section, * but cannot make any calls to FreeRTOS API functions. If configASSERT() * is defined in FreeRTOSConfig.h then * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion * failure if a FreeRTOS API function is called from an interrupt that has * been assigned a priority above the configured maximum system call * priority. Only FreeRTOS functions that end in FromISR can be called * from interrupts that have been assigned a priority at or (logically) * below the maximum system call interrupt priority. FreeRTOS maintains a * separate interrupt safe API to ensure interrupt entry is as fast and as * simple as possible. More information (albeit Cortex-M specific) is * provided on the following link: * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); { ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ]; pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
/* 'Giving' is equivalent to incrementing a count in a counting
* semaphore. */ ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
/* If the task is in the blocked state specifically to wait for a
* notification then unblock it now. */ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) { /* The task should not have been on an event list. */ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) { listREMOVE_ITEM( &( pxTCB->xStateListItem ) ); prvAddTaskToReadyList( pxTCB ); } else { /* The delayed and ready lists cannot be accessed, so hold
* this task pending until the scheduler is resumed. */ listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); }
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) { /* The notified task has a priority above the currently
* executing task so a yield is required. */ if( pxHigherPriorityTaskWoken != NULL ) { *pxHigherPriorityTaskWoken = pdTRUE; }
/* Mark that a yield is pending in case the user is not
* using the "xHigherPriorityTaskWoken" parameter in an ISR * safe FreeRTOS function. */ xYieldPending = pdTRUE; } else { mtCOVERAGE_TEST_MARKER(); } } } portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask, UBaseType_t uxIndexToClear ) { TCB_t * pxTCB; BaseType_t xReturn;
configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* If null is passed in here then it is the calling task that is having
* its notification state cleared. */ pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL(); { if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED ) { pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION; xReturn = pdPASS; } else { xReturn = pdFAIL; } } taskEXIT_CRITICAL();
return xReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear ) { TCB_t * pxTCB; uint32_t ulReturn;
/* If null is passed in here then it is the calling task that is having
* its notification state cleared. */ pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL(); { /* Return the notification as it was before the bits were cleared,
* then clear the bit mask. */ ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ]; pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear; } taskEXIT_CRITICAL();
return ulReturn; }
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void ) { return xIdleTaskHandle->ulRunTimeCounter; }
#endif
/*-----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void ) { configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
ulTotalTime = portGET_RUN_TIME_COUNTER_VALUE();
/* For percentage calculations. */ ulTotalTime /= ( configRUN_TIME_COUNTER_TYPE ) 100;
/* Avoid divide by zero errors. */ if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 ) { ulReturn = xIdleTaskHandle->ulRunTimeCounter / ulTotalTime; } else { ulReturn = 0; }
return ulReturn; }
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*-----------------------------------------------------------*/
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ){ TickType_t xTimeToWake; const TickType_t xConstTickCount = xTickCount;
#if ( INCLUDE_xTaskAbortDelay == 1 )
{ /* About to enter a delayed list, so ensure the ucDelayAborted flag is
* reset to pdFALSE so it can be detected as having been set to pdTRUE * when the task leaves the Blocked state. */ pxCurrentTCB->ucDelayAborted = pdFALSE; } #endif
/* Remove the task from the ready list before adding it to the blocked list
* as the same list item is used for both lists. */ if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) { /* The current task must be in a ready list, so there is no need to
* check, and the port reset macro can be called directly. */ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */ } else { mtCOVERAGE_TEST_MARKER(); }
#if ( INCLUDE_vTaskSuspend == 1 )
{ if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) ) { /* Add the task to the suspended task list instead of a delayed task
* list to ensure it is not woken by a timing event. It will block * indefinitely. */ listINSERT_END( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else { /* Calculate the time at which the task should be woken if the event
* does not occur. This may overflow but this doesn't matter, the * kernel will manage it correctly. */ xTimeToWake = xConstTickCount + xTicksToWait;
/* The list item will be inserted in wake time order. */ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
if( xTimeToWake < xConstTickCount ) { /* Wake time has overflowed. Place this item in the overflow
* list. */ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else { /* The wake time has not overflowed, so the current block list
* is used. */ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
/* If the task entering the blocked state was placed at the
* head of the list of blocked tasks then xNextTaskUnblockTime * needs to be updated too. */ if( xTimeToWake < xNextTaskUnblockTime ) { xNextTaskUnblockTime = xTimeToWake; } else { mtCOVERAGE_TEST_MARKER(); } } } } #else /* INCLUDE_vTaskSuspend */
{ /* Calculate the time at which the task should be woken if the event
* does not occur. This may overflow but this doesn't matter, the kernel * will manage it correctly. */ xTimeToWake = xConstTickCount + xTicksToWait;
/* The list item will be inserted in wake time order. */ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
if( xTimeToWake < xConstTickCount ) { /* Wake time has overflowed. Place this item in the overflow list. */ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); } else { /* The wake time has not overflowed, so the current block list is used. */ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
/* If the task entering the blocked state was placed at the head of the
* list of blocked tasks then xNextTaskUnblockTime needs to be updated * too. */ if( xTimeToWake < xNextTaskUnblockTime ) { xNextTaskUnblockTime = xTimeToWake; } else { mtCOVERAGE_TEST_MARKER(); } }
/* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */ ( void ) xCanBlockIndefinitely; } #endif /* INCLUDE_vTaskSuspend */
}
/* Code below here allows additional code to be inserted into this source file,
* especially where access to file scope functions and data is needed (for example * when performing module tests). */
#ifdef FREERTOS_MODULE_TEST
#include "tasks_test_access_functions.h"
#endif
#if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
#include "freertos_tasks_c_additions.h"
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
static void freertos_tasks_c_additions_init( void ) { FREERTOS_TASKS_C_ADDITIONS_INIT(); } #endif
#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
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