Permalink
Fetching contributors…
Cannot retrieve contributors at this time
3551 lines (3031 sloc) 114 KB
/*
FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to distribute
>>! a combined work that includes FreeRTOS without being obliged to provide
>>! the source code for proprietary components outside of the FreeRTOS
>>! kernel.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/* 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 "StackMacros.h"
/* Lint 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. */
#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 ) */
/* Sanity check the configuration. */
#if configUSE_TICKLESS_IDLE != 0
#if INCLUDE_vTaskSuspend != 1
#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
#endif /* INCLUDE_vTaskSuspend */
#endif /* configUSE_TICKLESS_IDLE */
/*
* Defines the size, in words, of the stack allocated to the idle task.
*/
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
#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
/*
* 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
{
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 xGenericListItem; /*< 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 )
StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#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. */
#endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag;
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t 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. */
struct _reent xNewLib_reent;
#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;
/*
* 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
/*lint -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. --------------------*/
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 uxTasksDeleted = ( UBaseType_t ) 0U;
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
#endif
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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. */
#endif
/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_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 = portMAX_DELAY;
/* 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 )
PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
#endif
/*lint +e956 */
/* Debugging and trace facilities private variables and macros. ------------*/
/*
* 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 )
/*
* Macros used by vListTask to indicate which state a task is in.
*/
#define tskBLOCKED_CHAR ( 'B' )
#define tskREADY_CHAR ( 'R' )
#define tskDELETED_CHAR ( 'D' )
#define tskSUSPENDED_CHAR ( 'S' )
/*-----------------------------------------------------------*/
#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() \
{ \
/* Find the highest priority queue that contains ready tasks. */ \
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
{ \
configASSERT( uxTopReadyPriority ); \
--uxTopReadyPriority; \
} \
\
/* 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[ uxTopReadyPriority ] ) ); \
} /* 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 queue 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 ) ] ) ) == 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 ); \
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
/*-----------------------------------------------------------*/
/*
* Several functions take an 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 ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( 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
/* Callback function prototypes. --------------------------*/
#if configCHECK_FOR_STACK_OVERFLOW > 0
extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
#endif
#if configUSE_TICK_HOOK > 0
extern void vApplicationTickHook( void );
#endif
/* File private functions. --------------------------------*/
/*
* Utility to ready a TCB for a given task. Mainly just copies the parameters
* into the TCB structure.
*/
static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
/**
* 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.
*/
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/*
* Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first task.
*/
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
/*
* The idle task, which as all tasks is implemented as a never ending loop.
* The idle task is automatically created and added to the ready lists upon
* creation of the first user task.
*
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
/*
* Utility to free all memory allocated by the scheduler to hold a TCB,
* including the stack pointed to by the TCB.
*
* This does not free memory allocated by the task itself (i.e. memory
* allocated by calls to pvPortMalloc from within the tasks application code).
*/
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
#endif
/*
* Used only by the idle task. This checks to see if anything has been placed
* in the list of tasks waiting to be deleted. If so the task is cleaned up
* and its TCB deleted.
*/
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
/*
* The currently executing task is entering the Blocked state. Add the task to
* either the current or the overflow delayed task list.
*/
static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
/*
* Allocates memory from the heap for a TCB and associated stack. Checks the
* allocation was successful.
*/
static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) 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 prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) 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 ) )
static uint16_t 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 );
/*-----------------------------------------------------------*/
BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
BaseType_t xReturn;
TCB_t * pxNewTCB;
configASSERT( pxTaskCode );
configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
/* Allocate the memory required by the TCB and stack for the new task,
checking that the allocation was successful. */
pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
if( pxNewTCB != NULL )
{
StackType_t *pxTopOfStack;
#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 */
/* 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 + ( usStackDepth - ( uint16_t ) 1 );
pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
/* Check the alignment of the calculated top of stack is correct. */
configASSERT( ( ( ( uint32_t ) pxTopOfStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
}
#else /* portSTACK_GROWTH */
{
pxTopOfStack = pxNewTCB->pxStack;
/* Check the alignment of the stack buffer is correct. */
configASSERT( ( ( ( uint32_t ) pxNewTCB->pxStack & ( uint32_t ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
/* If we want to use stack checking on architectures that use
a positive stack growth direction then we also need to store the
other extreme of the stack space. */
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
}
#endif /* portSTACK_GROWTH */
/* Setup the newly allocated TCB with the initial state of the task. */
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
/* 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 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#else /* portUSING_MPU_WRAPPERS */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
}
#endif /* portUSING_MPU_WRAPPERS */
if( ( void * ) pxCreatedTask != NULL )
{
/* Pass the TCB out - in an anonymous way. The calling function/
task can use this as a handle to delete the task later if
required.*/
*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Ensure interrupts don't access the task lists while they 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 <= 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 );
xReturn = pdPASS;
portSETUP_TCB( pxNewTCB );
}
taskEXIT_CRITICAL();
}
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
traceTASK_CREATE_FAILED();
}
if( xReturn == pdPASS )
{
if( xSchedulerRunning != pdFALSE )
{
/* If the created task is of a higher priority than the current task
then it should run now. */
if( pxCurrentTCB->uxPriority < uxPriority )
{
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
return xReturn;
}
/*-----------------------------------------------------------*/
#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 list and place in the termination list.
This will stop the task from be scheduled. The idle task will check
the termination list and free up any memory allocated by the
scheduler for the TCB and stack. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( 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( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
/* 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. */
++uxTasksDeleted;
/* Increment the uxTaskNumberVariable also so kernel aware debuggers
can detect that the task lists need re-generating. */
uxTaskNumber++;
traceTASK_DELETE( pxTCB );
}
taskEXIT_CRITICAL();
/* Force a reschedule if it is the currently running task that has just
been deleted. */
if( xSchedulerRunning != pdFALSE )
{
if( pxTCB == pxCurrentTCB )
{
configASSERT( uxSchedulerSuspended == 0 );
/* 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 );
portYIELD_WITHIN_API();
}
else
{
/* Reset the next expected unblock time in case it referred to
the task that has just been deleted. */
prvResetNextTaskUnblockTime();
}
}
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
configASSERT( pxPreviousWakeTime );
configASSERT( ( xTimeIncrement > 0U ) );
configASSERT( uxSchedulerSuspended == 0 );
vTaskSuspendAll();
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount;
/* Generate the tick time at which the task wants to wake. */
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
if( xConstTickCount < *pxPreviousWakeTime )
{
/* The tick count has overflowed since this function was
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* Update the wake time ready for the next call. */
*pxPreviousWakeTime = xTimeToWake;
if( xShouldDelay != pdFALSE )
{
traceTASK_DELAY_UNTIL();
/* 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->xGenericListItem ) ) == ( 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 );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
xAlreadyYielded = xTaskResumeAll();
/* Force a reschedule if xTaskResumeAll has not already done so, we may
have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
void vTaskDelay( const TickType_t xTicksToDelay )
{
TickType_t xTimeToWake;
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. */
/* Calculate the time to wake - this may overflow but this is
not a problem. */
xTimeToWake = xTickCount + xTicksToDelay;
/* We must remove ourselves from the ready list before adding
ourselves to the blocked list as the same list item is used for
both lists. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( 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 );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
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 )
eTaskState eTaskGetState( TaskHandle_t xTask )
{
eTaskState eReturn;
List_t *pxStateList;
const TCB_t * const pxTCB = ( TCB_t * ) xTask;
configASSERT( pxTCB );
if( pxTCB == pxCurrentTCB )
{
/* The task calling this function is querying its own state. */
eReturn = eRunning;
}
else
{
taskENTER_CRITICAL();
{
pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
}
taskEXIT_CRITICAL();
if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
{
/* 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 block
indefinitely? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
{
eReturn = eSuspended;
}
else
{
eReturn = eBlocked;
}
}
#endif
#if ( INCLUDE_vTaskDelete == 1 )
else if( pxStateList == &xTasksWaitingTermination )
{
/* The task being queried is referenced from the deleted
tasks list. */
eReturn = eDeleted;
}
#endif
else
{
/* If the task is not in any other state, it must be in the
Ready (including pending ready) state. */
eReturn = eReady;
}
}
return eReturn;
}
#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn;
taskENTER_CRITICAL();
{
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
taskEXIT_CRITICAL();
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
{
TCB_t *pxTCB;
UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
BaseType_t xYieldRequired = pdFALSE;
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
/* Ensure the new priority is valid. */
if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskENTER_CRITICAL();
{
/* If null is passed in here then it is the priority of the calling
task that is being changed. */
pxTCB = prvGetTCBFromHandle( xTask );
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
#if ( configUSE_MUTEXES == 1 )
{
uxCurrentBasePriority = pxTCB->uxBasePriority;
}
#else
{
uxCurrentBasePriority = pxTCB->uxPriority;
}
#endif
if( uxCurrentBasePriority != uxNewPriority )
{
/* The priority change may have readied a task of higher
priority than the calling task. */
if( uxNewPriority > uxCurrentBasePriority )
{
if( pxTCB != pxCurrentTCB )
{
/* The priority of a task other than the currently
running task is being raised. Is the priority being
raised above that of the running task? */
if( uxNewPriority >= pxCurrentTCB->uxPriority )
{
xYieldRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The priority of the running task is being raised,
but the running task must already be the highest
priority task able to run so no yield is required. */
}
}
else if( pxTCB == pxCurrentTCB )
{
/* Setting the priority of the running task down means
there may now be another task of higher priority that
is ready to execute. */
xYieldRequired = pdTRUE;
}
else
{
/* Setting the priority of any other task down does not
require a yield as the running task must be above the
new priority of the task being modified. */
}
/* Remember the ready list the task might be referenced from
before its uxPriority member is changed so the
taskRESET_READY_PRIORITY() macro can function correctly. */
uxPriorityUsedOnEntry = pxTCB->uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
/* Only change the priority being used if the task is not
currently using an inherited priority. */
if( pxTCB->uxBasePriority == pxTCB->uxPriority )
{
pxTCB->uxPriority = uxNewPriority;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The base priority gets set whatever. */
pxTCB->uxBasePriority = uxNewPriority;
}
#else
{
pxTCB->uxPriority = uxNewPriority;
}
#endif
/* Only reset the event list item value if the value is not
being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the task is in the blocked or suspended list we need do
nothing more than change it's 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->xGenericListItem ) ) != pdFALSE )
{
/* The task is currently in its ready list - remove before adding
it to it's new ready list. As we are in a critical section we
can do this even if the scheduler is suspended. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( 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 == pdTRUE )
{
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->xGenericListItem ) ) == ( 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->xGenericListItem ) );
}
taskEXIT_CRITICAL();
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 )
{
/* 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
{
if( xSchedulerRunning != pdFALSE )
{
/* A task other than the currently running task was suspended,
reset the next expected unblock time in case it referred to the
task that is now in the Suspended state. */
prvResetNextTaskUnblockTime();
}
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 = ( TCB_t * ) 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->xGenericListItem ) ) != 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 )
{
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 = ( TCB_t * ) 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 != NULL ) && ( pxTCB != pxCurrentTCB ) )
{
taskENTER_CRITICAL();
{
if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
{
traceTASK_RESUME( pxTCB );
/* As we are in a critical section we can access the ready
lists even if the scheduler is suspended. */
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* We may have just resumed a higher priority task. */
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 = ( TCB_t * ) 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:
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )
{
traceTASK_RESUME_FROM_ISR( pxTCB );
/* Check the ready lists can be accessed. */
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
/* Ready lists can be accessed so move the task from the
suspended list to the ready list directly. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xYieldRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
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 ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
{
/* Create the idle task, storing its handle in xIdleTaskHandle so it can
be returned by the xTaskGetIdleTaskHandle() function. */
xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#else
{
/* Create the idle task without storing its handle. */
xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
#if ( configUSE_TIMERS == 1 )
{
if( xReturn == pdPASS )
{
xReturn = xTimerCreateTimerTask();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TIMERS */
if( xReturn == pdPASS )
{
/* 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. */
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
}
#endif /* configUSE_NEWLIB_REENTRANT */
xSchedulerRunning = pdTRUE;
xTickCount = ( TickType_t ) 0U;
/* 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. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
/* 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 );
}
}
/*-----------------------------------------------------------*/
void vTaskEndScheduler( void )
{
/* Stop the scheduler interrupts and call the portable scheduler end
routine so the original ISRs can be restored if necessary. The port
layer must ensure interrupts enable bit is left in the correct state. */
portDISABLE_INTERRUPTS();
xSchedulerRunning = pdFALSE;
vPortEndScheduler();
}
/*----------------------------------------------------------*/
void vTaskSuspendAll( void )
{
/* A critical section is not required as the variable is of type
BaseType_t. Please read Richard Barry's reply in the following link to a
post in the FreeRTOS support forum before reporting this as a bug! -
http://goo.gl/wu4acr */
++uxSchedulerSuspended;
}
/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void )
{
TickType_t xReturn;
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
{
xReturn = xNextTaskUnblockTime - xTickCount;
}
return xReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskResumeAll( void )
{
TCB_t *pxTCB;
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 = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* If we have moved a task that has a priority higher than
the current task then we should yield. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* 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. */
if( uxPendedTicks > ( UBaseType_t ) 0U )
{
while( uxPendedTicks > ( UBaseType_t ) 0U )
{
if( xTaskIncrementTick() != pdFALSE )
{
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
--uxPendedTicks;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xYieldPending == pdTRUE )
{
#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. */
taskENTER_CRITICAL();
{
xTicks = xTickCount;
}
taskEXIT_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: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
xReturn = xTickCount;
}
portCLEAR_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;
}
/*-----------------------------------------------------------*/
#if ( INCLUDE_pcTaskGetTaskName == 1 )
char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery )
{
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 ] );
}
#endif /* INCLUDE_pcTaskGetTaskName */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
{
UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
vTaskSuspendAll();
{
/* Is there a space in the array for each task in the system? */
if( uxArraySize >= uxCurrentNumberOfTasks )
{
/* Fill in an TaskStatus_t structure with information on each
task in the Ready state. */
do
{
uxQueue--;
uxTask += prvListTaskWithinSingleList( &( 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 += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
uxTask += prvListTaskWithinSingleList( &( 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 += prvListTaskWithinSingleList( &( 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 += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1)
{
if( pulTotalRunTime != NULL )
{
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
#else
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
}
}
#else
{
if( pulTotalRunTime != NULL )
{
*pulTotalRunTime = 0;
}
}
#endif
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
( void ) xTaskResumeAll();
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t xTaskGetIdleTaskHandle( void )
{
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
started, then xIdleTaskHandle will be NULL. */
configASSERT( ( xIdleTaskHandle != NULL ) );
return xIdleTaskHandle;
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available when user defined low power mode
implementations require configUSE_TICKLESS_IDLE to be set to a value other than
1. */
#if ( configUSE_TICKLESS_IDLE != 0 )
void vTaskStepTick( const TickType_t xTicksToJump )
{
/* Correct the tick count value after a period during which the tick
was suppressed. Note this does *not* call the tick hook function for
each stepped tick. */
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
traceINCREASE_TICK_COUNT( xTicksToJump );
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t 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 )
{
/* Increment the RTOS tick, switching the delayed and overflowed
delayed lists if it wraps to 0. */
++xTickCount;
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount;
if( xConstTickCount == ( TickType_t ) 0U )
{
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;
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 = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
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;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* It is time to remove the item from the Blocked state. */
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
/* Is the task waiting on an event also? If so remove
it from the event list. */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Place the unblocked task into the appropriate ready
list. */
prvAddTaskToReadyList( pxTCB );
/* A task being unblocked cannot cause an immediate
context switch if preemption is turned off. */
#if ( configUSE_PREEMPTION == 1 )
{
/* Preemption is on, but a context switch should
only be performed if the unblocked task has a
priority that is equal to or higher than the
currently executing task. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
}
}
}
/* Tasks of equal priority to the currently running task will share
processing time (time slice) if preemption is on, and the application
writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
#if ( configUSE_TICK_HOOK == 1 )
{
/* Guard against the tick hook being called when the pended tick
count is being unwound (when the scheduler is being unlocked). */
if( uxPendedTicks == ( UBaseType_t ) 0U )
{
vApplicationTickHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TICK_HOOK */
}
else
{
++uxPendedTicks;
/* The tick hook gets called at regular intervals, even if the
scheduler is locked. */
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
}
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
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 = ( TCB_t * ) 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 *xTCB;
TaskHookFunction_t xReturn;
/* If xTask is NULL then we are setting our own task hook. */
if( xTask == NULL )
{
xTCB = ( TCB_t * ) pxCurrentTCB;
}
else
{
xTCB = ( TCB_t * ) 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 = xTCB->pxTaskTag;
}
taskEXIT_CRITICAL();
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 = ( TCB_t * ) pxCurrentTCB;
}
else
{
xTCB = ( TCB_t * ) 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 */
taskFIRST_CHECK_FOR_STACK_OVERFLOW();
taskSECOND_CHECK_FOR_STACK_OVERFLOW();
taskSELECT_HIGHEST_PRIORITY_TASK();
traceTASK_SWITCHED_IN();
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Switch Newlib's _impure_ptr variable to point to the _reent
structure specific to this task. */
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
}
#endif /* configUSE_NEWLIB_REENTRANT */
}
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
/* Place the event list item of the TCB in the appropriate event list.
This is placed in the list in priority order so the highest priority task
is the first to be woken by the event. The queue that contains the event
list is locked, preventing simultaneous access from interrupts. */
vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
/* The task must be removed from from the ready list before it is added to
the blocked list as the same list item is used for both lists. Exclusive
access to the ready lists guaranteed because the scheduler is locked. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( 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 );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead of a delayed task
list to ensure the task is not woken by a timing event. It will
block indefinitely. */
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
}
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
scheduler will handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
#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 scheduler
will handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
the event groups implementation. */
configASSERT( uxSchedulerSuspended != 0 );
/* Store the item value in the event list item. It is safe to access the
event list item here as interrupts won't access the event list item of a
task that is not in the Blocked state. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Place the event list item of the TCB at the end of the appropriate event
list. It is safe to access the event list here because it is part of an
event group implementation - and interrupts don't access event groups
directly (instead they access them indirectly by pending function calls to
the task level). */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
/* The task must be removed from the ready list before it is added to the
blocked list. Exclusive access can be assured to the ready list as the
scheduler is locked. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( 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 );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead of a delayed task
list to ensure it is not woken by a timing event. It will block
indefinitely. */
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
}
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 = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
#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 = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
}
/*-----------------------------------------------------------*/
#if configUSE_TIMERS == 1
void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
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 from a critical section. */
/* Place the event list item of the TCB in the appropriate event list.
In this case it is assume that this is the only task that is going to
be waiting on this event list, so the faster vListInsertEnd() function
can be used in place of vListInsert. */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
/* We must remove this task from the ready list before adding it to the
blocked list as the same list item is used for both lists. This
function is called form a critical section. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( 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 );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Calculate the time at which the task should be woken if the event does
not occur. This may overflow but this doesn't matter. */
xTimeToWake = xTickCount + xTicksToWait;
traceTASK_DELAY_UNTIL();
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#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 = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold this task
pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
}
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* Return true if the task removed from the event list has a higher
priority than the calling task. This allows the calling task to know if
it should force a context switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
{
TCB_t *pxUnblockedTCB;
BaseType_t xReturn;
/* 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 = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( pxEventListItem );
/* Remove the task from the delayed list and add it to the ready list. The
scheduler is suspended so interrupts will not be accessing the ready
lists. */
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
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 vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
{
configASSERT( pxTimeOut );
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;
#if ( INCLUDE_vTaskSuspend == 1 )
/* 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. */
if( *pxTicksToWait == portMAX_DELAY )
{
xReturn = pdFALSE;
}
else /* We are not blocking indefinitely, perform the checks below. */
#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 us again. This
passed since vTaskSetTimeout() was called. */
xReturn = pdTRUE;
}
else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
*pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
vTaskSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
else
{
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 *pxTCB;
if( xTask != NULL )
{
pxTCB = ( TCB_t * ) 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 = ( TCB_t * ) 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;
for( ;; )
{
/* See if any tasks have been deleted. */
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();
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 )
{
eSleepModeStatus eReturn = eStandardSleep;
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 configUSE_TIMERS == 0
{
/* The idle task exists in addition to the application tasks. */
const UBaseType_t uxNonApplicationTasks = 1;
/* If timers are not being used and 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();
}
}
#endif /* configUSE_TIMERS */
}
return eReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
UBaseType_t x;
/* Store the task name in the TCB. */
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
{
pxTCB->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 ] == 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. */
pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
/* This is used as an array index so must ensure it's not too large. First
remove the privilege bit if one is present. */
if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxTCB->uxPriority = uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
pxTCB->uxBasePriority = uxPriority;
}
#endif /* configUSE_MUTEXES */
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
vListInitialiseItem( &( pxTCB->xEventListItem ) );
/* Set the pxTCB 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( &( pxTCB->xGenericListItem ), pxTCB );
/* Event lists are always in priority order. */
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
{
pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
}
#endif /* portCRITICAL_NESTING_IN_TCB */
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
{
pxTCB->pxTaskTag = NULL;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxTCB->ulRunTimeCounter = 0UL;
}
#endif /* configGENERATE_RUN_TIME_STATS */
#if ( portUSING_MPU_WRAPPERS == 1 )
{
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
}
#else /* portUSING_MPU_WRAPPERS */
{
( void ) xRegions;
( void ) usStackDepth;
}
#endif /* portUSING_MPU_WRAPPERS */
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Initialise this task's Newlib reent structure. */
_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
}
#endif /* configUSE_NEWLIB_REENTRANT */
}
/*-----------------------------------------------------------*/
#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 deleting ourselves. */
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 )
{
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xListIsEmpty;
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
while( uxTasksDeleted > ( UBaseType_t ) 0U )
{
vTaskSuspendAll();
{
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
}
( void ) xTaskResumeAll();
if( xListIsEmpty == pdFALSE )
{
TCB_t *pxTCB;
taskENTER_CRITICAL();
{
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
--uxCurrentNumberOfTasks;
--uxTasksDeleted;
}
taskEXIT_CRITICAL();
prvDeleteTCB( pxTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
#endif /* vTaskDelete */
}
/*-----------------------------------------------------------*/
static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
{
/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
if( xTimeToWake < xTickCount )
{
/* Wake time has overflowed. Place this item in the overflow list. */
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
}
else
{
/* The wake time has not overflowed, so the current block list is used. */
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
/* 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();
}
}
}
/*-----------------------------------------------------------*/
static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )
{
TCB_t *pxNewTCB;
/* Allocate space for the TCB. Where the memory comes from depends on
the implementation of the port malloc function. */
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 * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*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
{
/* Avoid dependency on memset() if it is not required. */
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
{
/* Just to help debugging. */
( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );
}
#endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
}
}
return pxNewTCB;
}
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
{
volatile TCB_t *pxNextTCB, *pxFirstTCB;
UBaseType_t uxTask = 0;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
{
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
/* 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 );
pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;
pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );
pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
pxTaskStatusArray[ uxTask ].eCurrentState = eState;
pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
#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 )
{
if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )
{
pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;
}
}
}
#endif /* INCLUDE_vTaskSuspend */
#if ( configUSE_MUTEXES == 1 )
{
pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
}
#else
{
pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
}
#else
{
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
}
#endif
#if ( portSTACK_GROWTH > 0 )
{
pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );
}
#else
{
pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );
}
#endif
uxTask++;
} while( pxNextTCB != pxFirstTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
{
uint32_t ulCount = 0U;
while( *pucStackByte == tskSTACK_FILL_BYTE )
{
pucStackByte -= portSTACK_GROWTH;
ulCount++;
}
ulCount /= ( uint32_t ) sizeof( StackType_t );
return ( uint16_t ) ulCount;
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
/*-----------------------------------------------------------*/
#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. */
vPortFreeAligned( pxTCB->pxStack );
vPortFree( pxTCB );
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
static void prvResetNextTaskUnblockTime( void )
{
TCB_t *pxTCB;
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The new current delayed list is empty. Set
xNextTaskUnblockTime to the maximum possible value so it is
extremely unlikely that the
if( xTickCount >= xNextTaskUnblockTime ) test will pass until
there is an item in the delayed list. */
xNextTaskUnblockTime = portMAX_DELAY;
}
else
{
/* The new current delayed list is not empty, get the value of
the item at the head of the delayed list. This is the time at
which the task at the head of the delayed list should be removed
from the Blocked state. */
( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
}
}
/*-----------------------------------------------------------*/
#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 )
void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
/* If the mutex was given back by an interrupt while the queue was
locked then the mutex holder might now be NULL. */
if( pxMutexHolder != NULL )
{
if( pxTCB->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( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
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[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Inherit the priority before being moved into the new list. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxTCB );
}
else
{
/* Just inherit the priority. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
}
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
if( pxMutexHolder != NULL )
{
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
{
/* We must be the running task to be able to give the mutex back.
Remove ourselves from the ready list we currently appear in. */
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Disinherit the priority before adding the task into the new
ready list. */
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
pxTCB->uxPriority = pxTCB->uxBasePriority;
/* 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 ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddTaskToReadyList( pxTCB );
}
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 )++;
}
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 == 1 ) )
void vTaskList( char * pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
volatile UBaseType_t uxArraySize, x;
char cStatus;
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskList() calls uxTaskGetSystemState(), then formats part of the
* uxTaskGetSystemState() output into a human readable table that
* displays task names, states and stack usage.
*
* vTaskList() has a dependency on the sprintf() C library function that
* might bloat the code size, use a lot of stack, and provide different
* results on different platforms. An alternative, tiny, third party,
* and limited functionality implementation of sprintf() is provided in
* many of the FreeRTOS/Demo sub-directories in a file called
* printf-stdarg.c (note printf-stdarg.c does not provide a full
* snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskList().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = 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. */
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
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 eReady: cStatus = tskREADY_CHAR;
break;
case eBlocked: cStatus = tskBLOCKED_CHAR;
break;
case eSuspended: cStatus = tskSUSPENDED_CHAR;
break;
case eDeleted: cStatus = tskDELETED_CHAR;
break;
default: /* Should not get here, but it is included
to prevent static checking errors. */
cStatus = 0x00;
break;
}
sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
pcWriteBuffer += strlen( pcWriteBuffer );
}
/* Free the array again. */
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
/*----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
void vTaskGetRunTimeStats( char *pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
volatile UBaseType_t uxArraySize, x;
uint32_t ulTotalTime, ulStatsAsPercentage;
#if( configUSE_TRACE_FACILITY != 1 )
{
#error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
}
#endif
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
* of the uxTaskGetSystemState() output into a human readable table that
* displays the amount of time each task has spent in the Running state
* in both absolute and percentage terms.
*
* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
* function that might bloat the code size, use a lot of stack, and
* provide different results on different platforms. An alternative,
* tiny, third party, and limited functionality implementation of
* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
* a file called printf-stdarg.c (note printf-stdarg.c does not provide
* a full snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskGetRunTimeStats().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = 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. */
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
if( pxTaskStatusArray != NULL )
{
/* Generate the (binary) data. */
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
/* For percentage calculations. */
ulTotalTime /= 100UL;
/* Avoid divide by zero errors. */
if( ulTotalTime > 0 )
{
/* Create a human readable table from the binary data. */
for( x = 0; x < uxArraySize; x++ )
{
/* What percentage of the total run time has the task used?
This will always be rounded down to the nearest integer.
ulTotalRunTimeDiv100 has already been divided by 100. */
ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
if( ulStatsAsPercentage > 0UL )
{
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
}
#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, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
}
#endif
}
pcWriteBuffer += strlen( pcWriteBuffer );
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Free the array again. */
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 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;
}
/*-----------------------------------------------------------*/
#ifdef FREERTOS_MODULE_TEST
#include "tasks_test_access_functions.h"
#endif