Freertos for LPC CM3 tested on LPC1768
source/tasks.c@0:91ad48ad5687, 2015-06-06 (annotated)
- Committer:
- dflet
- Date:
- Sat Jun 06 13:27:43 2015 +0000
- Revision:
- 0:91ad48ad5687
Setup for LPC CM3 but may work with LPC CM4
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dflet | 0:91ad48ad5687 | 1 | /* |
dflet | 0:91ad48ad5687 | 2 | FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. |
dflet | 0:91ad48ad5687 | 3 | All rights reserved |
dflet | 0:91ad48ad5687 | 4 | |
dflet | 0:91ad48ad5687 | 5 | VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. |
dflet | 0:91ad48ad5687 | 6 | |
dflet | 0:91ad48ad5687 | 7 | This file is part of the FreeRTOS distribution. |
dflet | 0:91ad48ad5687 | 8 | |
dflet | 0:91ad48ad5687 | 9 | FreeRTOS is free software; you can redistribute it and/or modify it under |
dflet | 0:91ad48ad5687 | 10 | the terms of the GNU General Public License (version 2) as published by the |
dflet | 0:91ad48ad5687 | 11 | Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. |
dflet | 0:91ad48ad5687 | 12 | |
dflet | 0:91ad48ad5687 | 13 | *************************************************************************** |
dflet | 0:91ad48ad5687 | 14 | >>! NOTE: The modification to the GPL is included to allow you to !<< |
dflet | 0:91ad48ad5687 | 15 | >>! distribute a combined work that includes FreeRTOS without being !<< |
dflet | 0:91ad48ad5687 | 16 | >>! obliged to provide the source code for proprietary components !<< |
dflet | 0:91ad48ad5687 | 17 | >>! outside of the FreeRTOS kernel. !<< |
dflet | 0:91ad48ad5687 | 18 | *************************************************************************** |
dflet | 0:91ad48ad5687 | 19 | |
dflet | 0:91ad48ad5687 | 20 | FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY |
dflet | 0:91ad48ad5687 | 21 | WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS |
dflet | 0:91ad48ad5687 | 22 | FOR A PARTICULAR PURPOSE. Full license text is available on the following |
dflet | 0:91ad48ad5687 | 23 | link: http://www.freertos.org/a00114.html |
dflet | 0:91ad48ad5687 | 24 | |
dflet | 0:91ad48ad5687 | 25 | *************************************************************************** |
dflet | 0:91ad48ad5687 | 26 | * * |
dflet | 0:91ad48ad5687 | 27 | * FreeRTOS provides completely free yet professionally developed, * |
dflet | 0:91ad48ad5687 | 28 | * robust, strictly quality controlled, supported, and cross * |
dflet | 0:91ad48ad5687 | 29 | * platform software that is more than just the market leader, it * |
dflet | 0:91ad48ad5687 | 30 | * is the industry's de facto standard. * |
dflet | 0:91ad48ad5687 | 31 | * * |
dflet | 0:91ad48ad5687 | 32 | * Help yourself get started quickly while simultaneously helping * |
dflet | 0:91ad48ad5687 | 33 | * to support the FreeRTOS project by purchasing a FreeRTOS * |
dflet | 0:91ad48ad5687 | 34 | * tutorial book, reference manual, or both: * |
dflet | 0:91ad48ad5687 | 35 | * http://www.FreeRTOS.org/Documentation * |
dflet | 0:91ad48ad5687 | 36 | * * |
dflet | 0:91ad48ad5687 | 37 | *************************************************************************** |
dflet | 0:91ad48ad5687 | 38 | |
dflet | 0:91ad48ad5687 | 39 | http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading |
dflet | 0:91ad48ad5687 | 40 | the FAQ page "My application does not run, what could be wrong?". Have you |
dflet | 0:91ad48ad5687 | 41 | defined configASSERT()? |
dflet | 0:91ad48ad5687 | 42 | |
dflet | 0:91ad48ad5687 | 43 | http://www.FreeRTOS.org/support - In return for receiving this top quality |
dflet | 0:91ad48ad5687 | 44 | embedded software for free we request you assist our global community by |
dflet | 0:91ad48ad5687 | 45 | participating in the support forum. |
dflet | 0:91ad48ad5687 | 46 | |
dflet | 0:91ad48ad5687 | 47 | http://www.FreeRTOS.org/training - Investing in training allows your team to |
dflet | 0:91ad48ad5687 | 48 | be as productive as possible as early as possible. Now you can receive |
dflet | 0:91ad48ad5687 | 49 | FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers |
dflet | 0:91ad48ad5687 | 50 | Ltd, and the world's leading authority on the world's leading RTOS. |
dflet | 0:91ad48ad5687 | 51 | |
dflet | 0:91ad48ad5687 | 52 | http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, |
dflet | 0:91ad48ad5687 | 53 | including FreeRTOS+Trace - an indispensable productivity tool, a DOS |
dflet | 0:91ad48ad5687 | 54 | compatible FAT file system, and our tiny thread aware UDP/IP stack. |
dflet | 0:91ad48ad5687 | 55 | |
dflet | 0:91ad48ad5687 | 56 | http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. |
dflet | 0:91ad48ad5687 | 57 | Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. |
dflet | 0:91ad48ad5687 | 58 | |
dflet | 0:91ad48ad5687 | 59 | http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High |
dflet | 0:91ad48ad5687 | 60 | Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS |
dflet | 0:91ad48ad5687 | 61 | licenses offer ticketed support, indemnification and commercial middleware. |
dflet | 0:91ad48ad5687 | 62 | |
dflet | 0:91ad48ad5687 | 63 | http://www.SafeRTOS.com - High Integrity Systems also provide a safety |
dflet | 0:91ad48ad5687 | 64 | engineered and independently SIL3 certified version for use in safety and |
dflet | 0:91ad48ad5687 | 65 | mission critical applications that require provable dependability. |
dflet | 0:91ad48ad5687 | 66 | |
dflet | 0:91ad48ad5687 | 67 | 1 tab == 4 spaces! |
dflet | 0:91ad48ad5687 | 68 | */ |
dflet | 0:91ad48ad5687 | 69 | |
dflet | 0:91ad48ad5687 | 70 | /* Standard includes. */ |
dflet | 0:91ad48ad5687 | 71 | #include <stdlib.h> |
dflet | 0:91ad48ad5687 | 72 | #include <string.h> |
dflet | 0:91ad48ad5687 | 73 | |
dflet | 0:91ad48ad5687 | 74 | /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining |
dflet | 0:91ad48ad5687 | 75 | all the API functions to use the MPU wrappers. That should only be done when |
dflet | 0:91ad48ad5687 | 76 | task.h is included from an application file. */ |
dflet | 0:91ad48ad5687 | 77 | #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE |
dflet | 0:91ad48ad5687 | 78 | |
dflet | 0:91ad48ad5687 | 79 | /* FreeRTOS includes. */ |
dflet | 0:91ad48ad5687 | 80 | #include "FreeRTOS.h" |
dflet | 0:91ad48ad5687 | 81 | #include "task.h" |
dflet | 0:91ad48ad5687 | 82 | #include "timers.h" |
dflet | 0:91ad48ad5687 | 83 | #include "StackMacros.h" |
dflet | 0:91ad48ad5687 | 84 | |
dflet | 0:91ad48ad5687 | 85 | /* Lint e961 and e750 are suppressed as a MISRA exception justified because the |
dflet | 0:91ad48ad5687 | 86 | MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the |
dflet | 0:91ad48ad5687 | 87 | header files above, but not in this file, in order to generate the correct |
dflet | 0:91ad48ad5687 | 88 | privileged Vs unprivileged linkage and placement. */ |
dflet | 0:91ad48ad5687 | 89 | #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ |
dflet | 0:91ad48ad5687 | 90 | |
dflet | 0:91ad48ad5687 | 91 | /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting |
dflet | 0:91ad48ad5687 | 92 | functions but without including stdio.h here. */ |
dflet | 0:91ad48ad5687 | 93 | #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) |
dflet | 0:91ad48ad5687 | 94 | /* At the bottom of this file are two optional functions that can be used |
dflet | 0:91ad48ad5687 | 95 | to generate human readable text from the raw data generated by the |
dflet | 0:91ad48ad5687 | 96 | uxTaskGetSystemState() function. Note the formatting functions are provided |
dflet | 0:91ad48ad5687 | 97 | for convenience only, and are NOT considered part of the kernel. */ |
dflet | 0:91ad48ad5687 | 98 | #include <stdio.h> |
dflet | 0:91ad48ad5687 | 99 | #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ |
dflet | 0:91ad48ad5687 | 100 | |
dflet | 0:91ad48ad5687 | 101 | /* Sanity check the configuration. */ |
dflet | 0:91ad48ad5687 | 102 | #if configUSE_TICKLESS_IDLE != 0 |
dflet | 0:91ad48ad5687 | 103 | #if INCLUDE_vTaskSuspend != 1 |
dflet | 0:91ad48ad5687 | 104 | #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 |
dflet | 0:91ad48ad5687 | 105 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 106 | #endif /* configUSE_TICKLESS_IDLE */ |
dflet | 0:91ad48ad5687 | 107 | |
dflet | 0:91ad48ad5687 | 108 | /* |
dflet | 0:91ad48ad5687 | 109 | * Defines the size, in words, of the stack allocated to the idle task. |
dflet | 0:91ad48ad5687 | 110 | */ |
dflet | 0:91ad48ad5687 | 111 | #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE |
dflet | 0:91ad48ad5687 | 112 | |
dflet | 0:91ad48ad5687 | 113 | #if( configUSE_PREEMPTION == 0 ) |
dflet | 0:91ad48ad5687 | 114 | /* If the cooperative scheduler is being used then a yield should not be |
dflet | 0:91ad48ad5687 | 115 | performed just because a higher priority task has been woken. */ |
dflet | 0:91ad48ad5687 | 116 | #define taskYIELD_IF_USING_PREEMPTION() |
dflet | 0:91ad48ad5687 | 117 | #else |
dflet | 0:91ad48ad5687 | 118 | #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() |
dflet | 0:91ad48ad5687 | 119 | #endif |
dflet | 0:91ad48ad5687 | 120 | |
dflet | 0:91ad48ad5687 | 121 | /* Value that can be assigned to the eNotifyState member of the TCB. */ |
dflet | 0:91ad48ad5687 | 122 | typedef enum |
dflet | 0:91ad48ad5687 | 123 | { |
dflet | 0:91ad48ad5687 | 124 | eNotWaitingNotification = 0, |
dflet | 0:91ad48ad5687 | 125 | eWaitingNotification, |
dflet | 0:91ad48ad5687 | 126 | eNotified |
dflet | 0:91ad48ad5687 | 127 | } eNotifyValue; |
dflet | 0:91ad48ad5687 | 128 | |
dflet | 0:91ad48ad5687 | 129 | /* |
dflet | 0:91ad48ad5687 | 130 | * Task control block. A task control block (TCB) is allocated for each task, |
dflet | 0:91ad48ad5687 | 131 | * and stores task state information, including a pointer to the task's context |
dflet | 0:91ad48ad5687 | 132 | * (the task's run time environment, including register values) |
dflet | 0:91ad48ad5687 | 133 | */ |
dflet | 0:91ad48ad5687 | 134 | typedef struct tskTaskControlBlock |
dflet | 0:91ad48ad5687 | 135 | { |
dflet | 0:91ad48ad5687 | 136 | 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. */ |
dflet | 0:91ad48ad5687 | 137 | |
dflet | 0:91ad48ad5687 | 138 | #if ( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 139 | xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ |
dflet | 0:91ad48ad5687 | 140 | BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */ |
dflet | 0:91ad48ad5687 | 141 | #endif |
dflet | 0:91ad48ad5687 | 142 | |
dflet | 0:91ad48ad5687 | 143 | 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 ). */ |
dflet | 0:91ad48ad5687 | 144 | ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ |
dflet | 0:91ad48ad5687 | 145 | UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ |
dflet | 0:91ad48ad5687 | 146 | StackType_t *pxStack; /*< Points to the start of the stack. */ |
dflet | 0:91ad48ad5687 | 147 | 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. */ |
dflet | 0:91ad48ad5687 | 148 | |
dflet | 0:91ad48ad5687 | 149 | #if ( portSTACK_GROWTH > 0 ) |
dflet | 0:91ad48ad5687 | 150 | StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */ |
dflet | 0:91ad48ad5687 | 151 | #endif |
dflet | 0:91ad48ad5687 | 152 | |
dflet | 0:91ad48ad5687 | 153 | #if ( portCRITICAL_NESTING_IN_TCB == 1 ) |
dflet | 0:91ad48ad5687 | 154 | UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ |
dflet | 0:91ad48ad5687 | 155 | #endif |
dflet | 0:91ad48ad5687 | 156 | |
dflet | 0:91ad48ad5687 | 157 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 158 | 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. */ |
dflet | 0:91ad48ad5687 | 159 | UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ |
dflet | 0:91ad48ad5687 | 160 | #endif |
dflet | 0:91ad48ad5687 | 161 | |
dflet | 0:91ad48ad5687 | 162 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 163 | UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ |
dflet | 0:91ad48ad5687 | 164 | UBaseType_t uxMutexesHeld; |
dflet | 0:91ad48ad5687 | 165 | #endif |
dflet | 0:91ad48ad5687 | 166 | |
dflet | 0:91ad48ad5687 | 167 | #if ( configUSE_APPLICATION_TASK_TAG == 1 ) |
dflet | 0:91ad48ad5687 | 168 | TaskHookFunction_t pxTaskTag; |
dflet | 0:91ad48ad5687 | 169 | #endif |
dflet | 0:91ad48ad5687 | 170 | |
dflet | 0:91ad48ad5687 | 171 | #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) |
dflet | 0:91ad48ad5687 | 172 | void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; |
dflet | 0:91ad48ad5687 | 173 | #endif |
dflet | 0:91ad48ad5687 | 174 | |
dflet | 0:91ad48ad5687 | 175 | #if ( configGENERATE_RUN_TIME_STATS == 1 ) |
dflet | 0:91ad48ad5687 | 176 | uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ |
dflet | 0:91ad48ad5687 | 177 | #endif |
dflet | 0:91ad48ad5687 | 178 | |
dflet | 0:91ad48ad5687 | 179 | #if ( configUSE_NEWLIB_REENTRANT == 1 ) |
dflet | 0:91ad48ad5687 | 180 | /* Allocate a Newlib reent structure that is specific to this task. |
dflet | 0:91ad48ad5687 | 181 | Note Newlib support has been included by popular demand, but is not |
dflet | 0:91ad48ad5687 | 182 | used by the FreeRTOS maintainers themselves. FreeRTOS is not |
dflet | 0:91ad48ad5687 | 183 | responsible for resulting newlib operation. User must be familiar with |
dflet | 0:91ad48ad5687 | 184 | newlib and must provide system-wide implementations of the necessary |
dflet | 0:91ad48ad5687 | 185 | stubs. Be warned that (at the time of writing) the current newlib design |
dflet | 0:91ad48ad5687 | 186 | implements a system-wide malloc() that must be provided with locks. */ |
dflet | 0:91ad48ad5687 | 187 | struct _reent xNewLib_reent; |
dflet | 0:91ad48ad5687 | 188 | #endif |
dflet | 0:91ad48ad5687 | 189 | |
dflet | 0:91ad48ad5687 | 190 | #if ( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 191 | volatile uint32_t ulNotifiedValue; |
dflet | 0:91ad48ad5687 | 192 | volatile eNotifyValue eNotifyState; |
dflet | 0:91ad48ad5687 | 193 | #endif |
dflet | 0:91ad48ad5687 | 194 | |
dflet | 0:91ad48ad5687 | 195 | } tskTCB; |
dflet | 0:91ad48ad5687 | 196 | |
dflet | 0:91ad48ad5687 | 197 | /* The old tskTCB name is maintained above then typedefed to the new TCB_t name |
dflet | 0:91ad48ad5687 | 198 | below to enable the use of older kernel aware debuggers. */ |
dflet | 0:91ad48ad5687 | 199 | typedef tskTCB TCB_t; |
dflet | 0:91ad48ad5687 | 200 | |
dflet | 0:91ad48ad5687 | 201 | /* |
dflet | 0:91ad48ad5687 | 202 | * Some kernel aware debuggers require the data the debugger needs access to to |
dflet | 0:91ad48ad5687 | 203 | * be global, rather than file scope. |
dflet | 0:91ad48ad5687 | 204 | */ |
dflet | 0:91ad48ad5687 | 205 | #ifdef portREMOVE_STATIC_QUALIFIER |
dflet | 0:91ad48ad5687 | 206 | #define static |
dflet | 0:91ad48ad5687 | 207 | #endif |
dflet | 0:91ad48ad5687 | 208 | |
dflet | 0:91ad48ad5687 | 209 | /*lint -e956 A manual analysis and inspection has been used to determine which |
dflet | 0:91ad48ad5687 | 210 | static variables must be declared volatile. */ |
dflet | 0:91ad48ad5687 | 211 | |
dflet | 0:91ad48ad5687 | 212 | PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; |
dflet | 0:91ad48ad5687 | 213 | |
dflet | 0:91ad48ad5687 | 214 | /* Lists for ready and blocked tasks. --------------------*/ |
dflet | 0:91ad48ad5687 | 215 | PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */ |
dflet | 0:91ad48ad5687 | 216 | PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ |
dflet | 0:91ad48ad5687 | 217 | PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ |
dflet | 0:91ad48ad5687 | 218 | PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ |
dflet | 0:91ad48ad5687 | 219 | 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. */ |
dflet | 0:91ad48ad5687 | 220 | 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. */ |
dflet | 0:91ad48ad5687 | 221 | |
dflet | 0:91ad48ad5687 | 222 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 223 | |
dflet | 0:91ad48ad5687 | 224 | PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ |
dflet | 0:91ad48ad5687 | 225 | PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U; |
dflet | 0:91ad48ad5687 | 226 | |
dflet | 0:91ad48ad5687 | 227 | #endif |
dflet | 0:91ad48ad5687 | 228 | |
dflet | 0:91ad48ad5687 | 229 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 230 | |
dflet | 0:91ad48ad5687 | 231 | PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ |
dflet | 0:91ad48ad5687 | 232 | |
dflet | 0:91ad48ad5687 | 233 | #endif |
dflet | 0:91ad48ad5687 | 234 | |
dflet | 0:91ad48ad5687 | 235 | #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) |
dflet | 0:91ad48ad5687 | 236 | |
dflet | 0:91ad48ad5687 | 237 | 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. */ |
dflet | 0:91ad48ad5687 | 238 | |
dflet | 0:91ad48ad5687 | 239 | #endif |
dflet | 0:91ad48ad5687 | 240 | |
dflet | 0:91ad48ad5687 | 241 | /* Other file private variables. --------------------------------*/ |
dflet | 0:91ad48ad5687 | 242 | PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; |
dflet | 0:91ad48ad5687 | 243 | PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U; |
dflet | 0:91ad48ad5687 | 244 | PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; |
dflet | 0:91ad48ad5687 | 245 | PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; |
dflet | 0:91ad48ad5687 | 246 | PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U; |
dflet | 0:91ad48ad5687 | 247 | PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; |
dflet | 0:91ad48ad5687 | 248 | PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; |
dflet | 0:91ad48ad5687 | 249 | PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; |
dflet | 0:91ad48ad5687 | 250 | PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY; |
dflet | 0:91ad48ad5687 | 251 | |
dflet | 0:91ad48ad5687 | 252 | /* Context switches are held pending while the scheduler is suspended. Also, |
dflet | 0:91ad48ad5687 | 253 | interrupts must not manipulate the xGenericListItem of a TCB, or any of the |
dflet | 0:91ad48ad5687 | 254 | lists the xGenericListItem can be referenced from, if the scheduler is suspended. |
dflet | 0:91ad48ad5687 | 255 | If an interrupt needs to unblock a task while the scheduler is suspended then it |
dflet | 0:91ad48ad5687 | 256 | moves the task's event list item into the xPendingReadyList, ready for the |
dflet | 0:91ad48ad5687 | 257 | kernel to move the task from the pending ready list into the real ready list |
dflet | 0:91ad48ad5687 | 258 | when the scheduler is unsuspended. The pending ready list itself can only be |
dflet | 0:91ad48ad5687 | 259 | accessed from a critical section. */ |
dflet | 0:91ad48ad5687 | 260 | PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; |
dflet | 0:91ad48ad5687 | 261 | |
dflet | 0:91ad48ad5687 | 262 | #if ( configGENERATE_RUN_TIME_STATS == 1 ) |
dflet | 0:91ad48ad5687 | 263 | |
dflet | 0:91ad48ad5687 | 264 | PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ |
dflet | 0:91ad48ad5687 | 265 | PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ |
dflet | 0:91ad48ad5687 | 266 | |
dflet | 0:91ad48ad5687 | 267 | #endif |
dflet | 0:91ad48ad5687 | 268 | |
dflet | 0:91ad48ad5687 | 269 | /*lint +e956 */ |
dflet | 0:91ad48ad5687 | 270 | |
dflet | 0:91ad48ad5687 | 271 | /* Debugging and trace facilities private variables and macros. ------------*/ |
dflet | 0:91ad48ad5687 | 272 | |
dflet | 0:91ad48ad5687 | 273 | /* |
dflet | 0:91ad48ad5687 | 274 | * The value used to fill the stack of a task when the task is created. This |
dflet | 0:91ad48ad5687 | 275 | * is used purely for checking the high water mark for tasks. |
dflet | 0:91ad48ad5687 | 276 | */ |
dflet | 0:91ad48ad5687 | 277 | #define tskSTACK_FILL_BYTE ( 0xa5U ) |
dflet | 0:91ad48ad5687 | 278 | |
dflet | 0:91ad48ad5687 | 279 | /* |
dflet | 0:91ad48ad5687 | 280 | * Macros used by vListTask to indicate which state a task is in. |
dflet | 0:91ad48ad5687 | 281 | */ |
dflet | 0:91ad48ad5687 | 282 | #define tskBLOCKED_CHAR ( 'B' ) |
dflet | 0:91ad48ad5687 | 283 | #define tskREADY_CHAR ( 'R' ) |
dflet | 0:91ad48ad5687 | 284 | #define tskDELETED_CHAR ( 'D' ) |
dflet | 0:91ad48ad5687 | 285 | #define tskSUSPENDED_CHAR ( 'S' ) |
dflet | 0:91ad48ad5687 | 286 | |
dflet | 0:91ad48ad5687 | 287 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 288 | |
dflet | 0:91ad48ad5687 | 289 | #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) |
dflet | 0:91ad48ad5687 | 290 | |
dflet | 0:91ad48ad5687 | 291 | /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is |
dflet | 0:91ad48ad5687 | 292 | performed in a generic way that is not optimised to any particular |
dflet | 0:91ad48ad5687 | 293 | microcontroller architecture. */ |
dflet | 0:91ad48ad5687 | 294 | |
dflet | 0:91ad48ad5687 | 295 | /* uxTopReadyPriority holds the priority of the highest priority ready |
dflet | 0:91ad48ad5687 | 296 | state task. */ |
dflet | 0:91ad48ad5687 | 297 | #define taskRECORD_READY_PRIORITY( uxPriority ) \ |
dflet | 0:91ad48ad5687 | 298 | { \ |
dflet | 0:91ad48ad5687 | 299 | if( ( uxPriority ) > uxTopReadyPriority ) \ |
dflet | 0:91ad48ad5687 | 300 | { \ |
dflet | 0:91ad48ad5687 | 301 | uxTopReadyPriority = ( uxPriority ); \ |
dflet | 0:91ad48ad5687 | 302 | } \ |
dflet | 0:91ad48ad5687 | 303 | } /* taskRECORD_READY_PRIORITY */ |
dflet | 0:91ad48ad5687 | 304 | |
dflet | 0:91ad48ad5687 | 305 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 306 | |
dflet | 0:91ad48ad5687 | 307 | #define taskSELECT_HIGHEST_PRIORITY_TASK() \ |
dflet | 0:91ad48ad5687 | 308 | { \ |
dflet | 0:91ad48ad5687 | 309 | /* Find the highest priority queue that contains ready tasks. */ \ |
dflet | 0:91ad48ad5687 | 310 | while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \ |
dflet | 0:91ad48ad5687 | 311 | { \ |
dflet | 0:91ad48ad5687 | 312 | configASSERT( uxTopReadyPriority ); \ |
dflet | 0:91ad48ad5687 | 313 | --uxTopReadyPriority; \ |
dflet | 0:91ad48ad5687 | 314 | } \ |
dflet | 0:91ad48ad5687 | 315 | \ |
dflet | 0:91ad48ad5687 | 316 | /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ |
dflet | 0:91ad48ad5687 | 317 | the same priority get an equal share of the processor time. */ \ |
dflet | 0:91ad48ad5687 | 318 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \ |
dflet | 0:91ad48ad5687 | 319 | } /* taskSELECT_HIGHEST_PRIORITY_TASK */ |
dflet | 0:91ad48ad5687 | 320 | |
dflet | 0:91ad48ad5687 | 321 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 322 | |
dflet | 0:91ad48ad5687 | 323 | /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as |
dflet | 0:91ad48ad5687 | 324 | they are only required when a port optimised method of task selection is |
dflet | 0:91ad48ad5687 | 325 | being used. */ |
dflet | 0:91ad48ad5687 | 326 | #define taskRESET_READY_PRIORITY( uxPriority ) |
dflet | 0:91ad48ad5687 | 327 | #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) |
dflet | 0:91ad48ad5687 | 328 | |
dflet | 0:91ad48ad5687 | 329 | #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ |
dflet | 0:91ad48ad5687 | 330 | |
dflet | 0:91ad48ad5687 | 331 | /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is |
dflet | 0:91ad48ad5687 | 332 | performed in a way that is tailored to the particular microcontroller |
dflet | 0:91ad48ad5687 | 333 | architecture being used. */ |
dflet | 0:91ad48ad5687 | 334 | |
dflet | 0:91ad48ad5687 | 335 | /* A port optimised version is provided. Call the port defined macros. */ |
dflet | 0:91ad48ad5687 | 336 | #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) |
dflet | 0:91ad48ad5687 | 337 | |
dflet | 0:91ad48ad5687 | 338 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 339 | |
dflet | 0:91ad48ad5687 | 340 | #define taskSELECT_HIGHEST_PRIORITY_TASK() \ |
dflet | 0:91ad48ad5687 | 341 | { \ |
dflet | 0:91ad48ad5687 | 342 | UBaseType_t uxTopPriority; \ |
dflet | 0:91ad48ad5687 | 343 | \ |
dflet | 0:91ad48ad5687 | 344 | /* Find the highest priority queue that contains ready tasks. */ \ |
dflet | 0:91ad48ad5687 | 345 | portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ |
dflet | 0:91ad48ad5687 | 346 | configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ |
dflet | 0:91ad48ad5687 | 347 | listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ |
dflet | 0:91ad48ad5687 | 348 | } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ |
dflet | 0:91ad48ad5687 | 349 | |
dflet | 0:91ad48ad5687 | 350 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 351 | |
dflet | 0:91ad48ad5687 | 352 | /* A port optimised version is provided, call it only if the TCB being reset |
dflet | 0:91ad48ad5687 | 353 | is being referenced from a ready list. If it is referenced from a delayed |
dflet | 0:91ad48ad5687 | 354 | or suspended list then it won't be in a ready list. */ |
dflet | 0:91ad48ad5687 | 355 | #define taskRESET_READY_PRIORITY( uxPriority ) \ |
dflet | 0:91ad48ad5687 | 356 | { \ |
dflet | 0:91ad48ad5687 | 357 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ |
dflet | 0:91ad48ad5687 | 358 | { \ |
dflet | 0:91ad48ad5687 | 359 | portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ |
dflet | 0:91ad48ad5687 | 360 | } \ |
dflet | 0:91ad48ad5687 | 361 | } |
dflet | 0:91ad48ad5687 | 362 | |
dflet | 0:91ad48ad5687 | 363 | #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ |
dflet | 0:91ad48ad5687 | 364 | |
dflet | 0:91ad48ad5687 | 365 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 366 | |
dflet | 0:91ad48ad5687 | 367 | /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick |
dflet | 0:91ad48ad5687 | 368 | count overflows. */ |
dflet | 0:91ad48ad5687 | 369 | #define taskSWITCH_DELAYED_LISTS() \ |
dflet | 0:91ad48ad5687 | 370 | { \ |
dflet | 0:91ad48ad5687 | 371 | List_t *pxTemp; \ |
dflet | 0:91ad48ad5687 | 372 | \ |
dflet | 0:91ad48ad5687 | 373 | /* The delayed tasks list should be empty when the lists are switched. */ \ |
dflet | 0:91ad48ad5687 | 374 | configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ |
dflet | 0:91ad48ad5687 | 375 | \ |
dflet | 0:91ad48ad5687 | 376 | pxTemp = pxDelayedTaskList; \ |
dflet | 0:91ad48ad5687 | 377 | pxDelayedTaskList = pxOverflowDelayedTaskList; \ |
dflet | 0:91ad48ad5687 | 378 | pxOverflowDelayedTaskList = pxTemp; \ |
dflet | 0:91ad48ad5687 | 379 | xNumOfOverflows++; \ |
dflet | 0:91ad48ad5687 | 380 | prvResetNextTaskUnblockTime(); \ |
dflet | 0:91ad48ad5687 | 381 | } |
dflet | 0:91ad48ad5687 | 382 | |
dflet | 0:91ad48ad5687 | 383 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 384 | |
dflet | 0:91ad48ad5687 | 385 | /* |
dflet | 0:91ad48ad5687 | 386 | * Place the task represented by pxTCB into the appropriate ready list for |
dflet | 0:91ad48ad5687 | 387 | * the task. It is inserted at the end of the list. |
dflet | 0:91ad48ad5687 | 388 | */ |
dflet | 0:91ad48ad5687 | 389 | #define prvAddTaskToReadyList( pxTCB ) \ |
dflet | 0:91ad48ad5687 | 390 | traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ |
dflet | 0:91ad48ad5687 | 391 | taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ |
dflet | 0:91ad48ad5687 | 392 | vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) ) |
dflet | 0:91ad48ad5687 | 393 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 394 | |
dflet | 0:91ad48ad5687 | 395 | /* |
dflet | 0:91ad48ad5687 | 396 | * Several functions take an TaskHandle_t parameter that can optionally be NULL, |
dflet | 0:91ad48ad5687 | 397 | * where NULL is used to indicate that the handle of the currently executing |
dflet | 0:91ad48ad5687 | 398 | * task should be used in place of the parameter. This macro simply checks to |
dflet | 0:91ad48ad5687 | 399 | * see if the parameter is NULL and returns a pointer to the appropriate TCB. |
dflet | 0:91ad48ad5687 | 400 | */ |
dflet | 0:91ad48ad5687 | 401 | #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) ) |
dflet | 0:91ad48ad5687 | 402 | |
dflet | 0:91ad48ad5687 | 403 | /* The item value of the event list item is normally used to hold the priority |
dflet | 0:91ad48ad5687 | 404 | of the task to which it belongs (coded to allow it to be held in reverse |
dflet | 0:91ad48ad5687 | 405 | priority order). However, it is occasionally borrowed for other purposes. It |
dflet | 0:91ad48ad5687 | 406 | is important its value is not updated due to a task priority change while it is |
dflet | 0:91ad48ad5687 | 407 | being used for another purpose. The following bit definition is used to inform |
dflet | 0:91ad48ad5687 | 408 | the scheduler that the value should not be changed - in which case it is the |
dflet | 0:91ad48ad5687 | 409 | responsibility of whichever module is using the value to ensure it gets set back |
dflet | 0:91ad48ad5687 | 410 | to its original value when it is released. */ |
dflet | 0:91ad48ad5687 | 411 | #if configUSE_16_BIT_TICKS == 1 |
dflet | 0:91ad48ad5687 | 412 | #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U |
dflet | 0:91ad48ad5687 | 413 | #else |
dflet | 0:91ad48ad5687 | 414 | #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL |
dflet | 0:91ad48ad5687 | 415 | #endif |
dflet | 0:91ad48ad5687 | 416 | |
dflet | 0:91ad48ad5687 | 417 | /* Callback function prototypes. --------------------------*/ |
dflet | 0:91ad48ad5687 | 418 | #if configCHECK_FOR_STACK_OVERFLOW > 0 |
dflet | 0:91ad48ad5687 | 419 | extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ); |
dflet | 0:91ad48ad5687 | 420 | #endif |
dflet | 0:91ad48ad5687 | 421 | |
dflet | 0:91ad48ad5687 | 422 | #if configUSE_TICK_HOOK > 0 |
dflet | 0:91ad48ad5687 | 423 | extern void vApplicationTickHook( void ); |
dflet | 0:91ad48ad5687 | 424 | #endif |
dflet | 0:91ad48ad5687 | 425 | |
dflet | 0:91ad48ad5687 | 426 | /* File private functions. --------------------------------*/ |
dflet | 0:91ad48ad5687 | 427 | |
dflet | 0:91ad48ad5687 | 428 | /* |
dflet | 0:91ad48ad5687 | 429 | * Utility to ready a TCB for a given task. Mainly just copies the parameters |
dflet | 0:91ad48ad5687 | 430 | * into the TCB structure. |
dflet | 0:91ad48ad5687 | 431 | */ |
dflet | 0:91ad48ad5687 | 432 | 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. */ |
dflet | 0:91ad48ad5687 | 433 | |
dflet | 0:91ad48ad5687 | 434 | /** |
dflet | 0:91ad48ad5687 | 435 | * Utility task that simply returns pdTRUE if the task referenced by xTask is |
dflet | 0:91ad48ad5687 | 436 | * currently in the Suspended state, or pdFALSE if the task referenced by xTask |
dflet | 0:91ad48ad5687 | 437 | * is in any other state. |
dflet | 0:91ad48ad5687 | 438 | */ |
dflet | 0:91ad48ad5687 | 439 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 440 | static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 441 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 442 | |
dflet | 0:91ad48ad5687 | 443 | /* |
dflet | 0:91ad48ad5687 | 444 | * Utility to ready all the lists used by the scheduler. This is called |
dflet | 0:91ad48ad5687 | 445 | * automatically upon the creation of the first task. |
dflet | 0:91ad48ad5687 | 446 | */ |
dflet | 0:91ad48ad5687 | 447 | static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 448 | |
dflet | 0:91ad48ad5687 | 449 | /* |
dflet | 0:91ad48ad5687 | 450 | * The idle task, which as all tasks is implemented as a never ending loop. |
dflet | 0:91ad48ad5687 | 451 | * The idle task is automatically created and added to the ready lists upon |
dflet | 0:91ad48ad5687 | 452 | * creation of the first user task. |
dflet | 0:91ad48ad5687 | 453 | * |
dflet | 0:91ad48ad5687 | 454 | * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific |
dflet | 0:91ad48ad5687 | 455 | * language extensions. The equivalent prototype for this function is: |
dflet | 0:91ad48ad5687 | 456 | * |
dflet | 0:91ad48ad5687 | 457 | * void prvIdleTask( void *pvParameters ); |
dflet | 0:91ad48ad5687 | 458 | * |
dflet | 0:91ad48ad5687 | 459 | */ |
dflet | 0:91ad48ad5687 | 460 | static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); |
dflet | 0:91ad48ad5687 | 461 | |
dflet | 0:91ad48ad5687 | 462 | /* |
dflet | 0:91ad48ad5687 | 463 | * Utility to free all memory allocated by the scheduler to hold a TCB, |
dflet | 0:91ad48ad5687 | 464 | * including the stack pointed to by the TCB. |
dflet | 0:91ad48ad5687 | 465 | * |
dflet | 0:91ad48ad5687 | 466 | * This does not free memory allocated by the task itself (i.e. memory |
dflet | 0:91ad48ad5687 | 467 | * allocated by calls to pvPortMalloc from within the tasks application code). |
dflet | 0:91ad48ad5687 | 468 | */ |
dflet | 0:91ad48ad5687 | 469 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 470 | |
dflet | 0:91ad48ad5687 | 471 | static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 472 | |
dflet | 0:91ad48ad5687 | 473 | #endif |
dflet | 0:91ad48ad5687 | 474 | |
dflet | 0:91ad48ad5687 | 475 | /* |
dflet | 0:91ad48ad5687 | 476 | * Used only by the idle task. This checks to see if anything has been placed |
dflet | 0:91ad48ad5687 | 477 | * in the list of tasks waiting to be deleted. If so the task is cleaned up |
dflet | 0:91ad48ad5687 | 478 | * and its TCB deleted. |
dflet | 0:91ad48ad5687 | 479 | */ |
dflet | 0:91ad48ad5687 | 480 | static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 481 | |
dflet | 0:91ad48ad5687 | 482 | /* |
dflet | 0:91ad48ad5687 | 483 | * The currently executing task is entering the Blocked state. Add the task to |
dflet | 0:91ad48ad5687 | 484 | * either the current or the overflow delayed task list. |
dflet | 0:91ad48ad5687 | 485 | */ |
dflet | 0:91ad48ad5687 | 486 | static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 487 | |
dflet | 0:91ad48ad5687 | 488 | /* |
dflet | 0:91ad48ad5687 | 489 | * Allocates memory from the heap for a TCB and associated stack. Checks the |
dflet | 0:91ad48ad5687 | 490 | * allocation was successful. |
dflet | 0:91ad48ad5687 | 491 | */ |
dflet | 0:91ad48ad5687 | 492 | static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 493 | |
dflet | 0:91ad48ad5687 | 494 | /* |
dflet | 0:91ad48ad5687 | 495 | * Fills an TaskStatus_t structure with information on each task that is |
dflet | 0:91ad48ad5687 | 496 | * referenced from the pxList list (which may be a ready list, a delayed list, |
dflet | 0:91ad48ad5687 | 497 | * a suspended list, etc.). |
dflet | 0:91ad48ad5687 | 498 | * |
dflet | 0:91ad48ad5687 | 499 | * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM |
dflet | 0:91ad48ad5687 | 500 | * NORMAL APPLICATION CODE. |
dflet | 0:91ad48ad5687 | 501 | */ |
dflet | 0:91ad48ad5687 | 502 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 503 | |
dflet | 0:91ad48ad5687 | 504 | static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 505 | |
dflet | 0:91ad48ad5687 | 506 | #endif |
dflet | 0:91ad48ad5687 | 507 | |
dflet | 0:91ad48ad5687 | 508 | /* |
dflet | 0:91ad48ad5687 | 509 | * When a task is created, the stack of the task is filled with a known value. |
dflet | 0:91ad48ad5687 | 510 | * This function determines the 'high water mark' of the task stack by |
dflet | 0:91ad48ad5687 | 511 | * determining how much of the stack remains at the original preset value. |
dflet | 0:91ad48ad5687 | 512 | */ |
dflet | 0:91ad48ad5687 | 513 | #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) |
dflet | 0:91ad48ad5687 | 514 | |
dflet | 0:91ad48ad5687 | 515 | static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 516 | |
dflet | 0:91ad48ad5687 | 517 | #endif |
dflet | 0:91ad48ad5687 | 518 | |
dflet | 0:91ad48ad5687 | 519 | /* |
dflet | 0:91ad48ad5687 | 520 | * Return the amount of time, in ticks, that will pass before the kernel will |
dflet | 0:91ad48ad5687 | 521 | * next move a task from the Blocked state to the Running state. |
dflet | 0:91ad48ad5687 | 522 | * |
dflet | 0:91ad48ad5687 | 523 | * This conditional compilation should use inequality to 0, not equality to 1. |
dflet | 0:91ad48ad5687 | 524 | * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user |
dflet | 0:91ad48ad5687 | 525 | * defined low power mode implementations require configUSE_TICKLESS_IDLE to be |
dflet | 0:91ad48ad5687 | 526 | * set to a value other than 1. |
dflet | 0:91ad48ad5687 | 527 | */ |
dflet | 0:91ad48ad5687 | 528 | #if ( configUSE_TICKLESS_IDLE != 0 ) |
dflet | 0:91ad48ad5687 | 529 | |
dflet | 0:91ad48ad5687 | 530 | static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; |
dflet | 0:91ad48ad5687 | 531 | |
dflet | 0:91ad48ad5687 | 532 | #endif |
dflet | 0:91ad48ad5687 | 533 | |
dflet | 0:91ad48ad5687 | 534 | /* |
dflet | 0:91ad48ad5687 | 535 | * Set xNextTaskUnblockTime to the time at which the next Blocked state task |
dflet | 0:91ad48ad5687 | 536 | * will exit the Blocked state. |
dflet | 0:91ad48ad5687 | 537 | */ |
dflet | 0:91ad48ad5687 | 538 | static void prvResetNextTaskUnblockTime( void ); |
dflet | 0:91ad48ad5687 | 539 | |
dflet | 0:91ad48ad5687 | 540 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) |
dflet | 0:91ad48ad5687 | 541 | |
dflet | 0:91ad48ad5687 | 542 | /* |
dflet | 0:91ad48ad5687 | 543 | * Helper function used to pad task names with spaces when printing out |
dflet | 0:91ad48ad5687 | 544 | * human readable tables of task information. |
dflet | 0:91ad48ad5687 | 545 | */ |
dflet | 0:91ad48ad5687 | 546 | static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ); |
dflet | 0:91ad48ad5687 | 547 | |
dflet | 0:91ad48ad5687 | 548 | #endif |
dflet | 0:91ad48ad5687 | 549 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 550 | |
dflet | 0:91ad48ad5687 | 551 | 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. */ |
dflet | 0:91ad48ad5687 | 552 | { |
dflet | 0:91ad48ad5687 | 553 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 554 | TCB_t * pxNewTCB; |
dflet | 0:91ad48ad5687 | 555 | StackType_t *pxTopOfStack; |
dflet | 0:91ad48ad5687 | 556 | |
dflet | 0:91ad48ad5687 | 557 | configASSERT( pxTaskCode ); |
dflet | 0:91ad48ad5687 | 558 | configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) ); |
dflet | 0:91ad48ad5687 | 559 | |
dflet | 0:91ad48ad5687 | 560 | /* Allocate the memory required by the TCB and stack for the new task, |
dflet | 0:91ad48ad5687 | 561 | checking that the allocation was successful. */ |
dflet | 0:91ad48ad5687 | 562 | pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer ); |
dflet | 0:91ad48ad5687 | 563 | |
dflet | 0:91ad48ad5687 | 564 | if( pxNewTCB != NULL ) |
dflet | 0:91ad48ad5687 | 565 | { |
dflet | 0:91ad48ad5687 | 566 | #if( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 567 | /* Should the task be created in privileged mode? */ |
dflet | 0:91ad48ad5687 | 568 | BaseType_t xRunPrivileged; |
dflet | 0:91ad48ad5687 | 569 | if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) |
dflet | 0:91ad48ad5687 | 570 | { |
dflet | 0:91ad48ad5687 | 571 | xRunPrivileged = pdTRUE; |
dflet | 0:91ad48ad5687 | 572 | } |
dflet | 0:91ad48ad5687 | 573 | else |
dflet | 0:91ad48ad5687 | 574 | { |
dflet | 0:91ad48ad5687 | 575 | xRunPrivileged = pdFALSE; |
dflet | 0:91ad48ad5687 | 576 | } |
dflet | 0:91ad48ad5687 | 577 | uxPriority &= ~portPRIVILEGE_BIT; |
dflet | 0:91ad48ad5687 | 578 | |
dflet | 0:91ad48ad5687 | 579 | if( puxStackBuffer != NULL ) |
dflet | 0:91ad48ad5687 | 580 | { |
dflet | 0:91ad48ad5687 | 581 | /* The application provided its own stack. Note this so no |
dflet | 0:91ad48ad5687 | 582 | attempt is made to delete the stack should that task be |
dflet | 0:91ad48ad5687 | 583 | deleted. */ |
dflet | 0:91ad48ad5687 | 584 | pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE; |
dflet | 0:91ad48ad5687 | 585 | } |
dflet | 0:91ad48ad5687 | 586 | else |
dflet | 0:91ad48ad5687 | 587 | { |
dflet | 0:91ad48ad5687 | 588 | /* The stack was allocated dynamically. Note this so it can be |
dflet | 0:91ad48ad5687 | 589 | deleted again if the task is deleted. */ |
dflet | 0:91ad48ad5687 | 590 | pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE; |
dflet | 0:91ad48ad5687 | 591 | } |
dflet | 0:91ad48ad5687 | 592 | #endif /* portUSING_MPU_WRAPPERS == 1 */ |
dflet | 0:91ad48ad5687 | 593 | |
dflet | 0:91ad48ad5687 | 594 | /* Calculate the top of stack address. This depends on whether the |
dflet | 0:91ad48ad5687 | 595 | stack grows from high memory to low (as per the 80x86) or vice versa. |
dflet | 0:91ad48ad5687 | 596 | portSTACK_GROWTH is used to make the result positive or negative as |
dflet | 0:91ad48ad5687 | 597 | required by the port. */ |
dflet | 0:91ad48ad5687 | 598 | #if( portSTACK_GROWTH < 0 ) |
dflet | 0:91ad48ad5687 | 599 | { |
dflet | 0:91ad48ad5687 | 600 | pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 ); |
dflet | 0:91ad48ad5687 | 601 | 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. */ |
dflet | 0:91ad48ad5687 | 602 | |
dflet | 0:91ad48ad5687 | 603 | /* Check the alignment of the calculated top of stack is correct. */ |
dflet | 0:91ad48ad5687 | 604 | configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); |
dflet | 0:91ad48ad5687 | 605 | } |
dflet | 0:91ad48ad5687 | 606 | #else /* portSTACK_GROWTH */ |
dflet | 0:91ad48ad5687 | 607 | { |
dflet | 0:91ad48ad5687 | 608 | pxTopOfStack = pxNewTCB->pxStack; |
dflet | 0:91ad48ad5687 | 609 | |
dflet | 0:91ad48ad5687 | 610 | /* Check the alignment of the stack buffer is correct. */ |
dflet | 0:91ad48ad5687 | 611 | configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); |
dflet | 0:91ad48ad5687 | 612 | |
dflet | 0:91ad48ad5687 | 613 | /* If we want to use stack checking on architectures that use |
dflet | 0:91ad48ad5687 | 614 | a positive stack growth direction then we also need to store the |
dflet | 0:91ad48ad5687 | 615 | other extreme of the stack space. */ |
dflet | 0:91ad48ad5687 | 616 | pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); |
dflet | 0:91ad48ad5687 | 617 | } |
dflet | 0:91ad48ad5687 | 618 | #endif /* portSTACK_GROWTH */ |
dflet | 0:91ad48ad5687 | 619 | |
dflet | 0:91ad48ad5687 | 620 | /* Setup the newly allocated TCB with the initial state of the task. */ |
dflet | 0:91ad48ad5687 | 621 | prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth ); |
dflet | 0:91ad48ad5687 | 622 | |
dflet | 0:91ad48ad5687 | 623 | /* Initialize the TCB stack to look as if the task was already running, |
dflet | 0:91ad48ad5687 | 624 | but had been interrupted by the scheduler. The return address is set |
dflet | 0:91ad48ad5687 | 625 | to the start of the task function. Once the stack has been initialised |
dflet | 0:91ad48ad5687 | 626 | the top of stack variable is updated. */ |
dflet | 0:91ad48ad5687 | 627 | #if( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 628 | { |
dflet | 0:91ad48ad5687 | 629 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); |
dflet | 0:91ad48ad5687 | 630 | } |
dflet | 0:91ad48ad5687 | 631 | #else /* portUSING_MPU_WRAPPERS */ |
dflet | 0:91ad48ad5687 | 632 | { |
dflet | 0:91ad48ad5687 | 633 | pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); |
dflet | 0:91ad48ad5687 | 634 | } |
dflet | 0:91ad48ad5687 | 635 | #endif /* portUSING_MPU_WRAPPERS */ |
dflet | 0:91ad48ad5687 | 636 | |
dflet | 0:91ad48ad5687 | 637 | if( ( void * ) pxCreatedTask != NULL ) |
dflet | 0:91ad48ad5687 | 638 | { |
dflet | 0:91ad48ad5687 | 639 | /* Pass the TCB out - in an anonymous way. The calling function/ |
dflet | 0:91ad48ad5687 | 640 | task can use this as a handle to delete the task later if |
dflet | 0:91ad48ad5687 | 641 | required.*/ |
dflet | 0:91ad48ad5687 | 642 | *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; |
dflet | 0:91ad48ad5687 | 643 | } |
dflet | 0:91ad48ad5687 | 644 | else |
dflet | 0:91ad48ad5687 | 645 | { |
dflet | 0:91ad48ad5687 | 646 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 647 | } |
dflet | 0:91ad48ad5687 | 648 | |
dflet | 0:91ad48ad5687 | 649 | /* Ensure interrupts don't access the task lists while they are being |
dflet | 0:91ad48ad5687 | 650 | updated. */ |
dflet | 0:91ad48ad5687 | 651 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 652 | { |
dflet | 0:91ad48ad5687 | 653 | uxCurrentNumberOfTasks++; |
dflet | 0:91ad48ad5687 | 654 | if( pxCurrentTCB == NULL ) |
dflet | 0:91ad48ad5687 | 655 | { |
dflet | 0:91ad48ad5687 | 656 | /* There are no other tasks, or all the other tasks are in |
dflet | 0:91ad48ad5687 | 657 | the suspended state - make this the current task. */ |
dflet | 0:91ad48ad5687 | 658 | pxCurrentTCB = pxNewTCB; |
dflet | 0:91ad48ad5687 | 659 | |
dflet | 0:91ad48ad5687 | 660 | if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) |
dflet | 0:91ad48ad5687 | 661 | { |
dflet | 0:91ad48ad5687 | 662 | /* This is the first task to be created so do the preliminary |
dflet | 0:91ad48ad5687 | 663 | initialisation required. We will not recover if this call |
dflet | 0:91ad48ad5687 | 664 | fails, but we will report the failure. */ |
dflet | 0:91ad48ad5687 | 665 | prvInitialiseTaskLists(); |
dflet | 0:91ad48ad5687 | 666 | } |
dflet | 0:91ad48ad5687 | 667 | else |
dflet | 0:91ad48ad5687 | 668 | { |
dflet | 0:91ad48ad5687 | 669 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 670 | } |
dflet | 0:91ad48ad5687 | 671 | } |
dflet | 0:91ad48ad5687 | 672 | else |
dflet | 0:91ad48ad5687 | 673 | { |
dflet | 0:91ad48ad5687 | 674 | /* If the scheduler is not already running, make this task the |
dflet | 0:91ad48ad5687 | 675 | current task if it is the highest priority task to be created |
dflet | 0:91ad48ad5687 | 676 | so far. */ |
dflet | 0:91ad48ad5687 | 677 | if( xSchedulerRunning == pdFALSE ) |
dflet | 0:91ad48ad5687 | 678 | { |
dflet | 0:91ad48ad5687 | 679 | if( pxCurrentTCB->uxPriority <= uxPriority ) |
dflet | 0:91ad48ad5687 | 680 | { |
dflet | 0:91ad48ad5687 | 681 | pxCurrentTCB = pxNewTCB; |
dflet | 0:91ad48ad5687 | 682 | } |
dflet | 0:91ad48ad5687 | 683 | else |
dflet | 0:91ad48ad5687 | 684 | { |
dflet | 0:91ad48ad5687 | 685 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 686 | } |
dflet | 0:91ad48ad5687 | 687 | } |
dflet | 0:91ad48ad5687 | 688 | else |
dflet | 0:91ad48ad5687 | 689 | { |
dflet | 0:91ad48ad5687 | 690 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 691 | } |
dflet | 0:91ad48ad5687 | 692 | } |
dflet | 0:91ad48ad5687 | 693 | |
dflet | 0:91ad48ad5687 | 694 | uxTaskNumber++; |
dflet | 0:91ad48ad5687 | 695 | |
dflet | 0:91ad48ad5687 | 696 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 697 | { |
dflet | 0:91ad48ad5687 | 698 | /* Add a counter into the TCB for tracing only. */ |
dflet | 0:91ad48ad5687 | 699 | pxNewTCB->uxTCBNumber = uxTaskNumber; |
dflet | 0:91ad48ad5687 | 700 | } |
dflet | 0:91ad48ad5687 | 701 | #endif /* configUSE_TRACE_FACILITY */ |
dflet | 0:91ad48ad5687 | 702 | traceTASK_CREATE( pxNewTCB ); |
dflet | 0:91ad48ad5687 | 703 | |
dflet | 0:91ad48ad5687 | 704 | prvAddTaskToReadyList( pxNewTCB ); |
dflet | 0:91ad48ad5687 | 705 | |
dflet | 0:91ad48ad5687 | 706 | xReturn = pdPASS; |
dflet | 0:91ad48ad5687 | 707 | portSETUP_TCB( pxNewTCB ); |
dflet | 0:91ad48ad5687 | 708 | } |
dflet | 0:91ad48ad5687 | 709 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 710 | } |
dflet | 0:91ad48ad5687 | 711 | else |
dflet | 0:91ad48ad5687 | 712 | { |
dflet | 0:91ad48ad5687 | 713 | xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; |
dflet | 0:91ad48ad5687 | 714 | traceTASK_CREATE_FAILED(); |
dflet | 0:91ad48ad5687 | 715 | } |
dflet | 0:91ad48ad5687 | 716 | |
dflet | 0:91ad48ad5687 | 717 | if( xReturn == pdPASS ) |
dflet | 0:91ad48ad5687 | 718 | { |
dflet | 0:91ad48ad5687 | 719 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 720 | { |
dflet | 0:91ad48ad5687 | 721 | /* If the created task is of a higher priority than the current task |
dflet | 0:91ad48ad5687 | 722 | then it should run now. */ |
dflet | 0:91ad48ad5687 | 723 | if( pxCurrentTCB->uxPriority < uxPriority ) |
dflet | 0:91ad48ad5687 | 724 | { |
dflet | 0:91ad48ad5687 | 725 | taskYIELD_IF_USING_PREEMPTION(); |
dflet | 0:91ad48ad5687 | 726 | } |
dflet | 0:91ad48ad5687 | 727 | else |
dflet | 0:91ad48ad5687 | 728 | { |
dflet | 0:91ad48ad5687 | 729 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 730 | } |
dflet | 0:91ad48ad5687 | 731 | } |
dflet | 0:91ad48ad5687 | 732 | else |
dflet | 0:91ad48ad5687 | 733 | { |
dflet | 0:91ad48ad5687 | 734 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 735 | } |
dflet | 0:91ad48ad5687 | 736 | } |
dflet | 0:91ad48ad5687 | 737 | |
dflet | 0:91ad48ad5687 | 738 | return xReturn; |
dflet | 0:91ad48ad5687 | 739 | } |
dflet | 0:91ad48ad5687 | 740 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 741 | |
dflet | 0:91ad48ad5687 | 742 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 743 | |
dflet | 0:91ad48ad5687 | 744 | void vTaskDelete( TaskHandle_t xTaskToDelete ) |
dflet | 0:91ad48ad5687 | 745 | { |
dflet | 0:91ad48ad5687 | 746 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 747 | |
dflet | 0:91ad48ad5687 | 748 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 749 | { |
dflet | 0:91ad48ad5687 | 750 | /* If null is passed in here then it is the calling task that is |
dflet | 0:91ad48ad5687 | 751 | being deleted. */ |
dflet | 0:91ad48ad5687 | 752 | pxTCB = prvGetTCBFromHandle( xTaskToDelete ); |
dflet | 0:91ad48ad5687 | 753 | |
dflet | 0:91ad48ad5687 | 754 | /* Remove task from the ready list and place in the termination list. |
dflet | 0:91ad48ad5687 | 755 | This will stop the task from be scheduled. The idle task will check |
dflet | 0:91ad48ad5687 | 756 | the termination list and free up any memory allocated by the |
dflet | 0:91ad48ad5687 | 757 | scheduler for the TCB and stack. */ |
dflet | 0:91ad48ad5687 | 758 | if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 759 | { |
dflet | 0:91ad48ad5687 | 760 | taskRESET_READY_PRIORITY( pxTCB->uxPriority ); |
dflet | 0:91ad48ad5687 | 761 | } |
dflet | 0:91ad48ad5687 | 762 | else |
dflet | 0:91ad48ad5687 | 763 | { |
dflet | 0:91ad48ad5687 | 764 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 765 | } |
dflet | 0:91ad48ad5687 | 766 | |
dflet | 0:91ad48ad5687 | 767 | /* Is the task waiting on an event also? */ |
dflet | 0:91ad48ad5687 | 768 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) |
dflet | 0:91ad48ad5687 | 769 | { |
dflet | 0:91ad48ad5687 | 770 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 771 | } |
dflet | 0:91ad48ad5687 | 772 | else |
dflet | 0:91ad48ad5687 | 773 | { |
dflet | 0:91ad48ad5687 | 774 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 775 | } |
dflet | 0:91ad48ad5687 | 776 | |
dflet | 0:91ad48ad5687 | 777 | vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 778 | |
dflet | 0:91ad48ad5687 | 779 | /* Increment the ucTasksDeleted variable so the idle task knows |
dflet | 0:91ad48ad5687 | 780 | there is a task that has been deleted and that it should therefore |
dflet | 0:91ad48ad5687 | 781 | check the xTasksWaitingTermination list. */ |
dflet | 0:91ad48ad5687 | 782 | ++uxTasksDeleted; |
dflet | 0:91ad48ad5687 | 783 | |
dflet | 0:91ad48ad5687 | 784 | /* Increment the uxTaskNumberVariable also so kernel aware debuggers |
dflet | 0:91ad48ad5687 | 785 | can detect that the task lists need re-generating. */ |
dflet | 0:91ad48ad5687 | 786 | uxTaskNumber++; |
dflet | 0:91ad48ad5687 | 787 | |
dflet | 0:91ad48ad5687 | 788 | traceTASK_DELETE( pxTCB ); |
dflet | 0:91ad48ad5687 | 789 | } |
dflet | 0:91ad48ad5687 | 790 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 791 | |
dflet | 0:91ad48ad5687 | 792 | /* Force a reschedule if it is the currently running task that has just |
dflet | 0:91ad48ad5687 | 793 | been deleted. */ |
dflet | 0:91ad48ad5687 | 794 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 795 | { |
dflet | 0:91ad48ad5687 | 796 | if( pxTCB == pxCurrentTCB ) |
dflet | 0:91ad48ad5687 | 797 | { |
dflet | 0:91ad48ad5687 | 798 | configASSERT( uxSchedulerSuspended == 0 ); |
dflet | 0:91ad48ad5687 | 799 | |
dflet | 0:91ad48ad5687 | 800 | /* The pre-delete hook is primarily for the Windows simulator, |
dflet | 0:91ad48ad5687 | 801 | in which Windows specific clean up operations are performed, |
dflet | 0:91ad48ad5687 | 802 | after which it is not possible to yield away from this task - |
dflet | 0:91ad48ad5687 | 803 | hence xYieldPending is used to latch that a context switch is |
dflet | 0:91ad48ad5687 | 804 | required. */ |
dflet | 0:91ad48ad5687 | 805 | portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); |
dflet | 0:91ad48ad5687 | 806 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 807 | } |
dflet | 0:91ad48ad5687 | 808 | else |
dflet | 0:91ad48ad5687 | 809 | { |
dflet | 0:91ad48ad5687 | 810 | /* Reset the next expected unblock time in case it referred to |
dflet | 0:91ad48ad5687 | 811 | the task that has just been deleted. */ |
dflet | 0:91ad48ad5687 | 812 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 813 | { |
dflet | 0:91ad48ad5687 | 814 | prvResetNextTaskUnblockTime(); |
dflet | 0:91ad48ad5687 | 815 | } |
dflet | 0:91ad48ad5687 | 816 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 817 | } |
dflet | 0:91ad48ad5687 | 818 | } |
dflet | 0:91ad48ad5687 | 819 | } |
dflet | 0:91ad48ad5687 | 820 | |
dflet | 0:91ad48ad5687 | 821 | #endif /* INCLUDE_vTaskDelete */ |
dflet | 0:91ad48ad5687 | 822 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 823 | |
dflet | 0:91ad48ad5687 | 824 | #if ( INCLUDE_vTaskDelayUntil == 1 ) |
dflet | 0:91ad48ad5687 | 825 | |
dflet | 0:91ad48ad5687 | 826 | void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) |
dflet | 0:91ad48ad5687 | 827 | { |
dflet | 0:91ad48ad5687 | 828 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 829 | BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; |
dflet | 0:91ad48ad5687 | 830 | |
dflet | 0:91ad48ad5687 | 831 | configASSERT( pxPreviousWakeTime ); |
dflet | 0:91ad48ad5687 | 832 | configASSERT( ( xTimeIncrement > 0U ) ); |
dflet | 0:91ad48ad5687 | 833 | configASSERT( uxSchedulerSuspended == 0 ); |
dflet | 0:91ad48ad5687 | 834 | |
dflet | 0:91ad48ad5687 | 835 | vTaskSuspendAll(); |
dflet | 0:91ad48ad5687 | 836 | { |
dflet | 0:91ad48ad5687 | 837 | /* Minor optimisation. The tick count cannot change in this |
dflet | 0:91ad48ad5687 | 838 | block. */ |
dflet | 0:91ad48ad5687 | 839 | const TickType_t xConstTickCount = xTickCount; |
dflet | 0:91ad48ad5687 | 840 | |
dflet | 0:91ad48ad5687 | 841 | /* Generate the tick time at which the task wants to wake. */ |
dflet | 0:91ad48ad5687 | 842 | xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; |
dflet | 0:91ad48ad5687 | 843 | |
dflet | 0:91ad48ad5687 | 844 | if( xConstTickCount < *pxPreviousWakeTime ) |
dflet | 0:91ad48ad5687 | 845 | { |
dflet | 0:91ad48ad5687 | 846 | /* The tick count has overflowed since this function was |
dflet | 0:91ad48ad5687 | 847 | lasted called. In this case the only time we should ever |
dflet | 0:91ad48ad5687 | 848 | actually delay is if the wake time has also overflowed, |
dflet | 0:91ad48ad5687 | 849 | and the wake time is greater than the tick time. When this |
dflet | 0:91ad48ad5687 | 850 | is the case it is as if neither time had overflowed. */ |
dflet | 0:91ad48ad5687 | 851 | if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) |
dflet | 0:91ad48ad5687 | 852 | { |
dflet | 0:91ad48ad5687 | 853 | xShouldDelay = pdTRUE; |
dflet | 0:91ad48ad5687 | 854 | } |
dflet | 0:91ad48ad5687 | 855 | else |
dflet | 0:91ad48ad5687 | 856 | { |
dflet | 0:91ad48ad5687 | 857 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 858 | } |
dflet | 0:91ad48ad5687 | 859 | } |
dflet | 0:91ad48ad5687 | 860 | else |
dflet | 0:91ad48ad5687 | 861 | { |
dflet | 0:91ad48ad5687 | 862 | /* The tick time has not overflowed. In this case we will |
dflet | 0:91ad48ad5687 | 863 | delay if either the wake time has overflowed, and/or the |
dflet | 0:91ad48ad5687 | 864 | tick time is less than the wake time. */ |
dflet | 0:91ad48ad5687 | 865 | if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) |
dflet | 0:91ad48ad5687 | 866 | { |
dflet | 0:91ad48ad5687 | 867 | xShouldDelay = pdTRUE; |
dflet | 0:91ad48ad5687 | 868 | } |
dflet | 0:91ad48ad5687 | 869 | else |
dflet | 0:91ad48ad5687 | 870 | { |
dflet | 0:91ad48ad5687 | 871 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 872 | } |
dflet | 0:91ad48ad5687 | 873 | } |
dflet | 0:91ad48ad5687 | 874 | |
dflet | 0:91ad48ad5687 | 875 | /* Update the wake time ready for the next call. */ |
dflet | 0:91ad48ad5687 | 876 | *pxPreviousWakeTime = xTimeToWake; |
dflet | 0:91ad48ad5687 | 877 | |
dflet | 0:91ad48ad5687 | 878 | if( xShouldDelay != pdFALSE ) |
dflet | 0:91ad48ad5687 | 879 | { |
dflet | 0:91ad48ad5687 | 880 | traceTASK_DELAY_UNTIL(); |
dflet | 0:91ad48ad5687 | 881 | |
dflet | 0:91ad48ad5687 | 882 | /* Remove the task from the ready list before adding it to the |
dflet | 0:91ad48ad5687 | 883 | blocked list as the same list item is used for both lists. */ |
dflet | 0:91ad48ad5687 | 884 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 885 | { |
dflet | 0:91ad48ad5687 | 886 | /* The current task must be in a ready list, so there is |
dflet | 0:91ad48ad5687 | 887 | no need to check, and the port reset macro can be called |
dflet | 0:91ad48ad5687 | 888 | directly. */ |
dflet | 0:91ad48ad5687 | 889 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 890 | } |
dflet | 0:91ad48ad5687 | 891 | else |
dflet | 0:91ad48ad5687 | 892 | { |
dflet | 0:91ad48ad5687 | 893 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 894 | } |
dflet | 0:91ad48ad5687 | 895 | |
dflet | 0:91ad48ad5687 | 896 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 897 | } |
dflet | 0:91ad48ad5687 | 898 | else |
dflet | 0:91ad48ad5687 | 899 | { |
dflet | 0:91ad48ad5687 | 900 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 901 | } |
dflet | 0:91ad48ad5687 | 902 | } |
dflet | 0:91ad48ad5687 | 903 | xAlreadyYielded = xTaskResumeAll(); |
dflet | 0:91ad48ad5687 | 904 | |
dflet | 0:91ad48ad5687 | 905 | /* Force a reschedule if xTaskResumeAll has not already done so, we may |
dflet | 0:91ad48ad5687 | 906 | have put ourselves to sleep. */ |
dflet | 0:91ad48ad5687 | 907 | if( xAlreadyYielded == pdFALSE ) |
dflet | 0:91ad48ad5687 | 908 | { |
dflet | 0:91ad48ad5687 | 909 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 910 | } |
dflet | 0:91ad48ad5687 | 911 | else |
dflet | 0:91ad48ad5687 | 912 | { |
dflet | 0:91ad48ad5687 | 913 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 914 | } |
dflet | 0:91ad48ad5687 | 915 | } |
dflet | 0:91ad48ad5687 | 916 | |
dflet | 0:91ad48ad5687 | 917 | #endif /* INCLUDE_vTaskDelayUntil */ |
dflet | 0:91ad48ad5687 | 918 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 919 | |
dflet | 0:91ad48ad5687 | 920 | #if ( INCLUDE_vTaskDelay == 1 ) |
dflet | 0:91ad48ad5687 | 921 | |
dflet | 0:91ad48ad5687 | 922 | void vTaskDelay( const TickType_t xTicksToDelay ) |
dflet | 0:91ad48ad5687 | 923 | { |
dflet | 0:91ad48ad5687 | 924 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 925 | BaseType_t xAlreadyYielded = pdFALSE; |
dflet | 0:91ad48ad5687 | 926 | |
dflet | 0:91ad48ad5687 | 927 | |
dflet | 0:91ad48ad5687 | 928 | /* A delay time of zero just forces a reschedule. */ |
dflet | 0:91ad48ad5687 | 929 | if( xTicksToDelay > ( TickType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 930 | { |
dflet | 0:91ad48ad5687 | 931 | configASSERT( uxSchedulerSuspended == 0 ); |
dflet | 0:91ad48ad5687 | 932 | vTaskSuspendAll(); |
dflet | 0:91ad48ad5687 | 933 | { |
dflet | 0:91ad48ad5687 | 934 | traceTASK_DELAY(); |
dflet | 0:91ad48ad5687 | 935 | |
dflet | 0:91ad48ad5687 | 936 | /* A task that is removed from the event list while the |
dflet | 0:91ad48ad5687 | 937 | scheduler is suspended will not get placed in the ready |
dflet | 0:91ad48ad5687 | 938 | list or removed from the blocked list until the scheduler |
dflet | 0:91ad48ad5687 | 939 | is resumed. |
dflet | 0:91ad48ad5687 | 940 | |
dflet | 0:91ad48ad5687 | 941 | This task cannot be in an event list as it is the currently |
dflet | 0:91ad48ad5687 | 942 | executing task. */ |
dflet | 0:91ad48ad5687 | 943 | |
dflet | 0:91ad48ad5687 | 944 | /* Calculate the time to wake - this may overflow but this is |
dflet | 0:91ad48ad5687 | 945 | not a problem. */ |
dflet | 0:91ad48ad5687 | 946 | xTimeToWake = xTickCount + xTicksToDelay; |
dflet | 0:91ad48ad5687 | 947 | |
dflet | 0:91ad48ad5687 | 948 | /* We must remove ourselves from the ready list before adding |
dflet | 0:91ad48ad5687 | 949 | ourselves to the blocked list as the same list item is used for |
dflet | 0:91ad48ad5687 | 950 | both lists. */ |
dflet | 0:91ad48ad5687 | 951 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 952 | { |
dflet | 0:91ad48ad5687 | 953 | /* The current task must be in a ready list, so there is |
dflet | 0:91ad48ad5687 | 954 | no need to check, and the port reset macro can be called |
dflet | 0:91ad48ad5687 | 955 | directly. */ |
dflet | 0:91ad48ad5687 | 956 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 957 | } |
dflet | 0:91ad48ad5687 | 958 | else |
dflet | 0:91ad48ad5687 | 959 | { |
dflet | 0:91ad48ad5687 | 960 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 961 | } |
dflet | 0:91ad48ad5687 | 962 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 963 | } |
dflet | 0:91ad48ad5687 | 964 | xAlreadyYielded = xTaskResumeAll(); |
dflet | 0:91ad48ad5687 | 965 | } |
dflet | 0:91ad48ad5687 | 966 | else |
dflet | 0:91ad48ad5687 | 967 | { |
dflet | 0:91ad48ad5687 | 968 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 969 | } |
dflet | 0:91ad48ad5687 | 970 | |
dflet | 0:91ad48ad5687 | 971 | /* Force a reschedule if xTaskResumeAll has not already done so, we may |
dflet | 0:91ad48ad5687 | 972 | have put ourselves to sleep. */ |
dflet | 0:91ad48ad5687 | 973 | if( xAlreadyYielded == pdFALSE ) |
dflet | 0:91ad48ad5687 | 974 | { |
dflet | 0:91ad48ad5687 | 975 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 976 | } |
dflet | 0:91ad48ad5687 | 977 | else |
dflet | 0:91ad48ad5687 | 978 | { |
dflet | 0:91ad48ad5687 | 979 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 980 | } |
dflet | 0:91ad48ad5687 | 981 | } |
dflet | 0:91ad48ad5687 | 982 | |
dflet | 0:91ad48ad5687 | 983 | #endif /* INCLUDE_vTaskDelay */ |
dflet | 0:91ad48ad5687 | 984 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 985 | |
dflet | 0:91ad48ad5687 | 986 | #if ( INCLUDE_eTaskGetState == 1 ) |
dflet | 0:91ad48ad5687 | 987 | |
dflet | 0:91ad48ad5687 | 988 | eTaskState eTaskGetState( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 989 | { |
dflet | 0:91ad48ad5687 | 990 | eTaskState eReturn; |
dflet | 0:91ad48ad5687 | 991 | List_t *pxStateList; |
dflet | 0:91ad48ad5687 | 992 | const TCB_t * const pxTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 993 | |
dflet | 0:91ad48ad5687 | 994 | configASSERT( pxTCB ); |
dflet | 0:91ad48ad5687 | 995 | |
dflet | 0:91ad48ad5687 | 996 | if( pxTCB == pxCurrentTCB ) |
dflet | 0:91ad48ad5687 | 997 | { |
dflet | 0:91ad48ad5687 | 998 | /* The task calling this function is querying its own state. */ |
dflet | 0:91ad48ad5687 | 999 | eReturn = eRunning; |
dflet | 0:91ad48ad5687 | 1000 | } |
dflet | 0:91ad48ad5687 | 1001 | else |
dflet | 0:91ad48ad5687 | 1002 | { |
dflet | 0:91ad48ad5687 | 1003 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1004 | { |
dflet | 0:91ad48ad5687 | 1005 | pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1006 | } |
dflet | 0:91ad48ad5687 | 1007 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1008 | |
dflet | 0:91ad48ad5687 | 1009 | if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) ) |
dflet | 0:91ad48ad5687 | 1010 | { |
dflet | 0:91ad48ad5687 | 1011 | /* The task being queried is referenced from one of the Blocked |
dflet | 0:91ad48ad5687 | 1012 | lists. */ |
dflet | 0:91ad48ad5687 | 1013 | eReturn = eBlocked; |
dflet | 0:91ad48ad5687 | 1014 | } |
dflet | 0:91ad48ad5687 | 1015 | |
dflet | 0:91ad48ad5687 | 1016 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 1017 | else if( pxStateList == &xSuspendedTaskList ) |
dflet | 0:91ad48ad5687 | 1018 | { |
dflet | 0:91ad48ad5687 | 1019 | /* The task being queried is referenced from the suspended |
dflet | 0:91ad48ad5687 | 1020 | list. Is it genuinely suspended or is it block |
dflet | 0:91ad48ad5687 | 1021 | indefinitely? */ |
dflet | 0:91ad48ad5687 | 1022 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) |
dflet | 0:91ad48ad5687 | 1023 | { |
dflet | 0:91ad48ad5687 | 1024 | eReturn = eSuspended; |
dflet | 0:91ad48ad5687 | 1025 | } |
dflet | 0:91ad48ad5687 | 1026 | else |
dflet | 0:91ad48ad5687 | 1027 | { |
dflet | 0:91ad48ad5687 | 1028 | eReturn = eBlocked; |
dflet | 0:91ad48ad5687 | 1029 | } |
dflet | 0:91ad48ad5687 | 1030 | } |
dflet | 0:91ad48ad5687 | 1031 | #endif |
dflet | 0:91ad48ad5687 | 1032 | |
dflet | 0:91ad48ad5687 | 1033 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 1034 | else if( pxStateList == &xTasksWaitingTermination ) |
dflet | 0:91ad48ad5687 | 1035 | { |
dflet | 0:91ad48ad5687 | 1036 | /* The task being queried is referenced from the deleted |
dflet | 0:91ad48ad5687 | 1037 | tasks list. */ |
dflet | 0:91ad48ad5687 | 1038 | eReturn = eDeleted; |
dflet | 0:91ad48ad5687 | 1039 | } |
dflet | 0:91ad48ad5687 | 1040 | #endif |
dflet | 0:91ad48ad5687 | 1041 | |
dflet | 0:91ad48ad5687 | 1042 | else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ |
dflet | 0:91ad48ad5687 | 1043 | { |
dflet | 0:91ad48ad5687 | 1044 | /* If the task is not in any other state, it must be in the |
dflet | 0:91ad48ad5687 | 1045 | Ready (including pending ready) state. */ |
dflet | 0:91ad48ad5687 | 1046 | eReturn = eReady; |
dflet | 0:91ad48ad5687 | 1047 | } |
dflet | 0:91ad48ad5687 | 1048 | } |
dflet | 0:91ad48ad5687 | 1049 | |
dflet | 0:91ad48ad5687 | 1050 | return eReturn; |
dflet | 0:91ad48ad5687 | 1051 | } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ |
dflet | 0:91ad48ad5687 | 1052 | |
dflet | 0:91ad48ad5687 | 1053 | #endif /* INCLUDE_eTaskGetState */ |
dflet | 0:91ad48ad5687 | 1054 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1055 | |
dflet | 0:91ad48ad5687 | 1056 | #if ( INCLUDE_uxTaskPriorityGet == 1 ) |
dflet | 0:91ad48ad5687 | 1057 | |
dflet | 0:91ad48ad5687 | 1058 | UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 1059 | { |
dflet | 0:91ad48ad5687 | 1060 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1061 | UBaseType_t uxReturn; |
dflet | 0:91ad48ad5687 | 1062 | |
dflet | 0:91ad48ad5687 | 1063 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1064 | { |
dflet | 0:91ad48ad5687 | 1065 | /* If null is passed in here then we are changing the |
dflet | 0:91ad48ad5687 | 1066 | priority of the calling function. */ |
dflet | 0:91ad48ad5687 | 1067 | pxTCB = prvGetTCBFromHandle( xTask ); |
dflet | 0:91ad48ad5687 | 1068 | uxReturn = pxTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 1069 | } |
dflet | 0:91ad48ad5687 | 1070 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1071 | |
dflet | 0:91ad48ad5687 | 1072 | return uxReturn; |
dflet | 0:91ad48ad5687 | 1073 | } |
dflet | 0:91ad48ad5687 | 1074 | |
dflet | 0:91ad48ad5687 | 1075 | #endif /* INCLUDE_uxTaskPriorityGet */ |
dflet | 0:91ad48ad5687 | 1076 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1077 | |
dflet | 0:91ad48ad5687 | 1078 | #if ( INCLUDE_uxTaskPriorityGet == 1 ) |
dflet | 0:91ad48ad5687 | 1079 | |
dflet | 0:91ad48ad5687 | 1080 | UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 1081 | { |
dflet | 0:91ad48ad5687 | 1082 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1083 | UBaseType_t uxReturn, uxSavedInterruptState; |
dflet | 0:91ad48ad5687 | 1084 | |
dflet | 0:91ad48ad5687 | 1085 | /* RTOS ports that support interrupt nesting have the concept of a |
dflet | 0:91ad48ad5687 | 1086 | maximum system call (or maximum API call) interrupt priority. |
dflet | 0:91ad48ad5687 | 1087 | Interrupts that are above the maximum system call priority are keep |
dflet | 0:91ad48ad5687 | 1088 | permanently enabled, even when the RTOS kernel is in a critical section, |
dflet | 0:91ad48ad5687 | 1089 | but cannot make any calls to FreeRTOS API functions. If configASSERT() |
dflet | 0:91ad48ad5687 | 1090 | is defined in FreeRTOSConfig.h then |
dflet | 0:91ad48ad5687 | 1091 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion |
dflet | 0:91ad48ad5687 | 1092 | failure if a FreeRTOS API function is called from an interrupt that has |
dflet | 0:91ad48ad5687 | 1093 | been assigned a priority above the configured maximum system call |
dflet | 0:91ad48ad5687 | 1094 | priority. Only FreeRTOS functions that end in FromISR can be called |
dflet | 0:91ad48ad5687 | 1095 | from interrupts that have been assigned a priority at or (logically) |
dflet | 0:91ad48ad5687 | 1096 | below the maximum system call interrupt priority. FreeRTOS maintains a |
dflet | 0:91ad48ad5687 | 1097 | separate interrupt safe API to ensure interrupt entry is as fast and as |
dflet | 0:91ad48ad5687 | 1098 | simple as possible. More information (albeit Cortex-M specific) is |
dflet | 0:91ad48ad5687 | 1099 | provided on the following link: |
dflet | 0:91ad48ad5687 | 1100 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */ |
dflet | 0:91ad48ad5687 | 1101 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); |
dflet | 0:91ad48ad5687 | 1102 | |
dflet | 0:91ad48ad5687 | 1103 | uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); |
dflet | 0:91ad48ad5687 | 1104 | { |
dflet | 0:91ad48ad5687 | 1105 | /* If null is passed in here then it is the priority of the calling |
dflet | 0:91ad48ad5687 | 1106 | task that is being queried. */ |
dflet | 0:91ad48ad5687 | 1107 | pxTCB = prvGetTCBFromHandle( xTask ); |
dflet | 0:91ad48ad5687 | 1108 | uxReturn = pxTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 1109 | } |
dflet | 0:91ad48ad5687 | 1110 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); |
dflet | 0:91ad48ad5687 | 1111 | |
dflet | 0:91ad48ad5687 | 1112 | return uxReturn; |
dflet | 0:91ad48ad5687 | 1113 | } |
dflet | 0:91ad48ad5687 | 1114 | |
dflet | 0:91ad48ad5687 | 1115 | #endif /* INCLUDE_uxTaskPriorityGet */ |
dflet | 0:91ad48ad5687 | 1116 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1117 | |
dflet | 0:91ad48ad5687 | 1118 | #if ( INCLUDE_vTaskPrioritySet == 1 ) |
dflet | 0:91ad48ad5687 | 1119 | |
dflet | 0:91ad48ad5687 | 1120 | void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) |
dflet | 0:91ad48ad5687 | 1121 | { |
dflet | 0:91ad48ad5687 | 1122 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1123 | UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; |
dflet | 0:91ad48ad5687 | 1124 | BaseType_t xYieldRequired = pdFALSE; |
dflet | 0:91ad48ad5687 | 1125 | |
dflet | 0:91ad48ad5687 | 1126 | configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); |
dflet | 0:91ad48ad5687 | 1127 | |
dflet | 0:91ad48ad5687 | 1128 | /* Ensure the new priority is valid. */ |
dflet | 0:91ad48ad5687 | 1129 | if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) |
dflet | 0:91ad48ad5687 | 1130 | { |
dflet | 0:91ad48ad5687 | 1131 | uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; |
dflet | 0:91ad48ad5687 | 1132 | } |
dflet | 0:91ad48ad5687 | 1133 | else |
dflet | 0:91ad48ad5687 | 1134 | { |
dflet | 0:91ad48ad5687 | 1135 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1136 | } |
dflet | 0:91ad48ad5687 | 1137 | |
dflet | 0:91ad48ad5687 | 1138 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1139 | { |
dflet | 0:91ad48ad5687 | 1140 | /* If null is passed in here then it is the priority of the calling |
dflet | 0:91ad48ad5687 | 1141 | task that is being changed. */ |
dflet | 0:91ad48ad5687 | 1142 | pxTCB = prvGetTCBFromHandle( xTask ); |
dflet | 0:91ad48ad5687 | 1143 | |
dflet | 0:91ad48ad5687 | 1144 | traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); |
dflet | 0:91ad48ad5687 | 1145 | |
dflet | 0:91ad48ad5687 | 1146 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 1147 | { |
dflet | 0:91ad48ad5687 | 1148 | uxCurrentBasePriority = pxTCB->uxBasePriority; |
dflet | 0:91ad48ad5687 | 1149 | } |
dflet | 0:91ad48ad5687 | 1150 | #else |
dflet | 0:91ad48ad5687 | 1151 | { |
dflet | 0:91ad48ad5687 | 1152 | uxCurrentBasePriority = pxTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 1153 | } |
dflet | 0:91ad48ad5687 | 1154 | #endif |
dflet | 0:91ad48ad5687 | 1155 | |
dflet | 0:91ad48ad5687 | 1156 | if( uxCurrentBasePriority != uxNewPriority ) |
dflet | 0:91ad48ad5687 | 1157 | { |
dflet | 0:91ad48ad5687 | 1158 | /* The priority change may have readied a task of higher |
dflet | 0:91ad48ad5687 | 1159 | priority than the calling task. */ |
dflet | 0:91ad48ad5687 | 1160 | if( uxNewPriority > uxCurrentBasePriority ) |
dflet | 0:91ad48ad5687 | 1161 | { |
dflet | 0:91ad48ad5687 | 1162 | if( pxTCB != pxCurrentTCB ) |
dflet | 0:91ad48ad5687 | 1163 | { |
dflet | 0:91ad48ad5687 | 1164 | /* The priority of a task other than the currently |
dflet | 0:91ad48ad5687 | 1165 | running task is being raised. Is the priority being |
dflet | 0:91ad48ad5687 | 1166 | raised above that of the running task? */ |
dflet | 0:91ad48ad5687 | 1167 | if( uxNewPriority >= pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 1168 | { |
dflet | 0:91ad48ad5687 | 1169 | xYieldRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 1170 | } |
dflet | 0:91ad48ad5687 | 1171 | else |
dflet | 0:91ad48ad5687 | 1172 | { |
dflet | 0:91ad48ad5687 | 1173 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1174 | } |
dflet | 0:91ad48ad5687 | 1175 | } |
dflet | 0:91ad48ad5687 | 1176 | else |
dflet | 0:91ad48ad5687 | 1177 | { |
dflet | 0:91ad48ad5687 | 1178 | /* The priority of the running task is being raised, |
dflet | 0:91ad48ad5687 | 1179 | but the running task must already be the highest |
dflet | 0:91ad48ad5687 | 1180 | priority task able to run so no yield is required. */ |
dflet | 0:91ad48ad5687 | 1181 | } |
dflet | 0:91ad48ad5687 | 1182 | } |
dflet | 0:91ad48ad5687 | 1183 | else if( pxTCB == pxCurrentTCB ) |
dflet | 0:91ad48ad5687 | 1184 | { |
dflet | 0:91ad48ad5687 | 1185 | /* Setting the priority of the running task down means |
dflet | 0:91ad48ad5687 | 1186 | there may now be another task of higher priority that |
dflet | 0:91ad48ad5687 | 1187 | is ready to execute. */ |
dflet | 0:91ad48ad5687 | 1188 | xYieldRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 1189 | } |
dflet | 0:91ad48ad5687 | 1190 | else |
dflet | 0:91ad48ad5687 | 1191 | { |
dflet | 0:91ad48ad5687 | 1192 | /* Setting the priority of any other task down does not |
dflet | 0:91ad48ad5687 | 1193 | require a yield as the running task must be above the |
dflet | 0:91ad48ad5687 | 1194 | new priority of the task being modified. */ |
dflet | 0:91ad48ad5687 | 1195 | } |
dflet | 0:91ad48ad5687 | 1196 | |
dflet | 0:91ad48ad5687 | 1197 | /* Remember the ready list the task might be referenced from |
dflet | 0:91ad48ad5687 | 1198 | before its uxPriority member is changed so the |
dflet | 0:91ad48ad5687 | 1199 | taskRESET_READY_PRIORITY() macro can function correctly. */ |
dflet | 0:91ad48ad5687 | 1200 | uxPriorityUsedOnEntry = pxTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 1201 | |
dflet | 0:91ad48ad5687 | 1202 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 1203 | { |
dflet | 0:91ad48ad5687 | 1204 | /* Only change the priority being used if the task is not |
dflet | 0:91ad48ad5687 | 1205 | currently using an inherited priority. */ |
dflet | 0:91ad48ad5687 | 1206 | if( pxTCB->uxBasePriority == pxTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 1207 | { |
dflet | 0:91ad48ad5687 | 1208 | pxTCB->uxPriority = uxNewPriority; |
dflet | 0:91ad48ad5687 | 1209 | } |
dflet | 0:91ad48ad5687 | 1210 | else |
dflet | 0:91ad48ad5687 | 1211 | { |
dflet | 0:91ad48ad5687 | 1212 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1213 | } |
dflet | 0:91ad48ad5687 | 1214 | |
dflet | 0:91ad48ad5687 | 1215 | /* The base priority gets set whatever. */ |
dflet | 0:91ad48ad5687 | 1216 | pxTCB->uxBasePriority = uxNewPriority; |
dflet | 0:91ad48ad5687 | 1217 | } |
dflet | 0:91ad48ad5687 | 1218 | #else |
dflet | 0:91ad48ad5687 | 1219 | { |
dflet | 0:91ad48ad5687 | 1220 | pxTCB->uxPriority = uxNewPriority; |
dflet | 0:91ad48ad5687 | 1221 | } |
dflet | 0:91ad48ad5687 | 1222 | #endif |
dflet | 0:91ad48ad5687 | 1223 | |
dflet | 0:91ad48ad5687 | 1224 | /* Only reset the event list item value if the value is not |
dflet | 0:91ad48ad5687 | 1225 | being used for anything else. */ |
dflet | 0:91ad48ad5687 | 1226 | if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) |
dflet | 0:91ad48ad5687 | 1227 | { |
dflet | 0:91ad48ad5687 | 1228 | 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. */ |
dflet | 0:91ad48ad5687 | 1229 | } |
dflet | 0:91ad48ad5687 | 1230 | else |
dflet | 0:91ad48ad5687 | 1231 | { |
dflet | 0:91ad48ad5687 | 1232 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1233 | } |
dflet | 0:91ad48ad5687 | 1234 | |
dflet | 0:91ad48ad5687 | 1235 | /* If the task is in the blocked or suspended list we need do |
dflet | 0:91ad48ad5687 | 1236 | nothing more than change it's priority variable. However, if |
dflet | 0:91ad48ad5687 | 1237 | the task is in a ready list it needs to be removed and placed |
dflet | 0:91ad48ad5687 | 1238 | in the list appropriate to its new priority. */ |
dflet | 0:91ad48ad5687 | 1239 | if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1240 | { |
dflet | 0:91ad48ad5687 | 1241 | /* The task is currently in its ready list - remove before adding |
dflet | 0:91ad48ad5687 | 1242 | it to it's new ready list. As we are in a critical section we |
dflet | 0:91ad48ad5687 | 1243 | can do this even if the scheduler is suspended. */ |
dflet | 0:91ad48ad5687 | 1244 | if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 1245 | { |
dflet | 0:91ad48ad5687 | 1246 | /* It is known that the task is in its ready list so |
dflet | 0:91ad48ad5687 | 1247 | there is no need to check again and the port level |
dflet | 0:91ad48ad5687 | 1248 | reset macro can be called directly. */ |
dflet | 0:91ad48ad5687 | 1249 | portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 1250 | } |
dflet | 0:91ad48ad5687 | 1251 | else |
dflet | 0:91ad48ad5687 | 1252 | { |
dflet | 0:91ad48ad5687 | 1253 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1254 | } |
dflet | 0:91ad48ad5687 | 1255 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 1256 | } |
dflet | 0:91ad48ad5687 | 1257 | else |
dflet | 0:91ad48ad5687 | 1258 | { |
dflet | 0:91ad48ad5687 | 1259 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1260 | } |
dflet | 0:91ad48ad5687 | 1261 | |
dflet | 0:91ad48ad5687 | 1262 | if( xYieldRequired == pdTRUE ) |
dflet | 0:91ad48ad5687 | 1263 | { |
dflet | 0:91ad48ad5687 | 1264 | taskYIELD_IF_USING_PREEMPTION(); |
dflet | 0:91ad48ad5687 | 1265 | } |
dflet | 0:91ad48ad5687 | 1266 | else |
dflet | 0:91ad48ad5687 | 1267 | { |
dflet | 0:91ad48ad5687 | 1268 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1269 | } |
dflet | 0:91ad48ad5687 | 1270 | |
dflet | 0:91ad48ad5687 | 1271 | /* Remove compiler warning about unused variables when the port |
dflet | 0:91ad48ad5687 | 1272 | optimised task selection is not being used. */ |
dflet | 0:91ad48ad5687 | 1273 | ( void ) uxPriorityUsedOnEntry; |
dflet | 0:91ad48ad5687 | 1274 | } |
dflet | 0:91ad48ad5687 | 1275 | } |
dflet | 0:91ad48ad5687 | 1276 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1277 | } |
dflet | 0:91ad48ad5687 | 1278 | |
dflet | 0:91ad48ad5687 | 1279 | #endif /* INCLUDE_vTaskPrioritySet */ |
dflet | 0:91ad48ad5687 | 1280 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1281 | |
dflet | 0:91ad48ad5687 | 1282 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 1283 | |
dflet | 0:91ad48ad5687 | 1284 | void vTaskSuspend( TaskHandle_t xTaskToSuspend ) |
dflet | 0:91ad48ad5687 | 1285 | { |
dflet | 0:91ad48ad5687 | 1286 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1287 | |
dflet | 0:91ad48ad5687 | 1288 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1289 | { |
dflet | 0:91ad48ad5687 | 1290 | /* If null is passed in here then it is the running task that is |
dflet | 0:91ad48ad5687 | 1291 | being suspended. */ |
dflet | 0:91ad48ad5687 | 1292 | pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); |
dflet | 0:91ad48ad5687 | 1293 | |
dflet | 0:91ad48ad5687 | 1294 | traceTASK_SUSPEND( pxTCB ); |
dflet | 0:91ad48ad5687 | 1295 | |
dflet | 0:91ad48ad5687 | 1296 | /* Remove task from the ready/delayed list and place in the |
dflet | 0:91ad48ad5687 | 1297 | suspended list. */ |
dflet | 0:91ad48ad5687 | 1298 | if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 1299 | { |
dflet | 0:91ad48ad5687 | 1300 | taskRESET_READY_PRIORITY( pxTCB->uxPriority ); |
dflet | 0:91ad48ad5687 | 1301 | } |
dflet | 0:91ad48ad5687 | 1302 | else |
dflet | 0:91ad48ad5687 | 1303 | { |
dflet | 0:91ad48ad5687 | 1304 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1305 | } |
dflet | 0:91ad48ad5687 | 1306 | |
dflet | 0:91ad48ad5687 | 1307 | /* Is the task waiting on an event also? */ |
dflet | 0:91ad48ad5687 | 1308 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) |
dflet | 0:91ad48ad5687 | 1309 | { |
dflet | 0:91ad48ad5687 | 1310 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 1311 | } |
dflet | 0:91ad48ad5687 | 1312 | else |
dflet | 0:91ad48ad5687 | 1313 | { |
dflet | 0:91ad48ad5687 | 1314 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1315 | } |
dflet | 0:91ad48ad5687 | 1316 | |
dflet | 0:91ad48ad5687 | 1317 | vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1318 | } |
dflet | 0:91ad48ad5687 | 1319 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1320 | |
dflet | 0:91ad48ad5687 | 1321 | if( pxTCB == pxCurrentTCB ) |
dflet | 0:91ad48ad5687 | 1322 | { |
dflet | 0:91ad48ad5687 | 1323 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1324 | { |
dflet | 0:91ad48ad5687 | 1325 | /* The current task has just been suspended. */ |
dflet | 0:91ad48ad5687 | 1326 | configASSERT( uxSchedulerSuspended == 0 ); |
dflet | 0:91ad48ad5687 | 1327 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 1328 | } |
dflet | 0:91ad48ad5687 | 1329 | else |
dflet | 0:91ad48ad5687 | 1330 | { |
dflet | 0:91ad48ad5687 | 1331 | /* The scheduler is not running, but the task that was pointed |
dflet | 0:91ad48ad5687 | 1332 | to by pxCurrentTCB has just been suspended and pxCurrentTCB |
dflet | 0:91ad48ad5687 | 1333 | must be adjusted to point to a different task. */ |
dflet | 0:91ad48ad5687 | 1334 | if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) |
dflet | 0:91ad48ad5687 | 1335 | { |
dflet | 0:91ad48ad5687 | 1336 | /* No other tasks are ready, so set pxCurrentTCB back to |
dflet | 0:91ad48ad5687 | 1337 | NULL so when the next task is created pxCurrentTCB will |
dflet | 0:91ad48ad5687 | 1338 | be set to point to it no matter what its relative priority |
dflet | 0:91ad48ad5687 | 1339 | is. */ |
dflet | 0:91ad48ad5687 | 1340 | pxCurrentTCB = NULL; |
dflet | 0:91ad48ad5687 | 1341 | } |
dflet | 0:91ad48ad5687 | 1342 | else |
dflet | 0:91ad48ad5687 | 1343 | { |
dflet | 0:91ad48ad5687 | 1344 | vTaskSwitchContext(); |
dflet | 0:91ad48ad5687 | 1345 | } |
dflet | 0:91ad48ad5687 | 1346 | } |
dflet | 0:91ad48ad5687 | 1347 | } |
dflet | 0:91ad48ad5687 | 1348 | else |
dflet | 0:91ad48ad5687 | 1349 | { |
dflet | 0:91ad48ad5687 | 1350 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1351 | { |
dflet | 0:91ad48ad5687 | 1352 | /* A task other than the currently running task was suspended, |
dflet | 0:91ad48ad5687 | 1353 | reset the next expected unblock time in case it referred to the |
dflet | 0:91ad48ad5687 | 1354 | task that is now in the Suspended state. */ |
dflet | 0:91ad48ad5687 | 1355 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1356 | { |
dflet | 0:91ad48ad5687 | 1357 | prvResetNextTaskUnblockTime(); |
dflet | 0:91ad48ad5687 | 1358 | } |
dflet | 0:91ad48ad5687 | 1359 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1360 | } |
dflet | 0:91ad48ad5687 | 1361 | else |
dflet | 0:91ad48ad5687 | 1362 | { |
dflet | 0:91ad48ad5687 | 1363 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1364 | } |
dflet | 0:91ad48ad5687 | 1365 | } |
dflet | 0:91ad48ad5687 | 1366 | } |
dflet | 0:91ad48ad5687 | 1367 | |
dflet | 0:91ad48ad5687 | 1368 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 1369 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1370 | |
dflet | 0:91ad48ad5687 | 1371 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 1372 | |
dflet | 0:91ad48ad5687 | 1373 | static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 1374 | { |
dflet | 0:91ad48ad5687 | 1375 | BaseType_t xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 1376 | const TCB_t * const pxTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 1377 | |
dflet | 0:91ad48ad5687 | 1378 | /* Accesses xPendingReadyList so must be called from a critical |
dflet | 0:91ad48ad5687 | 1379 | section. */ |
dflet | 0:91ad48ad5687 | 1380 | |
dflet | 0:91ad48ad5687 | 1381 | /* It does not make sense to check if the calling task is suspended. */ |
dflet | 0:91ad48ad5687 | 1382 | configASSERT( xTask ); |
dflet | 0:91ad48ad5687 | 1383 | |
dflet | 0:91ad48ad5687 | 1384 | /* Is the task being resumed actually in the suspended list? */ |
dflet | 0:91ad48ad5687 | 1385 | if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1386 | { |
dflet | 0:91ad48ad5687 | 1387 | /* Has the task already been resumed from within an ISR? */ |
dflet | 0:91ad48ad5687 | 1388 | if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) |
dflet | 0:91ad48ad5687 | 1389 | { |
dflet | 0:91ad48ad5687 | 1390 | /* Is it in the suspended list because it is in the Suspended |
dflet | 0:91ad48ad5687 | 1391 | state, or because is is blocked with no timeout? */ |
dflet | 0:91ad48ad5687 | 1392 | if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1393 | { |
dflet | 0:91ad48ad5687 | 1394 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 1395 | } |
dflet | 0:91ad48ad5687 | 1396 | else |
dflet | 0:91ad48ad5687 | 1397 | { |
dflet | 0:91ad48ad5687 | 1398 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1399 | } |
dflet | 0:91ad48ad5687 | 1400 | } |
dflet | 0:91ad48ad5687 | 1401 | else |
dflet | 0:91ad48ad5687 | 1402 | { |
dflet | 0:91ad48ad5687 | 1403 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1404 | } |
dflet | 0:91ad48ad5687 | 1405 | } |
dflet | 0:91ad48ad5687 | 1406 | else |
dflet | 0:91ad48ad5687 | 1407 | { |
dflet | 0:91ad48ad5687 | 1408 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1409 | } |
dflet | 0:91ad48ad5687 | 1410 | |
dflet | 0:91ad48ad5687 | 1411 | return xReturn; |
dflet | 0:91ad48ad5687 | 1412 | } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ |
dflet | 0:91ad48ad5687 | 1413 | |
dflet | 0:91ad48ad5687 | 1414 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 1415 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1416 | |
dflet | 0:91ad48ad5687 | 1417 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 1418 | |
dflet | 0:91ad48ad5687 | 1419 | void vTaskResume( TaskHandle_t xTaskToResume ) |
dflet | 0:91ad48ad5687 | 1420 | { |
dflet | 0:91ad48ad5687 | 1421 | TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; |
dflet | 0:91ad48ad5687 | 1422 | |
dflet | 0:91ad48ad5687 | 1423 | /* It does not make sense to resume the calling task. */ |
dflet | 0:91ad48ad5687 | 1424 | configASSERT( xTaskToResume ); |
dflet | 0:91ad48ad5687 | 1425 | |
dflet | 0:91ad48ad5687 | 1426 | /* The parameter cannot be NULL as it is impossible to resume the |
dflet | 0:91ad48ad5687 | 1427 | currently executing task. */ |
dflet | 0:91ad48ad5687 | 1428 | if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) |
dflet | 0:91ad48ad5687 | 1429 | { |
dflet | 0:91ad48ad5687 | 1430 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1431 | { |
dflet | 0:91ad48ad5687 | 1432 | if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE ) |
dflet | 0:91ad48ad5687 | 1433 | { |
dflet | 0:91ad48ad5687 | 1434 | traceTASK_RESUME( pxTCB ); |
dflet | 0:91ad48ad5687 | 1435 | |
dflet | 0:91ad48ad5687 | 1436 | /* As we are in a critical section we can access the ready |
dflet | 0:91ad48ad5687 | 1437 | lists even if the scheduler is suspended. */ |
dflet | 0:91ad48ad5687 | 1438 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1439 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 1440 | |
dflet | 0:91ad48ad5687 | 1441 | /* We may have just resumed a higher priority task. */ |
dflet | 0:91ad48ad5687 | 1442 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 1443 | { |
dflet | 0:91ad48ad5687 | 1444 | /* This yield may not cause the task just resumed to run, |
dflet | 0:91ad48ad5687 | 1445 | but will leave the lists in the correct state for the |
dflet | 0:91ad48ad5687 | 1446 | next yield. */ |
dflet | 0:91ad48ad5687 | 1447 | taskYIELD_IF_USING_PREEMPTION(); |
dflet | 0:91ad48ad5687 | 1448 | } |
dflet | 0:91ad48ad5687 | 1449 | else |
dflet | 0:91ad48ad5687 | 1450 | { |
dflet | 0:91ad48ad5687 | 1451 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1452 | } |
dflet | 0:91ad48ad5687 | 1453 | } |
dflet | 0:91ad48ad5687 | 1454 | else |
dflet | 0:91ad48ad5687 | 1455 | { |
dflet | 0:91ad48ad5687 | 1456 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1457 | } |
dflet | 0:91ad48ad5687 | 1458 | } |
dflet | 0:91ad48ad5687 | 1459 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1460 | } |
dflet | 0:91ad48ad5687 | 1461 | else |
dflet | 0:91ad48ad5687 | 1462 | { |
dflet | 0:91ad48ad5687 | 1463 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1464 | } |
dflet | 0:91ad48ad5687 | 1465 | } |
dflet | 0:91ad48ad5687 | 1466 | |
dflet | 0:91ad48ad5687 | 1467 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 1468 | |
dflet | 0:91ad48ad5687 | 1469 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1470 | |
dflet | 0:91ad48ad5687 | 1471 | #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) |
dflet | 0:91ad48ad5687 | 1472 | |
dflet | 0:91ad48ad5687 | 1473 | BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) |
dflet | 0:91ad48ad5687 | 1474 | { |
dflet | 0:91ad48ad5687 | 1475 | BaseType_t xYieldRequired = pdFALSE; |
dflet | 0:91ad48ad5687 | 1476 | TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; |
dflet | 0:91ad48ad5687 | 1477 | UBaseType_t uxSavedInterruptStatus; |
dflet | 0:91ad48ad5687 | 1478 | |
dflet | 0:91ad48ad5687 | 1479 | configASSERT( xTaskToResume ); |
dflet | 0:91ad48ad5687 | 1480 | |
dflet | 0:91ad48ad5687 | 1481 | /* RTOS ports that support interrupt nesting have the concept of a |
dflet | 0:91ad48ad5687 | 1482 | maximum system call (or maximum API call) interrupt priority. |
dflet | 0:91ad48ad5687 | 1483 | Interrupts that are above the maximum system call priority are keep |
dflet | 0:91ad48ad5687 | 1484 | permanently enabled, even when the RTOS kernel is in a critical section, |
dflet | 0:91ad48ad5687 | 1485 | but cannot make any calls to FreeRTOS API functions. If configASSERT() |
dflet | 0:91ad48ad5687 | 1486 | is defined in FreeRTOSConfig.h then |
dflet | 0:91ad48ad5687 | 1487 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion |
dflet | 0:91ad48ad5687 | 1488 | failure if a FreeRTOS API function is called from an interrupt that has |
dflet | 0:91ad48ad5687 | 1489 | been assigned a priority above the configured maximum system call |
dflet | 0:91ad48ad5687 | 1490 | priority. Only FreeRTOS functions that end in FromISR can be called |
dflet | 0:91ad48ad5687 | 1491 | from interrupts that have been assigned a priority at or (logically) |
dflet | 0:91ad48ad5687 | 1492 | below the maximum system call interrupt priority. FreeRTOS maintains a |
dflet | 0:91ad48ad5687 | 1493 | separate interrupt safe API to ensure interrupt entry is as fast and as |
dflet | 0:91ad48ad5687 | 1494 | simple as possible. More information (albeit Cortex-M specific) is |
dflet | 0:91ad48ad5687 | 1495 | provided on the following link: |
dflet | 0:91ad48ad5687 | 1496 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */ |
dflet | 0:91ad48ad5687 | 1497 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); |
dflet | 0:91ad48ad5687 | 1498 | |
dflet | 0:91ad48ad5687 | 1499 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); |
dflet | 0:91ad48ad5687 | 1500 | { |
dflet | 0:91ad48ad5687 | 1501 | if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE ) |
dflet | 0:91ad48ad5687 | 1502 | { |
dflet | 0:91ad48ad5687 | 1503 | traceTASK_RESUME_FROM_ISR( pxTCB ); |
dflet | 0:91ad48ad5687 | 1504 | |
dflet | 0:91ad48ad5687 | 1505 | /* Check the ready lists can be accessed. */ |
dflet | 0:91ad48ad5687 | 1506 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 1507 | { |
dflet | 0:91ad48ad5687 | 1508 | /* Ready lists can be accessed so move the task from the |
dflet | 0:91ad48ad5687 | 1509 | suspended list to the ready list directly. */ |
dflet | 0:91ad48ad5687 | 1510 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 1511 | { |
dflet | 0:91ad48ad5687 | 1512 | xYieldRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 1513 | } |
dflet | 0:91ad48ad5687 | 1514 | else |
dflet | 0:91ad48ad5687 | 1515 | { |
dflet | 0:91ad48ad5687 | 1516 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1517 | } |
dflet | 0:91ad48ad5687 | 1518 | |
dflet | 0:91ad48ad5687 | 1519 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1520 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 1521 | } |
dflet | 0:91ad48ad5687 | 1522 | else |
dflet | 0:91ad48ad5687 | 1523 | { |
dflet | 0:91ad48ad5687 | 1524 | /* The delayed or ready lists cannot be accessed so the task |
dflet | 0:91ad48ad5687 | 1525 | is held in the pending ready list until the scheduler is |
dflet | 0:91ad48ad5687 | 1526 | unsuspended. */ |
dflet | 0:91ad48ad5687 | 1527 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 1528 | } |
dflet | 0:91ad48ad5687 | 1529 | } |
dflet | 0:91ad48ad5687 | 1530 | else |
dflet | 0:91ad48ad5687 | 1531 | { |
dflet | 0:91ad48ad5687 | 1532 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1533 | } |
dflet | 0:91ad48ad5687 | 1534 | } |
dflet | 0:91ad48ad5687 | 1535 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); |
dflet | 0:91ad48ad5687 | 1536 | |
dflet | 0:91ad48ad5687 | 1537 | return xYieldRequired; |
dflet | 0:91ad48ad5687 | 1538 | } |
dflet | 0:91ad48ad5687 | 1539 | |
dflet | 0:91ad48ad5687 | 1540 | #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 1541 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1542 | |
dflet | 0:91ad48ad5687 | 1543 | void vTaskStartScheduler( void ) |
dflet | 0:91ad48ad5687 | 1544 | { |
dflet | 0:91ad48ad5687 | 1545 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 1546 | |
dflet | 0:91ad48ad5687 | 1547 | /* Add the idle task at the lowest priority. */ |
dflet | 0:91ad48ad5687 | 1548 | #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) |
dflet | 0:91ad48ad5687 | 1549 | { |
dflet | 0:91ad48ad5687 | 1550 | /* Create the idle task, storing its handle in xIdleTaskHandle so it can |
dflet | 0:91ad48ad5687 | 1551 | be returned by the xTaskGetIdleTaskHandle() function. */ |
dflet | 0:91ad48ad5687 | 1552 | 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. */ |
dflet | 0:91ad48ad5687 | 1553 | } |
dflet | 0:91ad48ad5687 | 1554 | #else |
dflet | 0:91ad48ad5687 | 1555 | { |
dflet | 0:91ad48ad5687 | 1556 | /* Create the idle task without storing its handle. */ |
dflet | 0:91ad48ad5687 | 1557 | 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. */ |
dflet | 0:91ad48ad5687 | 1558 | } |
dflet | 0:91ad48ad5687 | 1559 | #endif /* INCLUDE_xTaskGetIdleTaskHandle */ |
dflet | 0:91ad48ad5687 | 1560 | |
dflet | 0:91ad48ad5687 | 1561 | #if ( configUSE_TIMERS == 1 ) |
dflet | 0:91ad48ad5687 | 1562 | { |
dflet | 0:91ad48ad5687 | 1563 | if( xReturn == pdPASS ) |
dflet | 0:91ad48ad5687 | 1564 | { |
dflet | 0:91ad48ad5687 | 1565 | xReturn = xTimerCreateTimerTask(); |
dflet | 0:91ad48ad5687 | 1566 | } |
dflet | 0:91ad48ad5687 | 1567 | else |
dflet | 0:91ad48ad5687 | 1568 | { |
dflet | 0:91ad48ad5687 | 1569 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1570 | } |
dflet | 0:91ad48ad5687 | 1571 | } |
dflet | 0:91ad48ad5687 | 1572 | #endif /* configUSE_TIMERS */ |
dflet | 0:91ad48ad5687 | 1573 | |
dflet | 0:91ad48ad5687 | 1574 | if( xReturn == pdPASS ) |
dflet | 0:91ad48ad5687 | 1575 | { |
dflet | 0:91ad48ad5687 | 1576 | /* Interrupts are turned off here, to ensure a tick does not occur |
dflet | 0:91ad48ad5687 | 1577 | before or during the call to xPortStartScheduler(). The stacks of |
dflet | 0:91ad48ad5687 | 1578 | the created tasks contain a status word with interrupts switched on |
dflet | 0:91ad48ad5687 | 1579 | so interrupts will automatically get re-enabled when the first task |
dflet | 0:91ad48ad5687 | 1580 | starts to run. */ |
dflet | 0:91ad48ad5687 | 1581 | portDISABLE_INTERRUPTS(); |
dflet | 0:91ad48ad5687 | 1582 | |
dflet | 0:91ad48ad5687 | 1583 | #if ( configUSE_NEWLIB_REENTRANT == 1 ) |
dflet | 0:91ad48ad5687 | 1584 | { |
dflet | 0:91ad48ad5687 | 1585 | /* Switch Newlib's _impure_ptr variable to point to the _reent |
dflet | 0:91ad48ad5687 | 1586 | structure specific to the task that will run first. */ |
dflet | 0:91ad48ad5687 | 1587 | _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); |
dflet | 0:91ad48ad5687 | 1588 | } |
dflet | 0:91ad48ad5687 | 1589 | #endif /* configUSE_NEWLIB_REENTRANT */ |
dflet | 0:91ad48ad5687 | 1590 | |
dflet | 0:91ad48ad5687 | 1591 | xSchedulerRunning = pdTRUE; |
dflet | 0:91ad48ad5687 | 1592 | xTickCount = ( TickType_t ) 0U; |
dflet | 0:91ad48ad5687 | 1593 | |
dflet | 0:91ad48ad5687 | 1594 | /* If configGENERATE_RUN_TIME_STATS is defined then the following |
dflet | 0:91ad48ad5687 | 1595 | macro must be defined to configure the timer/counter used to generate |
dflet | 0:91ad48ad5687 | 1596 | the run time counter time base. */ |
dflet | 0:91ad48ad5687 | 1597 | portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); |
dflet | 0:91ad48ad5687 | 1598 | |
dflet | 0:91ad48ad5687 | 1599 | /* Setting up the timer tick is hardware specific and thus in the |
dflet | 0:91ad48ad5687 | 1600 | portable interface. */ |
dflet | 0:91ad48ad5687 | 1601 | if( xPortStartScheduler() != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1602 | { |
dflet | 0:91ad48ad5687 | 1603 | /* Should not reach here as if the scheduler is running the |
dflet | 0:91ad48ad5687 | 1604 | function will not return. */ |
dflet | 0:91ad48ad5687 | 1605 | } |
dflet | 0:91ad48ad5687 | 1606 | else |
dflet | 0:91ad48ad5687 | 1607 | { |
dflet | 0:91ad48ad5687 | 1608 | /* Should only reach here if a task calls xTaskEndScheduler(). */ |
dflet | 0:91ad48ad5687 | 1609 | } |
dflet | 0:91ad48ad5687 | 1610 | } |
dflet | 0:91ad48ad5687 | 1611 | else |
dflet | 0:91ad48ad5687 | 1612 | { |
dflet | 0:91ad48ad5687 | 1613 | /* This line will only be reached if the kernel could not be started, |
dflet | 0:91ad48ad5687 | 1614 | because there was not enough FreeRTOS heap to create the idle task |
dflet | 0:91ad48ad5687 | 1615 | or the timer task. */ |
dflet | 0:91ad48ad5687 | 1616 | configASSERT( xReturn ); |
dflet | 0:91ad48ad5687 | 1617 | } |
dflet | 0:91ad48ad5687 | 1618 | } |
dflet | 0:91ad48ad5687 | 1619 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1620 | |
dflet | 0:91ad48ad5687 | 1621 | void vTaskEndScheduler( void ) |
dflet | 0:91ad48ad5687 | 1622 | { |
dflet | 0:91ad48ad5687 | 1623 | /* Stop the scheduler interrupts and call the portable scheduler end |
dflet | 0:91ad48ad5687 | 1624 | routine so the original ISRs can be restored if necessary. The port |
dflet | 0:91ad48ad5687 | 1625 | layer must ensure interrupts enable bit is left in the correct state. */ |
dflet | 0:91ad48ad5687 | 1626 | portDISABLE_INTERRUPTS(); |
dflet | 0:91ad48ad5687 | 1627 | xSchedulerRunning = pdFALSE; |
dflet | 0:91ad48ad5687 | 1628 | vPortEndScheduler(); |
dflet | 0:91ad48ad5687 | 1629 | } |
dflet | 0:91ad48ad5687 | 1630 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1631 | |
dflet | 0:91ad48ad5687 | 1632 | void vTaskSuspendAll( void ) |
dflet | 0:91ad48ad5687 | 1633 | { |
dflet | 0:91ad48ad5687 | 1634 | /* A critical section is not required as the variable is of type |
dflet | 0:91ad48ad5687 | 1635 | BaseType_t. Please read Richard Barry's reply in the following link to a |
dflet | 0:91ad48ad5687 | 1636 | post in the FreeRTOS support forum before reporting this as a bug! - |
dflet | 0:91ad48ad5687 | 1637 | http://goo.gl/wu4acr */ |
dflet | 0:91ad48ad5687 | 1638 | ++uxSchedulerSuspended; |
dflet | 0:91ad48ad5687 | 1639 | } |
dflet | 0:91ad48ad5687 | 1640 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1641 | |
dflet | 0:91ad48ad5687 | 1642 | #if ( configUSE_TICKLESS_IDLE != 0 ) |
dflet | 0:91ad48ad5687 | 1643 | |
dflet | 0:91ad48ad5687 | 1644 | static TickType_t prvGetExpectedIdleTime( void ) |
dflet | 0:91ad48ad5687 | 1645 | { |
dflet | 0:91ad48ad5687 | 1646 | TickType_t xReturn; |
dflet | 0:91ad48ad5687 | 1647 | |
dflet | 0:91ad48ad5687 | 1648 | if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) |
dflet | 0:91ad48ad5687 | 1649 | { |
dflet | 0:91ad48ad5687 | 1650 | xReturn = 0; |
dflet | 0:91ad48ad5687 | 1651 | } |
dflet | 0:91ad48ad5687 | 1652 | else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) |
dflet | 0:91ad48ad5687 | 1653 | { |
dflet | 0:91ad48ad5687 | 1654 | /* There are other idle priority tasks in the ready state. If |
dflet | 0:91ad48ad5687 | 1655 | time slicing is used then the very next tick interrupt must be |
dflet | 0:91ad48ad5687 | 1656 | processed. */ |
dflet | 0:91ad48ad5687 | 1657 | xReturn = 0; |
dflet | 0:91ad48ad5687 | 1658 | } |
dflet | 0:91ad48ad5687 | 1659 | else |
dflet | 0:91ad48ad5687 | 1660 | { |
dflet | 0:91ad48ad5687 | 1661 | xReturn = xNextTaskUnblockTime - xTickCount; |
dflet | 0:91ad48ad5687 | 1662 | } |
dflet | 0:91ad48ad5687 | 1663 | |
dflet | 0:91ad48ad5687 | 1664 | return xReturn; |
dflet | 0:91ad48ad5687 | 1665 | } |
dflet | 0:91ad48ad5687 | 1666 | |
dflet | 0:91ad48ad5687 | 1667 | #endif /* configUSE_TICKLESS_IDLE */ |
dflet | 0:91ad48ad5687 | 1668 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1669 | |
dflet | 0:91ad48ad5687 | 1670 | BaseType_t xTaskResumeAll( void ) |
dflet | 0:91ad48ad5687 | 1671 | { |
dflet | 0:91ad48ad5687 | 1672 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1673 | BaseType_t xAlreadyYielded = pdFALSE; |
dflet | 0:91ad48ad5687 | 1674 | |
dflet | 0:91ad48ad5687 | 1675 | /* If uxSchedulerSuspended is zero then this function does not match a |
dflet | 0:91ad48ad5687 | 1676 | previous call to vTaskSuspendAll(). */ |
dflet | 0:91ad48ad5687 | 1677 | configASSERT( uxSchedulerSuspended ); |
dflet | 0:91ad48ad5687 | 1678 | |
dflet | 0:91ad48ad5687 | 1679 | /* It is possible that an ISR caused a task to be removed from an event |
dflet | 0:91ad48ad5687 | 1680 | list while the scheduler was suspended. If this was the case then the |
dflet | 0:91ad48ad5687 | 1681 | removed task will have been added to the xPendingReadyList. Once the |
dflet | 0:91ad48ad5687 | 1682 | scheduler has been resumed it is safe to move all the pending ready |
dflet | 0:91ad48ad5687 | 1683 | tasks from this list into their appropriate ready list. */ |
dflet | 0:91ad48ad5687 | 1684 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1685 | { |
dflet | 0:91ad48ad5687 | 1686 | --uxSchedulerSuspended; |
dflet | 0:91ad48ad5687 | 1687 | |
dflet | 0:91ad48ad5687 | 1688 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 1689 | { |
dflet | 0:91ad48ad5687 | 1690 | if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 1691 | { |
dflet | 0:91ad48ad5687 | 1692 | /* Move any readied tasks from the pending list into the |
dflet | 0:91ad48ad5687 | 1693 | appropriate ready list. */ |
dflet | 0:91ad48ad5687 | 1694 | while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) |
dflet | 0:91ad48ad5687 | 1695 | { |
dflet | 0:91ad48ad5687 | 1696 | pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); |
dflet | 0:91ad48ad5687 | 1697 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 1698 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1699 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 1700 | |
dflet | 0:91ad48ad5687 | 1701 | /* If the moved task has a priority higher than the current |
dflet | 0:91ad48ad5687 | 1702 | task then a yield must be performed. */ |
dflet | 0:91ad48ad5687 | 1703 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 1704 | { |
dflet | 0:91ad48ad5687 | 1705 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 1706 | } |
dflet | 0:91ad48ad5687 | 1707 | else |
dflet | 0:91ad48ad5687 | 1708 | { |
dflet | 0:91ad48ad5687 | 1709 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1710 | } |
dflet | 0:91ad48ad5687 | 1711 | } |
dflet | 0:91ad48ad5687 | 1712 | |
dflet | 0:91ad48ad5687 | 1713 | /* If any ticks occurred while the scheduler was suspended then |
dflet | 0:91ad48ad5687 | 1714 | they should be processed now. This ensures the tick count does |
dflet | 0:91ad48ad5687 | 1715 | not slip, and that any delayed tasks are resumed at the correct |
dflet | 0:91ad48ad5687 | 1716 | time. */ |
dflet | 0:91ad48ad5687 | 1717 | if( uxPendedTicks > ( UBaseType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 1718 | { |
dflet | 0:91ad48ad5687 | 1719 | while( uxPendedTicks > ( UBaseType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 1720 | { |
dflet | 0:91ad48ad5687 | 1721 | if( xTaskIncrementTick() != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1722 | { |
dflet | 0:91ad48ad5687 | 1723 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 1724 | } |
dflet | 0:91ad48ad5687 | 1725 | else |
dflet | 0:91ad48ad5687 | 1726 | { |
dflet | 0:91ad48ad5687 | 1727 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1728 | } |
dflet | 0:91ad48ad5687 | 1729 | --uxPendedTicks; |
dflet | 0:91ad48ad5687 | 1730 | } |
dflet | 0:91ad48ad5687 | 1731 | } |
dflet | 0:91ad48ad5687 | 1732 | else |
dflet | 0:91ad48ad5687 | 1733 | { |
dflet | 0:91ad48ad5687 | 1734 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1735 | } |
dflet | 0:91ad48ad5687 | 1736 | |
dflet | 0:91ad48ad5687 | 1737 | if( xYieldPending == pdTRUE ) |
dflet | 0:91ad48ad5687 | 1738 | { |
dflet | 0:91ad48ad5687 | 1739 | #if( configUSE_PREEMPTION != 0 ) |
dflet | 0:91ad48ad5687 | 1740 | { |
dflet | 0:91ad48ad5687 | 1741 | xAlreadyYielded = pdTRUE; |
dflet | 0:91ad48ad5687 | 1742 | } |
dflet | 0:91ad48ad5687 | 1743 | #endif |
dflet | 0:91ad48ad5687 | 1744 | taskYIELD_IF_USING_PREEMPTION(); |
dflet | 0:91ad48ad5687 | 1745 | } |
dflet | 0:91ad48ad5687 | 1746 | else |
dflet | 0:91ad48ad5687 | 1747 | { |
dflet | 0:91ad48ad5687 | 1748 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1749 | } |
dflet | 0:91ad48ad5687 | 1750 | } |
dflet | 0:91ad48ad5687 | 1751 | } |
dflet | 0:91ad48ad5687 | 1752 | else |
dflet | 0:91ad48ad5687 | 1753 | { |
dflet | 0:91ad48ad5687 | 1754 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1755 | } |
dflet | 0:91ad48ad5687 | 1756 | } |
dflet | 0:91ad48ad5687 | 1757 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1758 | |
dflet | 0:91ad48ad5687 | 1759 | return xAlreadyYielded; |
dflet | 0:91ad48ad5687 | 1760 | } |
dflet | 0:91ad48ad5687 | 1761 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1762 | |
dflet | 0:91ad48ad5687 | 1763 | TickType_t xTaskGetTickCount( void ) |
dflet | 0:91ad48ad5687 | 1764 | { |
dflet | 0:91ad48ad5687 | 1765 | TickType_t xTicks; |
dflet | 0:91ad48ad5687 | 1766 | |
dflet | 0:91ad48ad5687 | 1767 | /* Critical section required if running on a 16 bit processor. */ |
dflet | 0:91ad48ad5687 | 1768 | portTICK_TYPE_ENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1769 | { |
dflet | 0:91ad48ad5687 | 1770 | xTicks = xTickCount; |
dflet | 0:91ad48ad5687 | 1771 | } |
dflet | 0:91ad48ad5687 | 1772 | portTICK_TYPE_EXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 1773 | |
dflet | 0:91ad48ad5687 | 1774 | return xTicks; |
dflet | 0:91ad48ad5687 | 1775 | } |
dflet | 0:91ad48ad5687 | 1776 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1777 | |
dflet | 0:91ad48ad5687 | 1778 | TickType_t xTaskGetTickCountFromISR( void ) |
dflet | 0:91ad48ad5687 | 1779 | { |
dflet | 0:91ad48ad5687 | 1780 | TickType_t xReturn; |
dflet | 0:91ad48ad5687 | 1781 | UBaseType_t uxSavedInterruptStatus; |
dflet | 0:91ad48ad5687 | 1782 | |
dflet | 0:91ad48ad5687 | 1783 | /* RTOS ports that support interrupt nesting have the concept of a maximum |
dflet | 0:91ad48ad5687 | 1784 | system call (or maximum API call) interrupt priority. Interrupts that are |
dflet | 0:91ad48ad5687 | 1785 | above the maximum system call priority are kept permanently enabled, even |
dflet | 0:91ad48ad5687 | 1786 | when the RTOS kernel is in a critical section, but cannot make any calls to |
dflet | 0:91ad48ad5687 | 1787 | FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h |
dflet | 0:91ad48ad5687 | 1788 | then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion |
dflet | 0:91ad48ad5687 | 1789 | failure if a FreeRTOS API function is called from an interrupt that has been |
dflet | 0:91ad48ad5687 | 1790 | assigned a priority above the configured maximum system call priority. |
dflet | 0:91ad48ad5687 | 1791 | Only FreeRTOS functions that end in FromISR can be called from interrupts |
dflet | 0:91ad48ad5687 | 1792 | that have been assigned a priority at or (logically) below the maximum |
dflet | 0:91ad48ad5687 | 1793 | system call interrupt priority. FreeRTOS maintains a separate interrupt |
dflet | 0:91ad48ad5687 | 1794 | safe API to ensure interrupt entry is as fast and as simple as possible. |
dflet | 0:91ad48ad5687 | 1795 | More information (albeit Cortex-M specific) is provided on the following |
dflet | 0:91ad48ad5687 | 1796 | link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ |
dflet | 0:91ad48ad5687 | 1797 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); |
dflet | 0:91ad48ad5687 | 1798 | |
dflet | 0:91ad48ad5687 | 1799 | uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); |
dflet | 0:91ad48ad5687 | 1800 | { |
dflet | 0:91ad48ad5687 | 1801 | xReturn = xTickCount; |
dflet | 0:91ad48ad5687 | 1802 | } |
dflet | 0:91ad48ad5687 | 1803 | portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); |
dflet | 0:91ad48ad5687 | 1804 | |
dflet | 0:91ad48ad5687 | 1805 | return xReturn; |
dflet | 0:91ad48ad5687 | 1806 | } |
dflet | 0:91ad48ad5687 | 1807 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1808 | |
dflet | 0:91ad48ad5687 | 1809 | UBaseType_t uxTaskGetNumberOfTasks( void ) |
dflet | 0:91ad48ad5687 | 1810 | { |
dflet | 0:91ad48ad5687 | 1811 | /* A critical section is not required because the variables are of type |
dflet | 0:91ad48ad5687 | 1812 | BaseType_t. */ |
dflet | 0:91ad48ad5687 | 1813 | return uxCurrentNumberOfTasks; |
dflet | 0:91ad48ad5687 | 1814 | } |
dflet | 0:91ad48ad5687 | 1815 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1816 | |
dflet | 0:91ad48ad5687 | 1817 | #if ( INCLUDE_pcTaskGetTaskName == 1 ) |
dflet | 0:91ad48ad5687 | 1818 | |
dflet | 0:91ad48ad5687 | 1819 | char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ |
dflet | 0:91ad48ad5687 | 1820 | { |
dflet | 0:91ad48ad5687 | 1821 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 1822 | |
dflet | 0:91ad48ad5687 | 1823 | /* If null is passed in here then the name of the calling task is being queried. */ |
dflet | 0:91ad48ad5687 | 1824 | pxTCB = prvGetTCBFromHandle( xTaskToQuery ); |
dflet | 0:91ad48ad5687 | 1825 | configASSERT( pxTCB ); |
dflet | 0:91ad48ad5687 | 1826 | return &( pxTCB->pcTaskName[ 0 ] ); |
dflet | 0:91ad48ad5687 | 1827 | } |
dflet | 0:91ad48ad5687 | 1828 | |
dflet | 0:91ad48ad5687 | 1829 | #endif /* INCLUDE_pcTaskGetTaskName */ |
dflet | 0:91ad48ad5687 | 1830 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1831 | |
dflet | 0:91ad48ad5687 | 1832 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 1833 | |
dflet | 0:91ad48ad5687 | 1834 | UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) |
dflet | 0:91ad48ad5687 | 1835 | { |
dflet | 0:91ad48ad5687 | 1836 | UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; |
dflet | 0:91ad48ad5687 | 1837 | |
dflet | 0:91ad48ad5687 | 1838 | vTaskSuspendAll(); |
dflet | 0:91ad48ad5687 | 1839 | { |
dflet | 0:91ad48ad5687 | 1840 | /* Is there a space in the array for each task in the system? */ |
dflet | 0:91ad48ad5687 | 1841 | if( uxArraySize >= uxCurrentNumberOfTasks ) |
dflet | 0:91ad48ad5687 | 1842 | { |
dflet | 0:91ad48ad5687 | 1843 | /* Fill in an TaskStatus_t structure with information on each |
dflet | 0:91ad48ad5687 | 1844 | task in the Ready state. */ |
dflet | 0:91ad48ad5687 | 1845 | do |
dflet | 0:91ad48ad5687 | 1846 | { |
dflet | 0:91ad48ad5687 | 1847 | uxQueue--; |
dflet | 0:91ad48ad5687 | 1848 | uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); |
dflet | 0:91ad48ad5687 | 1849 | |
dflet | 0:91ad48ad5687 | 1850 | } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ |
dflet | 0:91ad48ad5687 | 1851 | |
dflet | 0:91ad48ad5687 | 1852 | /* Fill in an TaskStatus_t structure with information on each |
dflet | 0:91ad48ad5687 | 1853 | task in the Blocked state. */ |
dflet | 0:91ad48ad5687 | 1854 | uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); |
dflet | 0:91ad48ad5687 | 1855 | uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); |
dflet | 0:91ad48ad5687 | 1856 | |
dflet | 0:91ad48ad5687 | 1857 | #if( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 1858 | { |
dflet | 0:91ad48ad5687 | 1859 | /* Fill in an TaskStatus_t structure with information on |
dflet | 0:91ad48ad5687 | 1860 | each task that has been deleted but not yet cleaned up. */ |
dflet | 0:91ad48ad5687 | 1861 | uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); |
dflet | 0:91ad48ad5687 | 1862 | } |
dflet | 0:91ad48ad5687 | 1863 | #endif |
dflet | 0:91ad48ad5687 | 1864 | |
dflet | 0:91ad48ad5687 | 1865 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 1866 | { |
dflet | 0:91ad48ad5687 | 1867 | /* Fill in an TaskStatus_t structure with information on |
dflet | 0:91ad48ad5687 | 1868 | each task in the Suspended state. */ |
dflet | 0:91ad48ad5687 | 1869 | uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); |
dflet | 0:91ad48ad5687 | 1870 | } |
dflet | 0:91ad48ad5687 | 1871 | #endif |
dflet | 0:91ad48ad5687 | 1872 | |
dflet | 0:91ad48ad5687 | 1873 | #if ( configGENERATE_RUN_TIME_STATS == 1) |
dflet | 0:91ad48ad5687 | 1874 | { |
dflet | 0:91ad48ad5687 | 1875 | if( pulTotalRunTime != NULL ) |
dflet | 0:91ad48ad5687 | 1876 | { |
dflet | 0:91ad48ad5687 | 1877 | #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE |
dflet | 0:91ad48ad5687 | 1878 | portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); |
dflet | 0:91ad48ad5687 | 1879 | #else |
dflet | 0:91ad48ad5687 | 1880 | *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); |
dflet | 0:91ad48ad5687 | 1881 | #endif |
dflet | 0:91ad48ad5687 | 1882 | } |
dflet | 0:91ad48ad5687 | 1883 | } |
dflet | 0:91ad48ad5687 | 1884 | #else |
dflet | 0:91ad48ad5687 | 1885 | { |
dflet | 0:91ad48ad5687 | 1886 | if( pulTotalRunTime != NULL ) |
dflet | 0:91ad48ad5687 | 1887 | { |
dflet | 0:91ad48ad5687 | 1888 | *pulTotalRunTime = 0; |
dflet | 0:91ad48ad5687 | 1889 | } |
dflet | 0:91ad48ad5687 | 1890 | } |
dflet | 0:91ad48ad5687 | 1891 | #endif |
dflet | 0:91ad48ad5687 | 1892 | } |
dflet | 0:91ad48ad5687 | 1893 | else |
dflet | 0:91ad48ad5687 | 1894 | { |
dflet | 0:91ad48ad5687 | 1895 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1896 | } |
dflet | 0:91ad48ad5687 | 1897 | } |
dflet | 0:91ad48ad5687 | 1898 | ( void ) xTaskResumeAll(); |
dflet | 0:91ad48ad5687 | 1899 | |
dflet | 0:91ad48ad5687 | 1900 | return uxTask; |
dflet | 0:91ad48ad5687 | 1901 | } |
dflet | 0:91ad48ad5687 | 1902 | |
dflet | 0:91ad48ad5687 | 1903 | #endif /* configUSE_TRACE_FACILITY */ |
dflet | 0:91ad48ad5687 | 1904 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1905 | |
dflet | 0:91ad48ad5687 | 1906 | #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) |
dflet | 0:91ad48ad5687 | 1907 | |
dflet | 0:91ad48ad5687 | 1908 | TaskHandle_t xTaskGetIdleTaskHandle( void ) |
dflet | 0:91ad48ad5687 | 1909 | { |
dflet | 0:91ad48ad5687 | 1910 | /* If xTaskGetIdleTaskHandle() is called before the scheduler has been |
dflet | 0:91ad48ad5687 | 1911 | started, then xIdleTaskHandle will be NULL. */ |
dflet | 0:91ad48ad5687 | 1912 | configASSERT( ( xIdleTaskHandle != NULL ) ); |
dflet | 0:91ad48ad5687 | 1913 | return xIdleTaskHandle; |
dflet | 0:91ad48ad5687 | 1914 | } |
dflet | 0:91ad48ad5687 | 1915 | |
dflet | 0:91ad48ad5687 | 1916 | #endif /* INCLUDE_xTaskGetIdleTaskHandle */ |
dflet | 0:91ad48ad5687 | 1917 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1918 | |
dflet | 0:91ad48ad5687 | 1919 | /* This conditional compilation should use inequality to 0, not equality to 1. |
dflet | 0:91ad48ad5687 | 1920 | This is to ensure vTaskStepTick() is available when user defined low power mode |
dflet | 0:91ad48ad5687 | 1921 | implementations require configUSE_TICKLESS_IDLE to be set to a value other than |
dflet | 0:91ad48ad5687 | 1922 | 1. */ |
dflet | 0:91ad48ad5687 | 1923 | #if ( configUSE_TICKLESS_IDLE != 0 ) |
dflet | 0:91ad48ad5687 | 1924 | |
dflet | 0:91ad48ad5687 | 1925 | void vTaskStepTick( const TickType_t xTicksToJump ) |
dflet | 0:91ad48ad5687 | 1926 | { |
dflet | 0:91ad48ad5687 | 1927 | /* Correct the tick count value after a period during which the tick |
dflet | 0:91ad48ad5687 | 1928 | was suppressed. Note this does *not* call the tick hook function for |
dflet | 0:91ad48ad5687 | 1929 | each stepped tick. */ |
dflet | 0:91ad48ad5687 | 1930 | configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); |
dflet | 0:91ad48ad5687 | 1931 | xTickCount += xTicksToJump; |
dflet | 0:91ad48ad5687 | 1932 | traceINCREASE_TICK_COUNT( xTicksToJump ); |
dflet | 0:91ad48ad5687 | 1933 | } |
dflet | 0:91ad48ad5687 | 1934 | |
dflet | 0:91ad48ad5687 | 1935 | #endif /* configUSE_TICKLESS_IDLE */ |
dflet | 0:91ad48ad5687 | 1936 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 1937 | |
dflet | 0:91ad48ad5687 | 1938 | BaseType_t xTaskIncrementTick( void ) |
dflet | 0:91ad48ad5687 | 1939 | { |
dflet | 0:91ad48ad5687 | 1940 | TCB_t * pxTCB; |
dflet | 0:91ad48ad5687 | 1941 | TickType_t xItemValue; |
dflet | 0:91ad48ad5687 | 1942 | BaseType_t xSwitchRequired = pdFALSE; |
dflet | 0:91ad48ad5687 | 1943 | |
dflet | 0:91ad48ad5687 | 1944 | /* Called by the portable layer each time a tick interrupt occurs. |
dflet | 0:91ad48ad5687 | 1945 | Increments the tick then checks to see if the new tick value will cause any |
dflet | 0:91ad48ad5687 | 1946 | tasks to be unblocked. */ |
dflet | 0:91ad48ad5687 | 1947 | traceTASK_INCREMENT_TICK( xTickCount ); |
dflet | 0:91ad48ad5687 | 1948 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 1949 | { |
dflet | 0:91ad48ad5687 | 1950 | /* Increment the RTOS tick, switching the delayed and overflowed |
dflet | 0:91ad48ad5687 | 1951 | delayed lists if it wraps to 0. */ |
dflet | 0:91ad48ad5687 | 1952 | ++xTickCount; |
dflet | 0:91ad48ad5687 | 1953 | |
dflet | 0:91ad48ad5687 | 1954 | { |
dflet | 0:91ad48ad5687 | 1955 | /* Minor optimisation. The tick count cannot change in this |
dflet | 0:91ad48ad5687 | 1956 | block. */ |
dflet | 0:91ad48ad5687 | 1957 | const TickType_t xConstTickCount = xTickCount; |
dflet | 0:91ad48ad5687 | 1958 | |
dflet | 0:91ad48ad5687 | 1959 | if( xConstTickCount == ( TickType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 1960 | { |
dflet | 0:91ad48ad5687 | 1961 | taskSWITCH_DELAYED_LISTS(); |
dflet | 0:91ad48ad5687 | 1962 | } |
dflet | 0:91ad48ad5687 | 1963 | else |
dflet | 0:91ad48ad5687 | 1964 | { |
dflet | 0:91ad48ad5687 | 1965 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 1966 | } |
dflet | 0:91ad48ad5687 | 1967 | |
dflet | 0:91ad48ad5687 | 1968 | /* See if this tick has made a timeout expire. Tasks are stored in |
dflet | 0:91ad48ad5687 | 1969 | the queue in the order of their wake time - meaning once one task |
dflet | 0:91ad48ad5687 | 1970 | has been found whose block time has not expired there is no need to |
dflet | 0:91ad48ad5687 | 1971 | look any further down the list. */ |
dflet | 0:91ad48ad5687 | 1972 | if( xConstTickCount >= xNextTaskUnblockTime ) |
dflet | 0:91ad48ad5687 | 1973 | { |
dflet | 0:91ad48ad5687 | 1974 | for( ;; ) |
dflet | 0:91ad48ad5687 | 1975 | { |
dflet | 0:91ad48ad5687 | 1976 | if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 1977 | { |
dflet | 0:91ad48ad5687 | 1978 | /* The delayed list is empty. Set xNextTaskUnblockTime |
dflet | 0:91ad48ad5687 | 1979 | to the maximum possible value so it is extremely |
dflet | 0:91ad48ad5687 | 1980 | unlikely that the |
dflet | 0:91ad48ad5687 | 1981 | if( xTickCount >= xNextTaskUnblockTime ) test will pass |
dflet | 0:91ad48ad5687 | 1982 | next time through. */ |
dflet | 0:91ad48ad5687 | 1983 | xNextTaskUnblockTime = portMAX_DELAY; |
dflet | 0:91ad48ad5687 | 1984 | break; |
dflet | 0:91ad48ad5687 | 1985 | } |
dflet | 0:91ad48ad5687 | 1986 | else |
dflet | 0:91ad48ad5687 | 1987 | { |
dflet | 0:91ad48ad5687 | 1988 | /* The delayed list is not empty, get the value of the |
dflet | 0:91ad48ad5687 | 1989 | item at the head of the delayed list. This is the time |
dflet | 0:91ad48ad5687 | 1990 | at which the task at the head of the delayed list must |
dflet | 0:91ad48ad5687 | 1991 | be removed from the Blocked state. */ |
dflet | 0:91ad48ad5687 | 1992 | pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); |
dflet | 0:91ad48ad5687 | 1993 | xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 1994 | |
dflet | 0:91ad48ad5687 | 1995 | if( xConstTickCount < xItemValue ) |
dflet | 0:91ad48ad5687 | 1996 | { |
dflet | 0:91ad48ad5687 | 1997 | /* It is not time to unblock this item yet, but the |
dflet | 0:91ad48ad5687 | 1998 | item value is the time at which the task at the head |
dflet | 0:91ad48ad5687 | 1999 | of the blocked list must be removed from the Blocked |
dflet | 0:91ad48ad5687 | 2000 | state - so record the item value in |
dflet | 0:91ad48ad5687 | 2001 | xNextTaskUnblockTime. */ |
dflet | 0:91ad48ad5687 | 2002 | xNextTaskUnblockTime = xItemValue; |
dflet | 0:91ad48ad5687 | 2003 | break; |
dflet | 0:91ad48ad5687 | 2004 | } |
dflet | 0:91ad48ad5687 | 2005 | else |
dflet | 0:91ad48ad5687 | 2006 | { |
dflet | 0:91ad48ad5687 | 2007 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2008 | } |
dflet | 0:91ad48ad5687 | 2009 | |
dflet | 0:91ad48ad5687 | 2010 | /* It is time to remove the item from the Blocked state. */ |
dflet | 0:91ad48ad5687 | 2011 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2012 | |
dflet | 0:91ad48ad5687 | 2013 | /* Is the task waiting on an event also? If so remove |
dflet | 0:91ad48ad5687 | 2014 | it from the event list. */ |
dflet | 0:91ad48ad5687 | 2015 | if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) |
dflet | 0:91ad48ad5687 | 2016 | { |
dflet | 0:91ad48ad5687 | 2017 | ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2018 | } |
dflet | 0:91ad48ad5687 | 2019 | else |
dflet | 0:91ad48ad5687 | 2020 | { |
dflet | 0:91ad48ad5687 | 2021 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2022 | } |
dflet | 0:91ad48ad5687 | 2023 | |
dflet | 0:91ad48ad5687 | 2024 | /* Place the unblocked task into the appropriate ready |
dflet | 0:91ad48ad5687 | 2025 | list. */ |
dflet | 0:91ad48ad5687 | 2026 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 2027 | |
dflet | 0:91ad48ad5687 | 2028 | /* A task being unblocked cannot cause an immediate |
dflet | 0:91ad48ad5687 | 2029 | context switch if preemption is turned off. */ |
dflet | 0:91ad48ad5687 | 2030 | #if ( configUSE_PREEMPTION == 1 ) |
dflet | 0:91ad48ad5687 | 2031 | { |
dflet | 0:91ad48ad5687 | 2032 | /* Preemption is on, but a context switch should |
dflet | 0:91ad48ad5687 | 2033 | only be performed if the unblocked task has a |
dflet | 0:91ad48ad5687 | 2034 | priority that is equal to or higher than the |
dflet | 0:91ad48ad5687 | 2035 | currently executing task. */ |
dflet | 0:91ad48ad5687 | 2036 | if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 2037 | { |
dflet | 0:91ad48ad5687 | 2038 | xSwitchRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 2039 | } |
dflet | 0:91ad48ad5687 | 2040 | else |
dflet | 0:91ad48ad5687 | 2041 | { |
dflet | 0:91ad48ad5687 | 2042 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2043 | } |
dflet | 0:91ad48ad5687 | 2044 | } |
dflet | 0:91ad48ad5687 | 2045 | #endif /* configUSE_PREEMPTION */ |
dflet | 0:91ad48ad5687 | 2046 | } |
dflet | 0:91ad48ad5687 | 2047 | } |
dflet | 0:91ad48ad5687 | 2048 | } |
dflet | 0:91ad48ad5687 | 2049 | } |
dflet | 0:91ad48ad5687 | 2050 | |
dflet | 0:91ad48ad5687 | 2051 | /* Tasks of equal priority to the currently running task will share |
dflet | 0:91ad48ad5687 | 2052 | processing time (time slice) if preemption is on, and the application |
dflet | 0:91ad48ad5687 | 2053 | writer has not explicitly turned time slicing off. */ |
dflet | 0:91ad48ad5687 | 2054 | #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) |
dflet | 0:91ad48ad5687 | 2055 | { |
dflet | 0:91ad48ad5687 | 2056 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) |
dflet | 0:91ad48ad5687 | 2057 | { |
dflet | 0:91ad48ad5687 | 2058 | xSwitchRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 2059 | } |
dflet | 0:91ad48ad5687 | 2060 | else |
dflet | 0:91ad48ad5687 | 2061 | { |
dflet | 0:91ad48ad5687 | 2062 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2063 | } |
dflet | 0:91ad48ad5687 | 2064 | } |
dflet | 0:91ad48ad5687 | 2065 | #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 2066 | |
dflet | 0:91ad48ad5687 | 2067 | #if ( configUSE_TICK_HOOK == 1 ) |
dflet | 0:91ad48ad5687 | 2068 | { |
dflet | 0:91ad48ad5687 | 2069 | /* Guard against the tick hook being called when the pended tick |
dflet | 0:91ad48ad5687 | 2070 | count is being unwound (when the scheduler is being unlocked). */ |
dflet | 0:91ad48ad5687 | 2071 | if( uxPendedTicks == ( UBaseType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 2072 | { |
dflet | 0:91ad48ad5687 | 2073 | vApplicationTickHook(); |
dflet | 0:91ad48ad5687 | 2074 | } |
dflet | 0:91ad48ad5687 | 2075 | else |
dflet | 0:91ad48ad5687 | 2076 | { |
dflet | 0:91ad48ad5687 | 2077 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2078 | } |
dflet | 0:91ad48ad5687 | 2079 | } |
dflet | 0:91ad48ad5687 | 2080 | #endif /* configUSE_TICK_HOOK */ |
dflet | 0:91ad48ad5687 | 2081 | } |
dflet | 0:91ad48ad5687 | 2082 | else |
dflet | 0:91ad48ad5687 | 2083 | { |
dflet | 0:91ad48ad5687 | 2084 | ++uxPendedTicks; |
dflet | 0:91ad48ad5687 | 2085 | |
dflet | 0:91ad48ad5687 | 2086 | /* The tick hook gets called at regular intervals, even if the |
dflet | 0:91ad48ad5687 | 2087 | scheduler is locked. */ |
dflet | 0:91ad48ad5687 | 2088 | #if ( configUSE_TICK_HOOK == 1 ) |
dflet | 0:91ad48ad5687 | 2089 | { |
dflet | 0:91ad48ad5687 | 2090 | vApplicationTickHook(); |
dflet | 0:91ad48ad5687 | 2091 | } |
dflet | 0:91ad48ad5687 | 2092 | #endif |
dflet | 0:91ad48ad5687 | 2093 | } |
dflet | 0:91ad48ad5687 | 2094 | |
dflet | 0:91ad48ad5687 | 2095 | #if ( configUSE_PREEMPTION == 1 ) |
dflet | 0:91ad48ad5687 | 2096 | { |
dflet | 0:91ad48ad5687 | 2097 | if( xYieldPending != pdFALSE ) |
dflet | 0:91ad48ad5687 | 2098 | { |
dflet | 0:91ad48ad5687 | 2099 | xSwitchRequired = pdTRUE; |
dflet | 0:91ad48ad5687 | 2100 | } |
dflet | 0:91ad48ad5687 | 2101 | else |
dflet | 0:91ad48ad5687 | 2102 | { |
dflet | 0:91ad48ad5687 | 2103 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2104 | } |
dflet | 0:91ad48ad5687 | 2105 | } |
dflet | 0:91ad48ad5687 | 2106 | #endif /* configUSE_PREEMPTION */ |
dflet | 0:91ad48ad5687 | 2107 | |
dflet | 0:91ad48ad5687 | 2108 | return xSwitchRequired; |
dflet | 0:91ad48ad5687 | 2109 | } |
dflet | 0:91ad48ad5687 | 2110 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2111 | |
dflet | 0:91ad48ad5687 | 2112 | #if ( configUSE_APPLICATION_TASK_TAG == 1 ) |
dflet | 0:91ad48ad5687 | 2113 | |
dflet | 0:91ad48ad5687 | 2114 | void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) |
dflet | 0:91ad48ad5687 | 2115 | { |
dflet | 0:91ad48ad5687 | 2116 | TCB_t *xTCB; |
dflet | 0:91ad48ad5687 | 2117 | |
dflet | 0:91ad48ad5687 | 2118 | /* If xTask is NULL then it is the task hook of the calling task that is |
dflet | 0:91ad48ad5687 | 2119 | getting set. */ |
dflet | 0:91ad48ad5687 | 2120 | if( xTask == NULL ) |
dflet | 0:91ad48ad5687 | 2121 | { |
dflet | 0:91ad48ad5687 | 2122 | xTCB = ( TCB_t * ) pxCurrentTCB; |
dflet | 0:91ad48ad5687 | 2123 | } |
dflet | 0:91ad48ad5687 | 2124 | else |
dflet | 0:91ad48ad5687 | 2125 | { |
dflet | 0:91ad48ad5687 | 2126 | xTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 2127 | } |
dflet | 0:91ad48ad5687 | 2128 | |
dflet | 0:91ad48ad5687 | 2129 | /* Save the hook function in the TCB. A critical section is required as |
dflet | 0:91ad48ad5687 | 2130 | the value can be accessed from an interrupt. */ |
dflet | 0:91ad48ad5687 | 2131 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2132 | xTCB->pxTaskTag = pxHookFunction; |
dflet | 0:91ad48ad5687 | 2133 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2134 | } |
dflet | 0:91ad48ad5687 | 2135 | |
dflet | 0:91ad48ad5687 | 2136 | #endif /* configUSE_APPLICATION_TASK_TAG */ |
dflet | 0:91ad48ad5687 | 2137 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2138 | |
dflet | 0:91ad48ad5687 | 2139 | #if ( configUSE_APPLICATION_TASK_TAG == 1 ) |
dflet | 0:91ad48ad5687 | 2140 | |
dflet | 0:91ad48ad5687 | 2141 | TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 2142 | { |
dflet | 0:91ad48ad5687 | 2143 | TCB_t *xTCB; |
dflet | 0:91ad48ad5687 | 2144 | TaskHookFunction_t xReturn; |
dflet | 0:91ad48ad5687 | 2145 | |
dflet | 0:91ad48ad5687 | 2146 | /* If xTask is NULL then we are setting our own task hook. */ |
dflet | 0:91ad48ad5687 | 2147 | if( xTask == NULL ) |
dflet | 0:91ad48ad5687 | 2148 | { |
dflet | 0:91ad48ad5687 | 2149 | xTCB = ( TCB_t * ) pxCurrentTCB; |
dflet | 0:91ad48ad5687 | 2150 | } |
dflet | 0:91ad48ad5687 | 2151 | else |
dflet | 0:91ad48ad5687 | 2152 | { |
dflet | 0:91ad48ad5687 | 2153 | xTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 2154 | } |
dflet | 0:91ad48ad5687 | 2155 | |
dflet | 0:91ad48ad5687 | 2156 | /* Save the hook function in the TCB. A critical section is required as |
dflet | 0:91ad48ad5687 | 2157 | the value can be accessed from an interrupt. */ |
dflet | 0:91ad48ad5687 | 2158 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2159 | { |
dflet | 0:91ad48ad5687 | 2160 | xReturn = xTCB->pxTaskTag; |
dflet | 0:91ad48ad5687 | 2161 | } |
dflet | 0:91ad48ad5687 | 2162 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2163 | |
dflet | 0:91ad48ad5687 | 2164 | return xReturn; |
dflet | 0:91ad48ad5687 | 2165 | } |
dflet | 0:91ad48ad5687 | 2166 | |
dflet | 0:91ad48ad5687 | 2167 | #endif /* configUSE_APPLICATION_TASK_TAG */ |
dflet | 0:91ad48ad5687 | 2168 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2169 | |
dflet | 0:91ad48ad5687 | 2170 | #if ( configUSE_APPLICATION_TASK_TAG == 1 ) |
dflet | 0:91ad48ad5687 | 2171 | |
dflet | 0:91ad48ad5687 | 2172 | BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) |
dflet | 0:91ad48ad5687 | 2173 | { |
dflet | 0:91ad48ad5687 | 2174 | TCB_t *xTCB; |
dflet | 0:91ad48ad5687 | 2175 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 2176 | |
dflet | 0:91ad48ad5687 | 2177 | /* If xTask is NULL then we are calling our own task hook. */ |
dflet | 0:91ad48ad5687 | 2178 | if( xTask == NULL ) |
dflet | 0:91ad48ad5687 | 2179 | { |
dflet | 0:91ad48ad5687 | 2180 | xTCB = ( TCB_t * ) pxCurrentTCB; |
dflet | 0:91ad48ad5687 | 2181 | } |
dflet | 0:91ad48ad5687 | 2182 | else |
dflet | 0:91ad48ad5687 | 2183 | { |
dflet | 0:91ad48ad5687 | 2184 | xTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 2185 | } |
dflet | 0:91ad48ad5687 | 2186 | |
dflet | 0:91ad48ad5687 | 2187 | if( xTCB->pxTaskTag != NULL ) |
dflet | 0:91ad48ad5687 | 2188 | { |
dflet | 0:91ad48ad5687 | 2189 | xReturn = xTCB->pxTaskTag( pvParameter ); |
dflet | 0:91ad48ad5687 | 2190 | } |
dflet | 0:91ad48ad5687 | 2191 | else |
dflet | 0:91ad48ad5687 | 2192 | { |
dflet | 0:91ad48ad5687 | 2193 | xReturn = pdFAIL; |
dflet | 0:91ad48ad5687 | 2194 | } |
dflet | 0:91ad48ad5687 | 2195 | |
dflet | 0:91ad48ad5687 | 2196 | return xReturn; |
dflet | 0:91ad48ad5687 | 2197 | } |
dflet | 0:91ad48ad5687 | 2198 | |
dflet | 0:91ad48ad5687 | 2199 | #endif /* configUSE_APPLICATION_TASK_TAG */ |
dflet | 0:91ad48ad5687 | 2200 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2201 | |
dflet | 0:91ad48ad5687 | 2202 | void vTaskSwitchContext( void ) |
dflet | 0:91ad48ad5687 | 2203 | { |
dflet | 0:91ad48ad5687 | 2204 | if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 2205 | { |
dflet | 0:91ad48ad5687 | 2206 | /* The scheduler is currently suspended - do not allow a context |
dflet | 0:91ad48ad5687 | 2207 | switch. */ |
dflet | 0:91ad48ad5687 | 2208 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 2209 | } |
dflet | 0:91ad48ad5687 | 2210 | else |
dflet | 0:91ad48ad5687 | 2211 | { |
dflet | 0:91ad48ad5687 | 2212 | xYieldPending = pdFALSE; |
dflet | 0:91ad48ad5687 | 2213 | traceTASK_SWITCHED_OUT(); |
dflet | 0:91ad48ad5687 | 2214 | |
dflet | 0:91ad48ad5687 | 2215 | #if ( configGENERATE_RUN_TIME_STATS == 1 ) |
dflet | 0:91ad48ad5687 | 2216 | { |
dflet | 0:91ad48ad5687 | 2217 | #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE |
dflet | 0:91ad48ad5687 | 2218 | portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); |
dflet | 0:91ad48ad5687 | 2219 | #else |
dflet | 0:91ad48ad5687 | 2220 | ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); |
dflet | 0:91ad48ad5687 | 2221 | #endif |
dflet | 0:91ad48ad5687 | 2222 | |
dflet | 0:91ad48ad5687 | 2223 | /* Add the amount of time the task has been running to the |
dflet | 0:91ad48ad5687 | 2224 | accumulated time so far. The time the task started running was |
dflet | 0:91ad48ad5687 | 2225 | stored in ulTaskSwitchedInTime. Note that there is no overflow |
dflet | 0:91ad48ad5687 | 2226 | protection here so count values are only valid until the timer |
dflet | 0:91ad48ad5687 | 2227 | overflows. The guard against negative values is to protect |
dflet | 0:91ad48ad5687 | 2228 | against suspect run time stat counter implementations - which |
dflet | 0:91ad48ad5687 | 2229 | are provided by the application, not the kernel. */ |
dflet | 0:91ad48ad5687 | 2230 | if( ulTotalRunTime > ulTaskSwitchedInTime ) |
dflet | 0:91ad48ad5687 | 2231 | { |
dflet | 0:91ad48ad5687 | 2232 | pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); |
dflet | 0:91ad48ad5687 | 2233 | } |
dflet | 0:91ad48ad5687 | 2234 | else |
dflet | 0:91ad48ad5687 | 2235 | { |
dflet | 0:91ad48ad5687 | 2236 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2237 | } |
dflet | 0:91ad48ad5687 | 2238 | ulTaskSwitchedInTime = ulTotalRunTime; |
dflet | 0:91ad48ad5687 | 2239 | } |
dflet | 0:91ad48ad5687 | 2240 | #endif /* configGENERATE_RUN_TIME_STATS */ |
dflet | 0:91ad48ad5687 | 2241 | |
dflet | 0:91ad48ad5687 | 2242 | /* Check for stack overflow, if configured. */ |
dflet | 0:91ad48ad5687 | 2243 | taskFIRST_CHECK_FOR_STACK_OVERFLOW(); |
dflet | 0:91ad48ad5687 | 2244 | taskSECOND_CHECK_FOR_STACK_OVERFLOW(); |
dflet | 0:91ad48ad5687 | 2245 | |
dflet | 0:91ad48ad5687 | 2246 | /* Select a new task to run using either the generic C or port |
dflet | 0:91ad48ad5687 | 2247 | optimised asm code. */ |
dflet | 0:91ad48ad5687 | 2248 | taskSELECT_HIGHEST_PRIORITY_TASK(); |
dflet | 0:91ad48ad5687 | 2249 | traceTASK_SWITCHED_IN(); |
dflet | 0:91ad48ad5687 | 2250 | |
dflet | 0:91ad48ad5687 | 2251 | #if ( configUSE_NEWLIB_REENTRANT == 1 ) |
dflet | 0:91ad48ad5687 | 2252 | { |
dflet | 0:91ad48ad5687 | 2253 | /* Switch Newlib's _impure_ptr variable to point to the _reent |
dflet | 0:91ad48ad5687 | 2254 | structure specific to this task. */ |
dflet | 0:91ad48ad5687 | 2255 | _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); |
dflet | 0:91ad48ad5687 | 2256 | } |
dflet | 0:91ad48ad5687 | 2257 | #endif /* configUSE_NEWLIB_REENTRANT */ |
dflet | 0:91ad48ad5687 | 2258 | } |
dflet | 0:91ad48ad5687 | 2259 | } |
dflet | 0:91ad48ad5687 | 2260 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2261 | |
dflet | 0:91ad48ad5687 | 2262 | void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) |
dflet | 0:91ad48ad5687 | 2263 | { |
dflet | 0:91ad48ad5687 | 2264 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 2265 | |
dflet | 0:91ad48ad5687 | 2266 | configASSERT( pxEventList ); |
dflet | 0:91ad48ad5687 | 2267 | |
dflet | 0:91ad48ad5687 | 2268 | /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE |
dflet | 0:91ad48ad5687 | 2269 | SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ |
dflet | 0:91ad48ad5687 | 2270 | |
dflet | 0:91ad48ad5687 | 2271 | /* Place the event list item of the TCB in the appropriate event list. |
dflet | 0:91ad48ad5687 | 2272 | This is placed in the list in priority order so the highest priority task |
dflet | 0:91ad48ad5687 | 2273 | is the first to be woken by the event. The queue that contains the event |
dflet | 0:91ad48ad5687 | 2274 | list is locked, preventing simultaneous access from interrupts. */ |
dflet | 0:91ad48ad5687 | 2275 | vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2276 | |
dflet | 0:91ad48ad5687 | 2277 | /* The task must be removed from from the ready list before it is added to |
dflet | 0:91ad48ad5687 | 2278 | the blocked list as the same list item is used for both lists. Exclusive |
dflet | 0:91ad48ad5687 | 2279 | access to the ready lists guaranteed because the scheduler is locked. */ |
dflet | 0:91ad48ad5687 | 2280 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 2281 | { |
dflet | 0:91ad48ad5687 | 2282 | /* The current task must be in a ready list, so there is no need to |
dflet | 0:91ad48ad5687 | 2283 | check, and the port reset macro can be called directly. */ |
dflet | 0:91ad48ad5687 | 2284 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 2285 | } |
dflet | 0:91ad48ad5687 | 2286 | else |
dflet | 0:91ad48ad5687 | 2287 | { |
dflet | 0:91ad48ad5687 | 2288 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2289 | } |
dflet | 0:91ad48ad5687 | 2290 | |
dflet | 0:91ad48ad5687 | 2291 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 2292 | { |
dflet | 0:91ad48ad5687 | 2293 | if( xTicksToWait == portMAX_DELAY ) |
dflet | 0:91ad48ad5687 | 2294 | { |
dflet | 0:91ad48ad5687 | 2295 | /* Add the task to the suspended task list instead of a delayed task |
dflet | 0:91ad48ad5687 | 2296 | list to ensure the task is not woken by a timing event. It will |
dflet | 0:91ad48ad5687 | 2297 | block indefinitely. */ |
dflet | 0:91ad48ad5687 | 2298 | vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2299 | } |
dflet | 0:91ad48ad5687 | 2300 | else |
dflet | 0:91ad48ad5687 | 2301 | { |
dflet | 0:91ad48ad5687 | 2302 | /* Calculate the time at which the task should be woken if the event |
dflet | 0:91ad48ad5687 | 2303 | does not occur. This may overflow but this doesn't matter, the |
dflet | 0:91ad48ad5687 | 2304 | scheduler will handle it. */ |
dflet | 0:91ad48ad5687 | 2305 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 2306 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 2307 | } |
dflet | 0:91ad48ad5687 | 2308 | } |
dflet | 0:91ad48ad5687 | 2309 | #else /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 2310 | { |
dflet | 0:91ad48ad5687 | 2311 | /* Calculate the time at which the task should be woken if the event does |
dflet | 0:91ad48ad5687 | 2312 | not occur. This may overflow but this doesn't matter, the scheduler |
dflet | 0:91ad48ad5687 | 2313 | will handle it. */ |
dflet | 0:91ad48ad5687 | 2314 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 2315 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 2316 | } |
dflet | 0:91ad48ad5687 | 2317 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 2318 | } |
dflet | 0:91ad48ad5687 | 2319 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2320 | |
dflet | 0:91ad48ad5687 | 2321 | void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) |
dflet | 0:91ad48ad5687 | 2322 | { |
dflet | 0:91ad48ad5687 | 2323 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 2324 | |
dflet | 0:91ad48ad5687 | 2325 | configASSERT( pxEventList ); |
dflet | 0:91ad48ad5687 | 2326 | |
dflet | 0:91ad48ad5687 | 2327 | /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by |
dflet | 0:91ad48ad5687 | 2328 | the event groups implementation. */ |
dflet | 0:91ad48ad5687 | 2329 | configASSERT( uxSchedulerSuspended != 0 ); |
dflet | 0:91ad48ad5687 | 2330 | |
dflet | 0:91ad48ad5687 | 2331 | /* Store the item value in the event list item. It is safe to access the |
dflet | 0:91ad48ad5687 | 2332 | event list item here as interrupts won't access the event list item of a |
dflet | 0:91ad48ad5687 | 2333 | task that is not in the Blocked state. */ |
dflet | 0:91ad48ad5687 | 2334 | listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); |
dflet | 0:91ad48ad5687 | 2335 | |
dflet | 0:91ad48ad5687 | 2336 | /* Place the event list item of the TCB at the end of the appropriate event |
dflet | 0:91ad48ad5687 | 2337 | list. It is safe to access the event list here because it is part of an |
dflet | 0:91ad48ad5687 | 2338 | event group implementation - and interrupts don't access event groups |
dflet | 0:91ad48ad5687 | 2339 | directly (instead they access them indirectly by pending function calls to |
dflet | 0:91ad48ad5687 | 2340 | the task level). */ |
dflet | 0:91ad48ad5687 | 2341 | vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2342 | |
dflet | 0:91ad48ad5687 | 2343 | /* The task must be removed from the ready list before it is added to the |
dflet | 0:91ad48ad5687 | 2344 | blocked list. Exclusive access can be assured to the ready list as the |
dflet | 0:91ad48ad5687 | 2345 | scheduler is locked. */ |
dflet | 0:91ad48ad5687 | 2346 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 2347 | { |
dflet | 0:91ad48ad5687 | 2348 | /* The current task must be in a ready list, so there is no need to |
dflet | 0:91ad48ad5687 | 2349 | check, and the port reset macro can be called directly. */ |
dflet | 0:91ad48ad5687 | 2350 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 2351 | } |
dflet | 0:91ad48ad5687 | 2352 | else |
dflet | 0:91ad48ad5687 | 2353 | { |
dflet | 0:91ad48ad5687 | 2354 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2355 | } |
dflet | 0:91ad48ad5687 | 2356 | |
dflet | 0:91ad48ad5687 | 2357 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 2358 | { |
dflet | 0:91ad48ad5687 | 2359 | if( xTicksToWait == portMAX_DELAY ) |
dflet | 0:91ad48ad5687 | 2360 | { |
dflet | 0:91ad48ad5687 | 2361 | /* Add the task to the suspended task list instead of a delayed task |
dflet | 0:91ad48ad5687 | 2362 | list to ensure it is not woken by a timing event. It will block |
dflet | 0:91ad48ad5687 | 2363 | indefinitely. */ |
dflet | 0:91ad48ad5687 | 2364 | vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2365 | } |
dflet | 0:91ad48ad5687 | 2366 | else |
dflet | 0:91ad48ad5687 | 2367 | { |
dflet | 0:91ad48ad5687 | 2368 | /* Calculate the time at which the task should be woken if the event |
dflet | 0:91ad48ad5687 | 2369 | does not occur. This may overflow but this doesn't matter, the |
dflet | 0:91ad48ad5687 | 2370 | kernel will manage it correctly. */ |
dflet | 0:91ad48ad5687 | 2371 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 2372 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 2373 | } |
dflet | 0:91ad48ad5687 | 2374 | } |
dflet | 0:91ad48ad5687 | 2375 | #else /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 2376 | { |
dflet | 0:91ad48ad5687 | 2377 | /* Calculate the time at which the task should be woken if the event does |
dflet | 0:91ad48ad5687 | 2378 | not occur. This may overflow but this doesn't matter, the kernel |
dflet | 0:91ad48ad5687 | 2379 | will manage it correctly. */ |
dflet | 0:91ad48ad5687 | 2380 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 2381 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 2382 | } |
dflet | 0:91ad48ad5687 | 2383 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 2384 | } |
dflet | 0:91ad48ad5687 | 2385 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2386 | |
dflet | 0:91ad48ad5687 | 2387 | #if configUSE_TIMERS == 1 |
dflet | 0:91ad48ad5687 | 2388 | |
dflet | 0:91ad48ad5687 | 2389 | void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait ) |
dflet | 0:91ad48ad5687 | 2390 | { |
dflet | 0:91ad48ad5687 | 2391 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 2392 | |
dflet | 0:91ad48ad5687 | 2393 | configASSERT( pxEventList ); |
dflet | 0:91ad48ad5687 | 2394 | |
dflet | 0:91ad48ad5687 | 2395 | /* This function should not be called by application code hence the |
dflet | 0:91ad48ad5687 | 2396 | 'Restricted' in its name. It is not part of the public API. It is |
dflet | 0:91ad48ad5687 | 2397 | designed for use by kernel code, and has special calling requirements - |
dflet | 0:91ad48ad5687 | 2398 | it should be called with the scheduler suspended. */ |
dflet | 0:91ad48ad5687 | 2399 | |
dflet | 0:91ad48ad5687 | 2400 | |
dflet | 0:91ad48ad5687 | 2401 | /* Place the event list item of the TCB in the appropriate event list. |
dflet | 0:91ad48ad5687 | 2402 | In this case it is assume that this is the only task that is going to |
dflet | 0:91ad48ad5687 | 2403 | be waiting on this event list, so the faster vListInsertEnd() function |
dflet | 0:91ad48ad5687 | 2404 | can be used in place of vListInsert. */ |
dflet | 0:91ad48ad5687 | 2405 | vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2406 | |
dflet | 0:91ad48ad5687 | 2407 | /* We must remove this task from the ready list before adding it to the |
dflet | 0:91ad48ad5687 | 2408 | blocked list as the same list item is used for both lists. This |
dflet | 0:91ad48ad5687 | 2409 | function is called with the scheduler locked so interrupts will not |
dflet | 0:91ad48ad5687 | 2410 | access the lists at the same time. */ |
dflet | 0:91ad48ad5687 | 2411 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 2412 | { |
dflet | 0:91ad48ad5687 | 2413 | /* The current task must be in a ready list, so there is no need to |
dflet | 0:91ad48ad5687 | 2414 | check, and the port reset macro can be called directly. */ |
dflet | 0:91ad48ad5687 | 2415 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 2416 | } |
dflet | 0:91ad48ad5687 | 2417 | else |
dflet | 0:91ad48ad5687 | 2418 | { |
dflet | 0:91ad48ad5687 | 2419 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2420 | } |
dflet | 0:91ad48ad5687 | 2421 | |
dflet | 0:91ad48ad5687 | 2422 | /* Calculate the time at which the task should be woken if the event does |
dflet | 0:91ad48ad5687 | 2423 | not occur. This may overflow but this doesn't matter. */ |
dflet | 0:91ad48ad5687 | 2424 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 2425 | |
dflet | 0:91ad48ad5687 | 2426 | traceTASK_DELAY_UNTIL(); |
dflet | 0:91ad48ad5687 | 2427 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 2428 | } |
dflet | 0:91ad48ad5687 | 2429 | |
dflet | 0:91ad48ad5687 | 2430 | #endif /* configUSE_TIMERS */ |
dflet | 0:91ad48ad5687 | 2431 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2432 | |
dflet | 0:91ad48ad5687 | 2433 | BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) |
dflet | 0:91ad48ad5687 | 2434 | { |
dflet | 0:91ad48ad5687 | 2435 | TCB_t *pxUnblockedTCB; |
dflet | 0:91ad48ad5687 | 2436 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 2437 | |
dflet | 0:91ad48ad5687 | 2438 | /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be |
dflet | 0:91ad48ad5687 | 2439 | called from a critical section within an ISR. */ |
dflet | 0:91ad48ad5687 | 2440 | |
dflet | 0:91ad48ad5687 | 2441 | /* The event list is sorted in priority order, so the first in the list can |
dflet | 0:91ad48ad5687 | 2442 | be removed as it is known to be the highest priority. Remove the TCB from |
dflet | 0:91ad48ad5687 | 2443 | the delayed list, and add it to the ready list. |
dflet | 0:91ad48ad5687 | 2444 | |
dflet | 0:91ad48ad5687 | 2445 | If an event is for a queue that is locked then this function will never |
dflet | 0:91ad48ad5687 | 2446 | get called - the lock count on the queue will get modified instead. This |
dflet | 0:91ad48ad5687 | 2447 | means exclusive access to the event list is guaranteed here. |
dflet | 0:91ad48ad5687 | 2448 | |
dflet | 0:91ad48ad5687 | 2449 | This function assumes that a check has already been made to ensure that |
dflet | 0:91ad48ad5687 | 2450 | pxEventList is not empty. */ |
dflet | 0:91ad48ad5687 | 2451 | pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); |
dflet | 0:91ad48ad5687 | 2452 | configASSERT( pxUnblockedTCB ); |
dflet | 0:91ad48ad5687 | 2453 | ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2454 | |
dflet | 0:91ad48ad5687 | 2455 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 2456 | { |
dflet | 0:91ad48ad5687 | 2457 | ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2458 | prvAddTaskToReadyList( pxUnblockedTCB ); |
dflet | 0:91ad48ad5687 | 2459 | } |
dflet | 0:91ad48ad5687 | 2460 | else |
dflet | 0:91ad48ad5687 | 2461 | { |
dflet | 0:91ad48ad5687 | 2462 | /* The delayed and ready lists cannot be accessed, so hold this task |
dflet | 0:91ad48ad5687 | 2463 | pending until the scheduler is resumed. */ |
dflet | 0:91ad48ad5687 | 2464 | vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2465 | } |
dflet | 0:91ad48ad5687 | 2466 | |
dflet | 0:91ad48ad5687 | 2467 | if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 2468 | { |
dflet | 0:91ad48ad5687 | 2469 | /* Return true if the task removed from the event list has a higher |
dflet | 0:91ad48ad5687 | 2470 | priority than the calling task. This allows the calling task to know if |
dflet | 0:91ad48ad5687 | 2471 | it should force a context switch now. */ |
dflet | 0:91ad48ad5687 | 2472 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 2473 | |
dflet | 0:91ad48ad5687 | 2474 | /* Mark that a yield is pending in case the user is not using the |
dflet | 0:91ad48ad5687 | 2475 | "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ |
dflet | 0:91ad48ad5687 | 2476 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 2477 | } |
dflet | 0:91ad48ad5687 | 2478 | else |
dflet | 0:91ad48ad5687 | 2479 | { |
dflet | 0:91ad48ad5687 | 2480 | xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 2481 | } |
dflet | 0:91ad48ad5687 | 2482 | |
dflet | 0:91ad48ad5687 | 2483 | #if( configUSE_TICKLESS_IDLE == 1 ) |
dflet | 0:91ad48ad5687 | 2484 | { |
dflet | 0:91ad48ad5687 | 2485 | /* If a task is blocked on a kernel object then xNextTaskUnblockTime |
dflet | 0:91ad48ad5687 | 2486 | might be set to the blocked task's time out time. If the task is |
dflet | 0:91ad48ad5687 | 2487 | unblocked for a reason other than a timeout xNextTaskUnblockTime is |
dflet | 0:91ad48ad5687 | 2488 | normally left unchanged, because it is automatically get reset to a new |
dflet | 0:91ad48ad5687 | 2489 | value when the tick count equals xNextTaskUnblockTime. However if |
dflet | 0:91ad48ad5687 | 2490 | tickless idling is used it might be more important to enter sleep mode |
dflet | 0:91ad48ad5687 | 2491 | at the earliest possible time - so reset xNextTaskUnblockTime here to |
dflet | 0:91ad48ad5687 | 2492 | ensure it is updated at the earliest possible time. */ |
dflet | 0:91ad48ad5687 | 2493 | prvResetNextTaskUnblockTime(); |
dflet | 0:91ad48ad5687 | 2494 | } |
dflet | 0:91ad48ad5687 | 2495 | #endif |
dflet | 0:91ad48ad5687 | 2496 | |
dflet | 0:91ad48ad5687 | 2497 | return xReturn; |
dflet | 0:91ad48ad5687 | 2498 | } |
dflet | 0:91ad48ad5687 | 2499 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2500 | |
dflet | 0:91ad48ad5687 | 2501 | BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) |
dflet | 0:91ad48ad5687 | 2502 | { |
dflet | 0:91ad48ad5687 | 2503 | TCB_t *pxUnblockedTCB; |
dflet | 0:91ad48ad5687 | 2504 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 2505 | |
dflet | 0:91ad48ad5687 | 2506 | /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by |
dflet | 0:91ad48ad5687 | 2507 | the event flags implementation. */ |
dflet | 0:91ad48ad5687 | 2508 | configASSERT( uxSchedulerSuspended != pdFALSE ); |
dflet | 0:91ad48ad5687 | 2509 | |
dflet | 0:91ad48ad5687 | 2510 | /* Store the new item value in the event list. */ |
dflet | 0:91ad48ad5687 | 2511 | listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); |
dflet | 0:91ad48ad5687 | 2512 | |
dflet | 0:91ad48ad5687 | 2513 | /* Remove the event list form the event flag. Interrupts do not access |
dflet | 0:91ad48ad5687 | 2514 | event flags. */ |
dflet | 0:91ad48ad5687 | 2515 | pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem ); |
dflet | 0:91ad48ad5687 | 2516 | configASSERT( pxUnblockedTCB ); |
dflet | 0:91ad48ad5687 | 2517 | ( void ) uxListRemove( pxEventListItem ); |
dflet | 0:91ad48ad5687 | 2518 | |
dflet | 0:91ad48ad5687 | 2519 | /* Remove the task from the delayed list and add it to the ready list. The |
dflet | 0:91ad48ad5687 | 2520 | scheduler is suspended so interrupts will not be accessing the ready |
dflet | 0:91ad48ad5687 | 2521 | lists. */ |
dflet | 0:91ad48ad5687 | 2522 | ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2523 | prvAddTaskToReadyList( pxUnblockedTCB ); |
dflet | 0:91ad48ad5687 | 2524 | |
dflet | 0:91ad48ad5687 | 2525 | if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 2526 | { |
dflet | 0:91ad48ad5687 | 2527 | /* Return true if the task removed from the event list has |
dflet | 0:91ad48ad5687 | 2528 | a higher priority than the calling task. This allows |
dflet | 0:91ad48ad5687 | 2529 | the calling task to know if it should force a context |
dflet | 0:91ad48ad5687 | 2530 | switch now. */ |
dflet | 0:91ad48ad5687 | 2531 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 2532 | |
dflet | 0:91ad48ad5687 | 2533 | /* Mark that a yield is pending in case the user is not using the |
dflet | 0:91ad48ad5687 | 2534 | "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ |
dflet | 0:91ad48ad5687 | 2535 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 2536 | } |
dflet | 0:91ad48ad5687 | 2537 | else |
dflet | 0:91ad48ad5687 | 2538 | { |
dflet | 0:91ad48ad5687 | 2539 | xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 2540 | } |
dflet | 0:91ad48ad5687 | 2541 | |
dflet | 0:91ad48ad5687 | 2542 | return xReturn; |
dflet | 0:91ad48ad5687 | 2543 | } |
dflet | 0:91ad48ad5687 | 2544 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2545 | |
dflet | 0:91ad48ad5687 | 2546 | void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) |
dflet | 0:91ad48ad5687 | 2547 | { |
dflet | 0:91ad48ad5687 | 2548 | configASSERT( pxTimeOut ); |
dflet | 0:91ad48ad5687 | 2549 | pxTimeOut->xOverflowCount = xNumOfOverflows; |
dflet | 0:91ad48ad5687 | 2550 | pxTimeOut->xTimeOnEntering = xTickCount; |
dflet | 0:91ad48ad5687 | 2551 | } |
dflet | 0:91ad48ad5687 | 2552 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2553 | |
dflet | 0:91ad48ad5687 | 2554 | BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) |
dflet | 0:91ad48ad5687 | 2555 | { |
dflet | 0:91ad48ad5687 | 2556 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 2557 | |
dflet | 0:91ad48ad5687 | 2558 | configASSERT( pxTimeOut ); |
dflet | 0:91ad48ad5687 | 2559 | configASSERT( pxTicksToWait ); |
dflet | 0:91ad48ad5687 | 2560 | |
dflet | 0:91ad48ad5687 | 2561 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2562 | { |
dflet | 0:91ad48ad5687 | 2563 | /* Minor optimisation. The tick count cannot change in this block. */ |
dflet | 0:91ad48ad5687 | 2564 | const TickType_t xConstTickCount = xTickCount; |
dflet | 0:91ad48ad5687 | 2565 | |
dflet | 0:91ad48ad5687 | 2566 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 2567 | /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is |
dflet | 0:91ad48ad5687 | 2568 | the maximum block time then the task should block indefinitely, and |
dflet | 0:91ad48ad5687 | 2569 | therefore never time out. */ |
dflet | 0:91ad48ad5687 | 2570 | if( *pxTicksToWait == portMAX_DELAY ) |
dflet | 0:91ad48ad5687 | 2571 | { |
dflet | 0:91ad48ad5687 | 2572 | xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 2573 | } |
dflet | 0:91ad48ad5687 | 2574 | else /* We are not blocking indefinitely, perform the checks below. */ |
dflet | 0:91ad48ad5687 | 2575 | #endif |
dflet | 0:91ad48ad5687 | 2576 | |
dflet | 0:91ad48ad5687 | 2577 | if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ |
dflet | 0:91ad48ad5687 | 2578 | { |
dflet | 0:91ad48ad5687 | 2579 | /* The tick count is greater than the time at which vTaskSetTimeout() |
dflet | 0:91ad48ad5687 | 2580 | was called, but has also overflowed since vTaskSetTimeOut() was called. |
dflet | 0:91ad48ad5687 | 2581 | It must have wrapped all the way around and gone past us again. This |
dflet | 0:91ad48ad5687 | 2582 | passed since vTaskSetTimeout() was called. */ |
dflet | 0:91ad48ad5687 | 2583 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 2584 | } |
dflet | 0:91ad48ad5687 | 2585 | else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait ) |
dflet | 0:91ad48ad5687 | 2586 | { |
dflet | 0:91ad48ad5687 | 2587 | /* Not a genuine timeout. Adjust parameters for time remaining. */ |
dflet | 0:91ad48ad5687 | 2588 | *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering ); |
dflet | 0:91ad48ad5687 | 2589 | vTaskSetTimeOutState( pxTimeOut ); |
dflet | 0:91ad48ad5687 | 2590 | xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 2591 | } |
dflet | 0:91ad48ad5687 | 2592 | else |
dflet | 0:91ad48ad5687 | 2593 | { |
dflet | 0:91ad48ad5687 | 2594 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 2595 | } |
dflet | 0:91ad48ad5687 | 2596 | } |
dflet | 0:91ad48ad5687 | 2597 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 2598 | |
dflet | 0:91ad48ad5687 | 2599 | return xReturn; |
dflet | 0:91ad48ad5687 | 2600 | } |
dflet | 0:91ad48ad5687 | 2601 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2602 | |
dflet | 0:91ad48ad5687 | 2603 | void vTaskMissedYield( void ) |
dflet | 0:91ad48ad5687 | 2604 | { |
dflet | 0:91ad48ad5687 | 2605 | xYieldPending = pdTRUE; |
dflet | 0:91ad48ad5687 | 2606 | } |
dflet | 0:91ad48ad5687 | 2607 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2608 | |
dflet | 0:91ad48ad5687 | 2609 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 2610 | |
dflet | 0:91ad48ad5687 | 2611 | UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 2612 | { |
dflet | 0:91ad48ad5687 | 2613 | UBaseType_t uxReturn; |
dflet | 0:91ad48ad5687 | 2614 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 2615 | |
dflet | 0:91ad48ad5687 | 2616 | if( xTask != NULL ) |
dflet | 0:91ad48ad5687 | 2617 | { |
dflet | 0:91ad48ad5687 | 2618 | pxTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 2619 | uxReturn = pxTCB->uxTaskNumber; |
dflet | 0:91ad48ad5687 | 2620 | } |
dflet | 0:91ad48ad5687 | 2621 | else |
dflet | 0:91ad48ad5687 | 2622 | { |
dflet | 0:91ad48ad5687 | 2623 | uxReturn = 0U; |
dflet | 0:91ad48ad5687 | 2624 | } |
dflet | 0:91ad48ad5687 | 2625 | |
dflet | 0:91ad48ad5687 | 2626 | return uxReturn; |
dflet | 0:91ad48ad5687 | 2627 | } |
dflet | 0:91ad48ad5687 | 2628 | |
dflet | 0:91ad48ad5687 | 2629 | #endif /* configUSE_TRACE_FACILITY */ |
dflet | 0:91ad48ad5687 | 2630 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2631 | |
dflet | 0:91ad48ad5687 | 2632 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 2633 | |
dflet | 0:91ad48ad5687 | 2634 | void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) |
dflet | 0:91ad48ad5687 | 2635 | { |
dflet | 0:91ad48ad5687 | 2636 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 2637 | |
dflet | 0:91ad48ad5687 | 2638 | if( xTask != NULL ) |
dflet | 0:91ad48ad5687 | 2639 | { |
dflet | 0:91ad48ad5687 | 2640 | pxTCB = ( TCB_t * ) xTask; |
dflet | 0:91ad48ad5687 | 2641 | pxTCB->uxTaskNumber = uxHandle; |
dflet | 0:91ad48ad5687 | 2642 | } |
dflet | 0:91ad48ad5687 | 2643 | } |
dflet | 0:91ad48ad5687 | 2644 | |
dflet | 0:91ad48ad5687 | 2645 | #endif /* configUSE_TRACE_FACILITY */ |
dflet | 0:91ad48ad5687 | 2646 | |
dflet | 0:91ad48ad5687 | 2647 | /* |
dflet | 0:91ad48ad5687 | 2648 | * ----------------------------------------------------------- |
dflet | 0:91ad48ad5687 | 2649 | * The Idle task. |
dflet | 0:91ad48ad5687 | 2650 | * ---------------------------------------------------------- |
dflet | 0:91ad48ad5687 | 2651 | * |
dflet | 0:91ad48ad5687 | 2652 | * The portTASK_FUNCTION() macro is used to allow port/compiler specific |
dflet | 0:91ad48ad5687 | 2653 | * language extensions. The equivalent prototype for this function is: |
dflet | 0:91ad48ad5687 | 2654 | * |
dflet | 0:91ad48ad5687 | 2655 | * void prvIdleTask( void *pvParameters ); |
dflet | 0:91ad48ad5687 | 2656 | * |
dflet | 0:91ad48ad5687 | 2657 | */ |
dflet | 0:91ad48ad5687 | 2658 | static portTASK_FUNCTION( prvIdleTask, pvParameters ) |
dflet | 0:91ad48ad5687 | 2659 | { |
dflet | 0:91ad48ad5687 | 2660 | /* Stop warnings. */ |
dflet | 0:91ad48ad5687 | 2661 | ( void ) pvParameters; |
dflet | 0:91ad48ad5687 | 2662 | |
dflet | 0:91ad48ad5687 | 2663 | for( ;; ) |
dflet | 0:91ad48ad5687 | 2664 | { |
dflet | 0:91ad48ad5687 | 2665 | /* See if any tasks have been deleted. */ |
dflet | 0:91ad48ad5687 | 2666 | prvCheckTasksWaitingTermination(); |
dflet | 0:91ad48ad5687 | 2667 | |
dflet | 0:91ad48ad5687 | 2668 | #if ( configUSE_PREEMPTION == 0 ) |
dflet | 0:91ad48ad5687 | 2669 | { |
dflet | 0:91ad48ad5687 | 2670 | /* If we are not using preemption we keep forcing a task switch to |
dflet | 0:91ad48ad5687 | 2671 | see if any other task has become available. If we are using |
dflet | 0:91ad48ad5687 | 2672 | preemption we don't need to do this as any task becoming available |
dflet | 0:91ad48ad5687 | 2673 | will automatically get the processor anyway. */ |
dflet | 0:91ad48ad5687 | 2674 | taskYIELD(); |
dflet | 0:91ad48ad5687 | 2675 | } |
dflet | 0:91ad48ad5687 | 2676 | #endif /* configUSE_PREEMPTION */ |
dflet | 0:91ad48ad5687 | 2677 | |
dflet | 0:91ad48ad5687 | 2678 | #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) |
dflet | 0:91ad48ad5687 | 2679 | { |
dflet | 0:91ad48ad5687 | 2680 | /* When using preemption tasks of equal priority will be |
dflet | 0:91ad48ad5687 | 2681 | timesliced. If a task that is sharing the idle priority is ready |
dflet | 0:91ad48ad5687 | 2682 | to run then the idle task should yield before the end of the |
dflet | 0:91ad48ad5687 | 2683 | timeslice. |
dflet | 0:91ad48ad5687 | 2684 | |
dflet | 0:91ad48ad5687 | 2685 | A critical region is not required here as we are just reading from |
dflet | 0:91ad48ad5687 | 2686 | the list, and an occasional incorrect value will not matter. If |
dflet | 0:91ad48ad5687 | 2687 | the ready list at the idle priority contains more than one task |
dflet | 0:91ad48ad5687 | 2688 | then a task other than the idle task is ready to execute. */ |
dflet | 0:91ad48ad5687 | 2689 | if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) |
dflet | 0:91ad48ad5687 | 2690 | { |
dflet | 0:91ad48ad5687 | 2691 | taskYIELD(); |
dflet | 0:91ad48ad5687 | 2692 | } |
dflet | 0:91ad48ad5687 | 2693 | else |
dflet | 0:91ad48ad5687 | 2694 | { |
dflet | 0:91ad48ad5687 | 2695 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2696 | } |
dflet | 0:91ad48ad5687 | 2697 | } |
dflet | 0:91ad48ad5687 | 2698 | #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 2699 | |
dflet | 0:91ad48ad5687 | 2700 | #if ( configUSE_IDLE_HOOK == 1 ) |
dflet | 0:91ad48ad5687 | 2701 | { |
dflet | 0:91ad48ad5687 | 2702 | extern void vApplicationIdleHook( void ); |
dflet | 0:91ad48ad5687 | 2703 | |
dflet | 0:91ad48ad5687 | 2704 | /* Call the user defined function from within the idle task. This |
dflet | 0:91ad48ad5687 | 2705 | allows the application designer to add background functionality |
dflet | 0:91ad48ad5687 | 2706 | without the overhead of a separate task. |
dflet | 0:91ad48ad5687 | 2707 | NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, |
dflet | 0:91ad48ad5687 | 2708 | CALL A FUNCTION THAT MIGHT BLOCK. */ |
dflet | 0:91ad48ad5687 | 2709 | vApplicationIdleHook(); |
dflet | 0:91ad48ad5687 | 2710 | } |
dflet | 0:91ad48ad5687 | 2711 | #endif /* configUSE_IDLE_HOOK */ |
dflet | 0:91ad48ad5687 | 2712 | |
dflet | 0:91ad48ad5687 | 2713 | /* This conditional compilation should use inequality to 0, not equality |
dflet | 0:91ad48ad5687 | 2714 | to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when |
dflet | 0:91ad48ad5687 | 2715 | user defined low power mode implementations require |
dflet | 0:91ad48ad5687 | 2716 | configUSE_TICKLESS_IDLE to be set to a value other than 1. */ |
dflet | 0:91ad48ad5687 | 2717 | #if ( configUSE_TICKLESS_IDLE != 0 ) |
dflet | 0:91ad48ad5687 | 2718 | { |
dflet | 0:91ad48ad5687 | 2719 | TickType_t xExpectedIdleTime; |
dflet | 0:91ad48ad5687 | 2720 | |
dflet | 0:91ad48ad5687 | 2721 | /* It is not desirable to suspend then resume the scheduler on |
dflet | 0:91ad48ad5687 | 2722 | each iteration of the idle task. Therefore, a preliminary |
dflet | 0:91ad48ad5687 | 2723 | test of the expected idle time is performed without the |
dflet | 0:91ad48ad5687 | 2724 | scheduler suspended. The result here is not necessarily |
dflet | 0:91ad48ad5687 | 2725 | valid. */ |
dflet | 0:91ad48ad5687 | 2726 | xExpectedIdleTime = prvGetExpectedIdleTime(); |
dflet | 0:91ad48ad5687 | 2727 | |
dflet | 0:91ad48ad5687 | 2728 | if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) |
dflet | 0:91ad48ad5687 | 2729 | { |
dflet | 0:91ad48ad5687 | 2730 | vTaskSuspendAll(); |
dflet | 0:91ad48ad5687 | 2731 | { |
dflet | 0:91ad48ad5687 | 2732 | /* Now the scheduler is suspended, the expected idle |
dflet | 0:91ad48ad5687 | 2733 | time can be sampled again, and this time its value can |
dflet | 0:91ad48ad5687 | 2734 | be used. */ |
dflet | 0:91ad48ad5687 | 2735 | configASSERT( xNextTaskUnblockTime >= xTickCount ); |
dflet | 0:91ad48ad5687 | 2736 | xExpectedIdleTime = prvGetExpectedIdleTime(); |
dflet | 0:91ad48ad5687 | 2737 | |
dflet | 0:91ad48ad5687 | 2738 | if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) |
dflet | 0:91ad48ad5687 | 2739 | { |
dflet | 0:91ad48ad5687 | 2740 | traceLOW_POWER_IDLE_BEGIN(); |
dflet | 0:91ad48ad5687 | 2741 | portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); |
dflet | 0:91ad48ad5687 | 2742 | traceLOW_POWER_IDLE_END(); |
dflet | 0:91ad48ad5687 | 2743 | } |
dflet | 0:91ad48ad5687 | 2744 | else |
dflet | 0:91ad48ad5687 | 2745 | { |
dflet | 0:91ad48ad5687 | 2746 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2747 | } |
dflet | 0:91ad48ad5687 | 2748 | } |
dflet | 0:91ad48ad5687 | 2749 | ( void ) xTaskResumeAll(); |
dflet | 0:91ad48ad5687 | 2750 | } |
dflet | 0:91ad48ad5687 | 2751 | else |
dflet | 0:91ad48ad5687 | 2752 | { |
dflet | 0:91ad48ad5687 | 2753 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2754 | } |
dflet | 0:91ad48ad5687 | 2755 | } |
dflet | 0:91ad48ad5687 | 2756 | #endif /* configUSE_TICKLESS_IDLE */ |
dflet | 0:91ad48ad5687 | 2757 | } |
dflet | 0:91ad48ad5687 | 2758 | } |
dflet | 0:91ad48ad5687 | 2759 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2760 | |
dflet | 0:91ad48ad5687 | 2761 | #if configUSE_TICKLESS_IDLE != 0 |
dflet | 0:91ad48ad5687 | 2762 | |
dflet | 0:91ad48ad5687 | 2763 | eSleepModeStatus eTaskConfirmSleepModeStatus( void ) |
dflet | 0:91ad48ad5687 | 2764 | { |
dflet | 0:91ad48ad5687 | 2765 | eSleepModeStatus eReturn = eStandardSleep; |
dflet | 0:91ad48ad5687 | 2766 | |
dflet | 0:91ad48ad5687 | 2767 | if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) |
dflet | 0:91ad48ad5687 | 2768 | { |
dflet | 0:91ad48ad5687 | 2769 | /* A task was made ready while the scheduler was suspended. */ |
dflet | 0:91ad48ad5687 | 2770 | eReturn = eAbortSleep; |
dflet | 0:91ad48ad5687 | 2771 | } |
dflet | 0:91ad48ad5687 | 2772 | else if( xYieldPending != pdFALSE ) |
dflet | 0:91ad48ad5687 | 2773 | { |
dflet | 0:91ad48ad5687 | 2774 | /* A yield was pended while the scheduler was suspended. */ |
dflet | 0:91ad48ad5687 | 2775 | eReturn = eAbortSleep; |
dflet | 0:91ad48ad5687 | 2776 | } |
dflet | 0:91ad48ad5687 | 2777 | else |
dflet | 0:91ad48ad5687 | 2778 | { |
dflet | 0:91ad48ad5687 | 2779 | #if configUSE_TIMERS == 0 |
dflet | 0:91ad48ad5687 | 2780 | { |
dflet | 0:91ad48ad5687 | 2781 | /* The idle task exists in addition to the application tasks. */ |
dflet | 0:91ad48ad5687 | 2782 | const UBaseType_t uxNonApplicationTasks = 1; |
dflet | 0:91ad48ad5687 | 2783 | |
dflet | 0:91ad48ad5687 | 2784 | /* If timers are not being used and all the tasks are in the |
dflet | 0:91ad48ad5687 | 2785 | suspended list (which might mean they have an infinite block |
dflet | 0:91ad48ad5687 | 2786 | time rather than actually being suspended) then it is safe to |
dflet | 0:91ad48ad5687 | 2787 | turn all clocks off and just wait for external interrupts. */ |
dflet | 0:91ad48ad5687 | 2788 | if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) |
dflet | 0:91ad48ad5687 | 2789 | { |
dflet | 0:91ad48ad5687 | 2790 | eReturn = eNoTasksWaitingTimeout; |
dflet | 0:91ad48ad5687 | 2791 | } |
dflet | 0:91ad48ad5687 | 2792 | else |
dflet | 0:91ad48ad5687 | 2793 | { |
dflet | 0:91ad48ad5687 | 2794 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2795 | } |
dflet | 0:91ad48ad5687 | 2796 | } |
dflet | 0:91ad48ad5687 | 2797 | #endif /* configUSE_TIMERS */ |
dflet | 0:91ad48ad5687 | 2798 | } |
dflet | 0:91ad48ad5687 | 2799 | |
dflet | 0:91ad48ad5687 | 2800 | return eReturn; |
dflet | 0:91ad48ad5687 | 2801 | } |
dflet | 0:91ad48ad5687 | 2802 | #endif /* configUSE_TICKLESS_IDLE */ |
dflet | 0:91ad48ad5687 | 2803 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2804 | |
dflet | 0:91ad48ad5687 | 2805 | 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. */ |
dflet | 0:91ad48ad5687 | 2806 | { |
dflet | 0:91ad48ad5687 | 2807 | UBaseType_t x; |
dflet | 0:91ad48ad5687 | 2808 | |
dflet | 0:91ad48ad5687 | 2809 | /* Store the task name in the TCB. */ |
dflet | 0:91ad48ad5687 | 2810 | for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) |
dflet | 0:91ad48ad5687 | 2811 | { |
dflet | 0:91ad48ad5687 | 2812 | pxTCB->pcTaskName[ x ] = pcName[ x ]; |
dflet | 0:91ad48ad5687 | 2813 | |
dflet | 0:91ad48ad5687 | 2814 | /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than |
dflet | 0:91ad48ad5687 | 2815 | configMAX_TASK_NAME_LEN characters just in case the memory after the |
dflet | 0:91ad48ad5687 | 2816 | string is not accessible (extremely unlikely). */ |
dflet | 0:91ad48ad5687 | 2817 | if( pcName[ x ] == 0x00 ) |
dflet | 0:91ad48ad5687 | 2818 | { |
dflet | 0:91ad48ad5687 | 2819 | break; |
dflet | 0:91ad48ad5687 | 2820 | } |
dflet | 0:91ad48ad5687 | 2821 | else |
dflet | 0:91ad48ad5687 | 2822 | { |
dflet | 0:91ad48ad5687 | 2823 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2824 | } |
dflet | 0:91ad48ad5687 | 2825 | } |
dflet | 0:91ad48ad5687 | 2826 | |
dflet | 0:91ad48ad5687 | 2827 | /* Ensure the name string is terminated in the case that the string length |
dflet | 0:91ad48ad5687 | 2828 | was greater or equal to configMAX_TASK_NAME_LEN. */ |
dflet | 0:91ad48ad5687 | 2829 | pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; |
dflet | 0:91ad48ad5687 | 2830 | |
dflet | 0:91ad48ad5687 | 2831 | /* This is used as an array index so must ensure it's not too large. First |
dflet | 0:91ad48ad5687 | 2832 | remove the privilege bit if one is present. */ |
dflet | 0:91ad48ad5687 | 2833 | if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) |
dflet | 0:91ad48ad5687 | 2834 | { |
dflet | 0:91ad48ad5687 | 2835 | uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; |
dflet | 0:91ad48ad5687 | 2836 | } |
dflet | 0:91ad48ad5687 | 2837 | else |
dflet | 0:91ad48ad5687 | 2838 | { |
dflet | 0:91ad48ad5687 | 2839 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 2840 | } |
dflet | 0:91ad48ad5687 | 2841 | |
dflet | 0:91ad48ad5687 | 2842 | pxTCB->uxPriority = uxPriority; |
dflet | 0:91ad48ad5687 | 2843 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 2844 | { |
dflet | 0:91ad48ad5687 | 2845 | pxTCB->uxBasePriority = uxPriority; |
dflet | 0:91ad48ad5687 | 2846 | pxTCB->uxMutexesHeld = 0; |
dflet | 0:91ad48ad5687 | 2847 | } |
dflet | 0:91ad48ad5687 | 2848 | #endif /* configUSE_MUTEXES */ |
dflet | 0:91ad48ad5687 | 2849 | |
dflet | 0:91ad48ad5687 | 2850 | vListInitialiseItem( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 2851 | vListInitialiseItem( &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 2852 | |
dflet | 0:91ad48ad5687 | 2853 | /* Set the pxTCB as a link back from the ListItem_t. This is so we can get |
dflet | 0:91ad48ad5687 | 2854 | back to the containing TCB from a generic item in a list. */ |
dflet | 0:91ad48ad5687 | 2855 | listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); |
dflet | 0:91ad48ad5687 | 2856 | |
dflet | 0:91ad48ad5687 | 2857 | /* Event lists are always in priority order. */ |
dflet | 0:91ad48ad5687 | 2858 | 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. */ |
dflet | 0:91ad48ad5687 | 2859 | listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); |
dflet | 0:91ad48ad5687 | 2860 | |
dflet | 0:91ad48ad5687 | 2861 | #if ( portCRITICAL_NESTING_IN_TCB == 1 ) |
dflet | 0:91ad48ad5687 | 2862 | { |
dflet | 0:91ad48ad5687 | 2863 | pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U; |
dflet | 0:91ad48ad5687 | 2864 | } |
dflet | 0:91ad48ad5687 | 2865 | #endif /* portCRITICAL_NESTING_IN_TCB */ |
dflet | 0:91ad48ad5687 | 2866 | |
dflet | 0:91ad48ad5687 | 2867 | #if ( configUSE_APPLICATION_TASK_TAG == 1 ) |
dflet | 0:91ad48ad5687 | 2868 | { |
dflet | 0:91ad48ad5687 | 2869 | pxTCB->pxTaskTag = NULL; |
dflet | 0:91ad48ad5687 | 2870 | } |
dflet | 0:91ad48ad5687 | 2871 | #endif /* configUSE_APPLICATION_TASK_TAG */ |
dflet | 0:91ad48ad5687 | 2872 | |
dflet | 0:91ad48ad5687 | 2873 | #if ( configGENERATE_RUN_TIME_STATS == 1 ) |
dflet | 0:91ad48ad5687 | 2874 | { |
dflet | 0:91ad48ad5687 | 2875 | pxTCB->ulRunTimeCounter = 0UL; |
dflet | 0:91ad48ad5687 | 2876 | } |
dflet | 0:91ad48ad5687 | 2877 | #endif /* configGENERATE_RUN_TIME_STATS */ |
dflet | 0:91ad48ad5687 | 2878 | |
dflet | 0:91ad48ad5687 | 2879 | #if ( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 2880 | { |
dflet | 0:91ad48ad5687 | 2881 | vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth ); |
dflet | 0:91ad48ad5687 | 2882 | } |
dflet | 0:91ad48ad5687 | 2883 | #else /* portUSING_MPU_WRAPPERS */ |
dflet | 0:91ad48ad5687 | 2884 | { |
dflet | 0:91ad48ad5687 | 2885 | ( void ) xRegions; |
dflet | 0:91ad48ad5687 | 2886 | ( void ) usStackDepth; |
dflet | 0:91ad48ad5687 | 2887 | } |
dflet | 0:91ad48ad5687 | 2888 | #endif /* portUSING_MPU_WRAPPERS */ |
dflet | 0:91ad48ad5687 | 2889 | |
dflet | 0:91ad48ad5687 | 2890 | #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) |
dflet | 0:91ad48ad5687 | 2891 | { |
dflet | 0:91ad48ad5687 | 2892 | for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) |
dflet | 0:91ad48ad5687 | 2893 | { |
dflet | 0:91ad48ad5687 | 2894 | pxTCB->pvThreadLocalStoragePointers[ x ] = NULL; |
dflet | 0:91ad48ad5687 | 2895 | } |
dflet | 0:91ad48ad5687 | 2896 | } |
dflet | 0:91ad48ad5687 | 2897 | #endif |
dflet | 0:91ad48ad5687 | 2898 | |
dflet | 0:91ad48ad5687 | 2899 | #if ( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 2900 | { |
dflet | 0:91ad48ad5687 | 2901 | pxTCB->ulNotifiedValue = 0; |
dflet | 0:91ad48ad5687 | 2902 | pxTCB->eNotifyState = eNotWaitingNotification; |
dflet | 0:91ad48ad5687 | 2903 | } |
dflet | 0:91ad48ad5687 | 2904 | #endif |
dflet | 0:91ad48ad5687 | 2905 | |
dflet | 0:91ad48ad5687 | 2906 | #if ( configUSE_NEWLIB_REENTRANT == 1 ) |
dflet | 0:91ad48ad5687 | 2907 | { |
dflet | 0:91ad48ad5687 | 2908 | /* Initialise this task's Newlib reent structure. */ |
dflet | 0:91ad48ad5687 | 2909 | _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) ); |
dflet | 0:91ad48ad5687 | 2910 | } |
dflet | 0:91ad48ad5687 | 2911 | #endif /* configUSE_NEWLIB_REENTRANT */ |
dflet | 0:91ad48ad5687 | 2912 | } |
dflet | 0:91ad48ad5687 | 2913 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2914 | |
dflet | 0:91ad48ad5687 | 2915 | #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) |
dflet | 0:91ad48ad5687 | 2916 | |
dflet | 0:91ad48ad5687 | 2917 | void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) |
dflet | 0:91ad48ad5687 | 2918 | { |
dflet | 0:91ad48ad5687 | 2919 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 2920 | |
dflet | 0:91ad48ad5687 | 2921 | if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) |
dflet | 0:91ad48ad5687 | 2922 | { |
dflet | 0:91ad48ad5687 | 2923 | pxTCB = prvGetTCBFromHandle( xTaskToSet ); |
dflet | 0:91ad48ad5687 | 2924 | pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; |
dflet | 0:91ad48ad5687 | 2925 | } |
dflet | 0:91ad48ad5687 | 2926 | } |
dflet | 0:91ad48ad5687 | 2927 | |
dflet | 0:91ad48ad5687 | 2928 | #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ |
dflet | 0:91ad48ad5687 | 2929 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2930 | |
dflet | 0:91ad48ad5687 | 2931 | #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) |
dflet | 0:91ad48ad5687 | 2932 | |
dflet | 0:91ad48ad5687 | 2933 | void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) |
dflet | 0:91ad48ad5687 | 2934 | { |
dflet | 0:91ad48ad5687 | 2935 | void *pvReturn = NULL; |
dflet | 0:91ad48ad5687 | 2936 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 2937 | |
dflet | 0:91ad48ad5687 | 2938 | if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) |
dflet | 0:91ad48ad5687 | 2939 | { |
dflet | 0:91ad48ad5687 | 2940 | pxTCB = prvGetTCBFromHandle( xTaskToQuery ); |
dflet | 0:91ad48ad5687 | 2941 | pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; |
dflet | 0:91ad48ad5687 | 2942 | } |
dflet | 0:91ad48ad5687 | 2943 | else |
dflet | 0:91ad48ad5687 | 2944 | { |
dflet | 0:91ad48ad5687 | 2945 | pvReturn = NULL; |
dflet | 0:91ad48ad5687 | 2946 | } |
dflet | 0:91ad48ad5687 | 2947 | |
dflet | 0:91ad48ad5687 | 2948 | return pvReturn; |
dflet | 0:91ad48ad5687 | 2949 | } |
dflet | 0:91ad48ad5687 | 2950 | |
dflet | 0:91ad48ad5687 | 2951 | #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ |
dflet | 0:91ad48ad5687 | 2952 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2953 | |
dflet | 0:91ad48ad5687 | 2954 | #if ( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 2955 | |
dflet | 0:91ad48ad5687 | 2956 | void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) |
dflet | 0:91ad48ad5687 | 2957 | { |
dflet | 0:91ad48ad5687 | 2958 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 2959 | |
dflet | 0:91ad48ad5687 | 2960 | /* If null is passed in here then we are deleting ourselves. */ |
dflet | 0:91ad48ad5687 | 2961 | pxTCB = prvGetTCBFromHandle( xTaskToModify ); |
dflet | 0:91ad48ad5687 | 2962 | |
dflet | 0:91ad48ad5687 | 2963 | vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); |
dflet | 0:91ad48ad5687 | 2964 | } |
dflet | 0:91ad48ad5687 | 2965 | |
dflet | 0:91ad48ad5687 | 2966 | #endif /* portUSING_MPU_WRAPPERS */ |
dflet | 0:91ad48ad5687 | 2967 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 2968 | |
dflet | 0:91ad48ad5687 | 2969 | static void prvInitialiseTaskLists( void ) |
dflet | 0:91ad48ad5687 | 2970 | { |
dflet | 0:91ad48ad5687 | 2971 | UBaseType_t uxPriority; |
dflet | 0:91ad48ad5687 | 2972 | |
dflet | 0:91ad48ad5687 | 2973 | for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) |
dflet | 0:91ad48ad5687 | 2974 | { |
dflet | 0:91ad48ad5687 | 2975 | vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); |
dflet | 0:91ad48ad5687 | 2976 | } |
dflet | 0:91ad48ad5687 | 2977 | |
dflet | 0:91ad48ad5687 | 2978 | vListInitialise( &xDelayedTaskList1 ); |
dflet | 0:91ad48ad5687 | 2979 | vListInitialise( &xDelayedTaskList2 ); |
dflet | 0:91ad48ad5687 | 2980 | vListInitialise( &xPendingReadyList ); |
dflet | 0:91ad48ad5687 | 2981 | |
dflet | 0:91ad48ad5687 | 2982 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 2983 | { |
dflet | 0:91ad48ad5687 | 2984 | vListInitialise( &xTasksWaitingTermination ); |
dflet | 0:91ad48ad5687 | 2985 | } |
dflet | 0:91ad48ad5687 | 2986 | #endif /* INCLUDE_vTaskDelete */ |
dflet | 0:91ad48ad5687 | 2987 | |
dflet | 0:91ad48ad5687 | 2988 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 2989 | { |
dflet | 0:91ad48ad5687 | 2990 | vListInitialise( &xSuspendedTaskList ); |
dflet | 0:91ad48ad5687 | 2991 | } |
dflet | 0:91ad48ad5687 | 2992 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 2993 | |
dflet | 0:91ad48ad5687 | 2994 | /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList |
dflet | 0:91ad48ad5687 | 2995 | using list2. */ |
dflet | 0:91ad48ad5687 | 2996 | pxDelayedTaskList = &xDelayedTaskList1; |
dflet | 0:91ad48ad5687 | 2997 | pxOverflowDelayedTaskList = &xDelayedTaskList2; |
dflet | 0:91ad48ad5687 | 2998 | } |
dflet | 0:91ad48ad5687 | 2999 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3000 | |
dflet | 0:91ad48ad5687 | 3001 | static void prvCheckTasksWaitingTermination( void ) |
dflet | 0:91ad48ad5687 | 3002 | { |
dflet | 0:91ad48ad5687 | 3003 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 3004 | { |
dflet | 0:91ad48ad5687 | 3005 | BaseType_t xListIsEmpty; |
dflet | 0:91ad48ad5687 | 3006 | |
dflet | 0:91ad48ad5687 | 3007 | /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called |
dflet | 0:91ad48ad5687 | 3008 | too often in the idle task. */ |
dflet | 0:91ad48ad5687 | 3009 | while( uxTasksDeleted > ( UBaseType_t ) 0U ) |
dflet | 0:91ad48ad5687 | 3010 | { |
dflet | 0:91ad48ad5687 | 3011 | vTaskSuspendAll(); |
dflet | 0:91ad48ad5687 | 3012 | { |
dflet | 0:91ad48ad5687 | 3013 | xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); |
dflet | 0:91ad48ad5687 | 3014 | } |
dflet | 0:91ad48ad5687 | 3015 | ( void ) xTaskResumeAll(); |
dflet | 0:91ad48ad5687 | 3016 | |
dflet | 0:91ad48ad5687 | 3017 | if( xListIsEmpty == pdFALSE ) |
dflet | 0:91ad48ad5687 | 3018 | { |
dflet | 0:91ad48ad5687 | 3019 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 3020 | |
dflet | 0:91ad48ad5687 | 3021 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3022 | { |
dflet | 0:91ad48ad5687 | 3023 | pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); |
dflet | 0:91ad48ad5687 | 3024 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 3025 | --uxCurrentNumberOfTasks; |
dflet | 0:91ad48ad5687 | 3026 | --uxTasksDeleted; |
dflet | 0:91ad48ad5687 | 3027 | } |
dflet | 0:91ad48ad5687 | 3028 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3029 | |
dflet | 0:91ad48ad5687 | 3030 | prvDeleteTCB( pxTCB ); |
dflet | 0:91ad48ad5687 | 3031 | } |
dflet | 0:91ad48ad5687 | 3032 | else |
dflet | 0:91ad48ad5687 | 3033 | { |
dflet | 0:91ad48ad5687 | 3034 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3035 | } |
dflet | 0:91ad48ad5687 | 3036 | } |
dflet | 0:91ad48ad5687 | 3037 | } |
dflet | 0:91ad48ad5687 | 3038 | #endif /* vTaskDelete */ |
dflet | 0:91ad48ad5687 | 3039 | } |
dflet | 0:91ad48ad5687 | 3040 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3041 | |
dflet | 0:91ad48ad5687 | 3042 | static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) |
dflet | 0:91ad48ad5687 | 3043 | { |
dflet | 0:91ad48ad5687 | 3044 | /* The list item will be inserted in wake time order. */ |
dflet | 0:91ad48ad5687 | 3045 | listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); |
dflet | 0:91ad48ad5687 | 3046 | |
dflet | 0:91ad48ad5687 | 3047 | if( xTimeToWake < xTickCount ) |
dflet | 0:91ad48ad5687 | 3048 | { |
dflet | 0:91ad48ad5687 | 3049 | /* Wake time has overflowed. Place this item in the overflow list. */ |
dflet | 0:91ad48ad5687 | 3050 | vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 3051 | } |
dflet | 0:91ad48ad5687 | 3052 | else |
dflet | 0:91ad48ad5687 | 3053 | { |
dflet | 0:91ad48ad5687 | 3054 | /* The wake time has not overflowed, so the current block list is used. */ |
dflet | 0:91ad48ad5687 | 3055 | vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 3056 | |
dflet | 0:91ad48ad5687 | 3057 | /* If the task entering the blocked state was placed at the head of the |
dflet | 0:91ad48ad5687 | 3058 | list of blocked tasks then xNextTaskUnblockTime needs to be updated |
dflet | 0:91ad48ad5687 | 3059 | too. */ |
dflet | 0:91ad48ad5687 | 3060 | if( xTimeToWake < xNextTaskUnblockTime ) |
dflet | 0:91ad48ad5687 | 3061 | { |
dflet | 0:91ad48ad5687 | 3062 | xNextTaskUnblockTime = xTimeToWake; |
dflet | 0:91ad48ad5687 | 3063 | } |
dflet | 0:91ad48ad5687 | 3064 | else |
dflet | 0:91ad48ad5687 | 3065 | { |
dflet | 0:91ad48ad5687 | 3066 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3067 | } |
dflet | 0:91ad48ad5687 | 3068 | } |
dflet | 0:91ad48ad5687 | 3069 | } |
dflet | 0:91ad48ad5687 | 3070 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3071 | |
dflet | 0:91ad48ad5687 | 3072 | static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) |
dflet | 0:91ad48ad5687 | 3073 | { |
dflet | 0:91ad48ad5687 | 3074 | TCB_t *pxNewTCB; |
dflet | 0:91ad48ad5687 | 3075 | |
dflet | 0:91ad48ad5687 | 3076 | /* If the stack grows down then allocate the stack then the TCB so the stack |
dflet | 0:91ad48ad5687 | 3077 | does not grow into the TCB. Likewise if the stack grows up then allocate |
dflet | 0:91ad48ad5687 | 3078 | the TCB then the stack. */ |
dflet | 0:91ad48ad5687 | 3079 | #if( portSTACK_GROWTH > 0 ) |
dflet | 0:91ad48ad5687 | 3080 | { |
dflet | 0:91ad48ad5687 | 3081 | /* Allocate space for the TCB. Where the memory comes from depends on |
dflet | 0:91ad48ad5687 | 3082 | the implementation of the port malloc function. */ |
dflet | 0:91ad48ad5687 | 3083 | pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); |
dflet | 0:91ad48ad5687 | 3084 | |
dflet | 0:91ad48ad5687 | 3085 | if( pxNewTCB != NULL ) |
dflet | 0:91ad48ad5687 | 3086 | { |
dflet | 0:91ad48ad5687 | 3087 | /* Allocate space for the stack used by the task being created. |
dflet | 0:91ad48ad5687 | 3088 | The base of the stack memory stored in the TCB so the task can |
dflet | 0:91ad48ad5687 | 3089 | be deleted later if required. */ |
dflet | 0:91ad48ad5687 | 3090 | 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. */ |
dflet | 0:91ad48ad5687 | 3091 | |
dflet | 0:91ad48ad5687 | 3092 | if( pxNewTCB->pxStack == NULL ) |
dflet | 0:91ad48ad5687 | 3093 | { |
dflet | 0:91ad48ad5687 | 3094 | /* Could not allocate the stack. Delete the allocated TCB. */ |
dflet | 0:91ad48ad5687 | 3095 | vPortFree( pxNewTCB ); |
dflet | 0:91ad48ad5687 | 3096 | pxNewTCB = NULL; |
dflet | 0:91ad48ad5687 | 3097 | } |
dflet | 0:91ad48ad5687 | 3098 | } |
dflet | 0:91ad48ad5687 | 3099 | } |
dflet | 0:91ad48ad5687 | 3100 | #else /* portSTACK_GROWTH */ |
dflet | 0:91ad48ad5687 | 3101 | { |
dflet | 0:91ad48ad5687 | 3102 | StackType_t *pxStack; |
dflet | 0:91ad48ad5687 | 3103 | |
dflet | 0:91ad48ad5687 | 3104 | /* Allocate space for the stack used by the task being created. */ |
dflet | 0:91ad48ad5687 | 3105 | pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ |
dflet | 0:91ad48ad5687 | 3106 | |
dflet | 0:91ad48ad5687 | 3107 | if( pxStack != NULL ) |
dflet | 0:91ad48ad5687 | 3108 | { |
dflet | 0:91ad48ad5687 | 3109 | /* Allocate space for the TCB. Where the memory comes from depends |
dflet | 0:91ad48ad5687 | 3110 | on the implementation of the port malloc function. */ |
dflet | 0:91ad48ad5687 | 3111 | pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); |
dflet | 0:91ad48ad5687 | 3112 | |
dflet | 0:91ad48ad5687 | 3113 | if( pxNewTCB != NULL ) |
dflet | 0:91ad48ad5687 | 3114 | { |
dflet | 0:91ad48ad5687 | 3115 | /* Store the stack location in the TCB. */ |
dflet | 0:91ad48ad5687 | 3116 | pxNewTCB->pxStack = pxStack; |
dflet | 0:91ad48ad5687 | 3117 | } |
dflet | 0:91ad48ad5687 | 3118 | else |
dflet | 0:91ad48ad5687 | 3119 | { |
dflet | 0:91ad48ad5687 | 3120 | /* The stack cannot be used as the TCB was not created. Free it |
dflet | 0:91ad48ad5687 | 3121 | again. */ |
dflet | 0:91ad48ad5687 | 3122 | vPortFree( pxStack ); |
dflet | 0:91ad48ad5687 | 3123 | } |
dflet | 0:91ad48ad5687 | 3124 | } |
dflet | 0:91ad48ad5687 | 3125 | else |
dflet | 0:91ad48ad5687 | 3126 | { |
dflet | 0:91ad48ad5687 | 3127 | pxNewTCB = NULL; |
dflet | 0:91ad48ad5687 | 3128 | } |
dflet | 0:91ad48ad5687 | 3129 | } |
dflet | 0:91ad48ad5687 | 3130 | #endif /* portSTACK_GROWTH */ |
dflet | 0:91ad48ad5687 | 3131 | |
dflet | 0:91ad48ad5687 | 3132 | if( pxNewTCB != NULL ) |
dflet | 0:91ad48ad5687 | 3133 | { |
dflet | 0:91ad48ad5687 | 3134 | /* Avoid dependency on memset() if it is not required. */ |
dflet | 0:91ad48ad5687 | 3135 | #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) |
dflet | 0:91ad48ad5687 | 3136 | { |
dflet | 0:91ad48ad5687 | 3137 | /* Just to help debugging. */ |
dflet | 0:91ad48ad5687 | 3138 | ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) ); |
dflet | 0:91ad48ad5687 | 3139 | } |
dflet | 0:91ad48ad5687 | 3140 | #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ |
dflet | 0:91ad48ad5687 | 3141 | } |
dflet | 0:91ad48ad5687 | 3142 | |
dflet | 0:91ad48ad5687 | 3143 | return pxNewTCB; |
dflet | 0:91ad48ad5687 | 3144 | } |
dflet | 0:91ad48ad5687 | 3145 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3146 | |
dflet | 0:91ad48ad5687 | 3147 | #if ( configUSE_TRACE_FACILITY == 1 ) |
dflet | 0:91ad48ad5687 | 3148 | |
dflet | 0:91ad48ad5687 | 3149 | static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) |
dflet | 0:91ad48ad5687 | 3150 | { |
dflet | 0:91ad48ad5687 | 3151 | volatile TCB_t *pxNextTCB, *pxFirstTCB; |
dflet | 0:91ad48ad5687 | 3152 | UBaseType_t uxTask = 0; |
dflet | 0:91ad48ad5687 | 3153 | |
dflet | 0:91ad48ad5687 | 3154 | if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3155 | { |
dflet | 0:91ad48ad5687 | 3156 | listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); |
dflet | 0:91ad48ad5687 | 3157 | |
dflet | 0:91ad48ad5687 | 3158 | /* Populate an TaskStatus_t structure within the |
dflet | 0:91ad48ad5687 | 3159 | pxTaskStatusArray array for each task that is referenced from |
dflet | 0:91ad48ad5687 | 3160 | pxList. See the definition of TaskStatus_t in task.h for the |
dflet | 0:91ad48ad5687 | 3161 | meaning of each TaskStatus_t structure member. */ |
dflet | 0:91ad48ad5687 | 3162 | do |
dflet | 0:91ad48ad5687 | 3163 | { |
dflet | 0:91ad48ad5687 | 3164 | listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); |
dflet | 0:91ad48ad5687 | 3165 | |
dflet | 0:91ad48ad5687 | 3166 | pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB; |
dflet | 0:91ad48ad5687 | 3167 | pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] ); |
dflet | 0:91ad48ad5687 | 3168 | pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber; |
dflet | 0:91ad48ad5687 | 3169 | pxTaskStatusArray[ uxTask ].eCurrentState = eState; |
dflet | 0:91ad48ad5687 | 3170 | pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 3171 | |
dflet | 0:91ad48ad5687 | 3172 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 3173 | { |
dflet | 0:91ad48ad5687 | 3174 | /* If the task is in the suspended list then there is a chance |
dflet | 0:91ad48ad5687 | 3175 | it is actually just blocked indefinitely - so really it should |
dflet | 0:91ad48ad5687 | 3176 | be reported as being in the Blocked state. */ |
dflet | 0:91ad48ad5687 | 3177 | if( eState == eSuspended ) |
dflet | 0:91ad48ad5687 | 3178 | { |
dflet | 0:91ad48ad5687 | 3179 | if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL ) |
dflet | 0:91ad48ad5687 | 3180 | { |
dflet | 0:91ad48ad5687 | 3181 | pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked; |
dflet | 0:91ad48ad5687 | 3182 | } |
dflet | 0:91ad48ad5687 | 3183 | } |
dflet | 0:91ad48ad5687 | 3184 | } |
dflet | 0:91ad48ad5687 | 3185 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 3186 | |
dflet | 0:91ad48ad5687 | 3187 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 3188 | { |
dflet | 0:91ad48ad5687 | 3189 | pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority; |
dflet | 0:91ad48ad5687 | 3190 | } |
dflet | 0:91ad48ad5687 | 3191 | #else |
dflet | 0:91ad48ad5687 | 3192 | { |
dflet | 0:91ad48ad5687 | 3193 | pxTaskStatusArray[ uxTask ].uxBasePriority = 0; |
dflet | 0:91ad48ad5687 | 3194 | } |
dflet | 0:91ad48ad5687 | 3195 | #endif |
dflet | 0:91ad48ad5687 | 3196 | |
dflet | 0:91ad48ad5687 | 3197 | #if ( configGENERATE_RUN_TIME_STATS == 1 ) |
dflet | 0:91ad48ad5687 | 3198 | { |
dflet | 0:91ad48ad5687 | 3199 | pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter; |
dflet | 0:91ad48ad5687 | 3200 | } |
dflet | 0:91ad48ad5687 | 3201 | #else |
dflet | 0:91ad48ad5687 | 3202 | { |
dflet | 0:91ad48ad5687 | 3203 | pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0; |
dflet | 0:91ad48ad5687 | 3204 | } |
dflet | 0:91ad48ad5687 | 3205 | #endif |
dflet | 0:91ad48ad5687 | 3206 | |
dflet | 0:91ad48ad5687 | 3207 | #if ( portSTACK_GROWTH > 0 ) |
dflet | 0:91ad48ad5687 | 3208 | { |
dflet | 0:91ad48ad5687 | 3209 | pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack ); |
dflet | 0:91ad48ad5687 | 3210 | } |
dflet | 0:91ad48ad5687 | 3211 | #else |
dflet | 0:91ad48ad5687 | 3212 | { |
dflet | 0:91ad48ad5687 | 3213 | pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack ); |
dflet | 0:91ad48ad5687 | 3214 | } |
dflet | 0:91ad48ad5687 | 3215 | #endif |
dflet | 0:91ad48ad5687 | 3216 | |
dflet | 0:91ad48ad5687 | 3217 | uxTask++; |
dflet | 0:91ad48ad5687 | 3218 | |
dflet | 0:91ad48ad5687 | 3219 | } while( pxNextTCB != pxFirstTCB ); |
dflet | 0:91ad48ad5687 | 3220 | } |
dflet | 0:91ad48ad5687 | 3221 | else |
dflet | 0:91ad48ad5687 | 3222 | { |
dflet | 0:91ad48ad5687 | 3223 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3224 | } |
dflet | 0:91ad48ad5687 | 3225 | |
dflet | 0:91ad48ad5687 | 3226 | return uxTask; |
dflet | 0:91ad48ad5687 | 3227 | } |
dflet | 0:91ad48ad5687 | 3228 | |
dflet | 0:91ad48ad5687 | 3229 | #endif /* configUSE_TRACE_FACILITY */ |
dflet | 0:91ad48ad5687 | 3230 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3231 | |
dflet | 0:91ad48ad5687 | 3232 | #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) |
dflet | 0:91ad48ad5687 | 3233 | |
dflet | 0:91ad48ad5687 | 3234 | static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) |
dflet | 0:91ad48ad5687 | 3235 | { |
dflet | 0:91ad48ad5687 | 3236 | uint32_t ulCount = 0U; |
dflet | 0:91ad48ad5687 | 3237 | |
dflet | 0:91ad48ad5687 | 3238 | while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) |
dflet | 0:91ad48ad5687 | 3239 | { |
dflet | 0:91ad48ad5687 | 3240 | pucStackByte -= portSTACK_GROWTH; |
dflet | 0:91ad48ad5687 | 3241 | ulCount++; |
dflet | 0:91ad48ad5687 | 3242 | } |
dflet | 0:91ad48ad5687 | 3243 | |
dflet | 0:91ad48ad5687 | 3244 | ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ |
dflet | 0:91ad48ad5687 | 3245 | |
dflet | 0:91ad48ad5687 | 3246 | return ( uint16_t ) ulCount; |
dflet | 0:91ad48ad5687 | 3247 | } |
dflet | 0:91ad48ad5687 | 3248 | |
dflet | 0:91ad48ad5687 | 3249 | #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 3250 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3251 | |
dflet | 0:91ad48ad5687 | 3252 | #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) |
dflet | 0:91ad48ad5687 | 3253 | |
dflet | 0:91ad48ad5687 | 3254 | UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) |
dflet | 0:91ad48ad5687 | 3255 | { |
dflet | 0:91ad48ad5687 | 3256 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 3257 | uint8_t *pucEndOfStack; |
dflet | 0:91ad48ad5687 | 3258 | UBaseType_t uxReturn; |
dflet | 0:91ad48ad5687 | 3259 | |
dflet | 0:91ad48ad5687 | 3260 | pxTCB = prvGetTCBFromHandle( xTask ); |
dflet | 0:91ad48ad5687 | 3261 | |
dflet | 0:91ad48ad5687 | 3262 | #if portSTACK_GROWTH < 0 |
dflet | 0:91ad48ad5687 | 3263 | { |
dflet | 0:91ad48ad5687 | 3264 | pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; |
dflet | 0:91ad48ad5687 | 3265 | } |
dflet | 0:91ad48ad5687 | 3266 | #else |
dflet | 0:91ad48ad5687 | 3267 | { |
dflet | 0:91ad48ad5687 | 3268 | pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; |
dflet | 0:91ad48ad5687 | 3269 | } |
dflet | 0:91ad48ad5687 | 3270 | #endif |
dflet | 0:91ad48ad5687 | 3271 | |
dflet | 0:91ad48ad5687 | 3272 | uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); |
dflet | 0:91ad48ad5687 | 3273 | |
dflet | 0:91ad48ad5687 | 3274 | return uxReturn; |
dflet | 0:91ad48ad5687 | 3275 | } |
dflet | 0:91ad48ad5687 | 3276 | |
dflet | 0:91ad48ad5687 | 3277 | #endif /* INCLUDE_uxTaskGetStackHighWaterMark */ |
dflet | 0:91ad48ad5687 | 3278 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3279 | |
dflet | 0:91ad48ad5687 | 3280 | #if ( INCLUDE_vTaskDelete == 1 ) |
dflet | 0:91ad48ad5687 | 3281 | |
dflet | 0:91ad48ad5687 | 3282 | static void prvDeleteTCB( TCB_t *pxTCB ) |
dflet | 0:91ad48ad5687 | 3283 | { |
dflet | 0:91ad48ad5687 | 3284 | /* This call is required specifically for the TriCore port. It must be |
dflet | 0:91ad48ad5687 | 3285 | above the vPortFree() calls. The call is also used by ports/demos that |
dflet | 0:91ad48ad5687 | 3286 | want to allocate and clean RAM statically. */ |
dflet | 0:91ad48ad5687 | 3287 | portCLEAN_UP_TCB( pxTCB ); |
dflet | 0:91ad48ad5687 | 3288 | |
dflet | 0:91ad48ad5687 | 3289 | /* Free up the memory allocated by the scheduler for the task. It is up |
dflet | 0:91ad48ad5687 | 3290 | to the task to free any memory allocated at the application level. */ |
dflet | 0:91ad48ad5687 | 3291 | #if ( configUSE_NEWLIB_REENTRANT == 1 ) |
dflet | 0:91ad48ad5687 | 3292 | { |
dflet | 0:91ad48ad5687 | 3293 | _reclaim_reent( &( pxTCB->xNewLib_reent ) ); |
dflet | 0:91ad48ad5687 | 3294 | } |
dflet | 0:91ad48ad5687 | 3295 | #endif /* configUSE_NEWLIB_REENTRANT */ |
dflet | 0:91ad48ad5687 | 3296 | |
dflet | 0:91ad48ad5687 | 3297 | #if( portUSING_MPU_WRAPPERS == 1 ) |
dflet | 0:91ad48ad5687 | 3298 | { |
dflet | 0:91ad48ad5687 | 3299 | /* Only free the stack if it was allocated dynamically in the first |
dflet | 0:91ad48ad5687 | 3300 | place. */ |
dflet | 0:91ad48ad5687 | 3301 | if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE ) |
dflet | 0:91ad48ad5687 | 3302 | { |
dflet | 0:91ad48ad5687 | 3303 | vPortFreeAligned( pxTCB->pxStack ); |
dflet | 0:91ad48ad5687 | 3304 | } |
dflet | 0:91ad48ad5687 | 3305 | } |
dflet | 0:91ad48ad5687 | 3306 | #else |
dflet | 0:91ad48ad5687 | 3307 | { |
dflet | 0:91ad48ad5687 | 3308 | vPortFreeAligned( pxTCB->pxStack ); |
dflet | 0:91ad48ad5687 | 3309 | } |
dflet | 0:91ad48ad5687 | 3310 | #endif |
dflet | 0:91ad48ad5687 | 3311 | |
dflet | 0:91ad48ad5687 | 3312 | vPortFree( pxTCB ); |
dflet | 0:91ad48ad5687 | 3313 | } |
dflet | 0:91ad48ad5687 | 3314 | |
dflet | 0:91ad48ad5687 | 3315 | #endif /* INCLUDE_vTaskDelete */ |
dflet | 0:91ad48ad5687 | 3316 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3317 | |
dflet | 0:91ad48ad5687 | 3318 | static void prvResetNextTaskUnblockTime( void ) |
dflet | 0:91ad48ad5687 | 3319 | { |
dflet | 0:91ad48ad5687 | 3320 | TCB_t *pxTCB; |
dflet | 0:91ad48ad5687 | 3321 | |
dflet | 0:91ad48ad5687 | 3322 | if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 3323 | { |
dflet | 0:91ad48ad5687 | 3324 | /* The new current delayed list is empty. Set xNextTaskUnblockTime to |
dflet | 0:91ad48ad5687 | 3325 | the maximum possible value so it is extremely unlikely that the |
dflet | 0:91ad48ad5687 | 3326 | if( xTickCount >= xNextTaskUnblockTime ) test will pass until |
dflet | 0:91ad48ad5687 | 3327 | there is an item in the delayed list. */ |
dflet | 0:91ad48ad5687 | 3328 | xNextTaskUnblockTime = portMAX_DELAY; |
dflet | 0:91ad48ad5687 | 3329 | } |
dflet | 0:91ad48ad5687 | 3330 | else |
dflet | 0:91ad48ad5687 | 3331 | { |
dflet | 0:91ad48ad5687 | 3332 | /* The new current delayed list is not empty, get the value of |
dflet | 0:91ad48ad5687 | 3333 | the item at the head of the delayed list. This is the time at |
dflet | 0:91ad48ad5687 | 3334 | which the task at the head of the delayed list should be removed |
dflet | 0:91ad48ad5687 | 3335 | from the Blocked state. */ |
dflet | 0:91ad48ad5687 | 3336 | ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); |
dflet | 0:91ad48ad5687 | 3337 | xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 3338 | } |
dflet | 0:91ad48ad5687 | 3339 | } |
dflet | 0:91ad48ad5687 | 3340 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3341 | |
dflet | 0:91ad48ad5687 | 3342 | #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) |
dflet | 0:91ad48ad5687 | 3343 | |
dflet | 0:91ad48ad5687 | 3344 | TaskHandle_t xTaskGetCurrentTaskHandle( void ) |
dflet | 0:91ad48ad5687 | 3345 | { |
dflet | 0:91ad48ad5687 | 3346 | TaskHandle_t xReturn; |
dflet | 0:91ad48ad5687 | 3347 | |
dflet | 0:91ad48ad5687 | 3348 | /* A critical section is not required as this is not called from |
dflet | 0:91ad48ad5687 | 3349 | an interrupt and the current TCB will always be the same for any |
dflet | 0:91ad48ad5687 | 3350 | individual execution thread. */ |
dflet | 0:91ad48ad5687 | 3351 | xReturn = pxCurrentTCB; |
dflet | 0:91ad48ad5687 | 3352 | |
dflet | 0:91ad48ad5687 | 3353 | return xReturn; |
dflet | 0:91ad48ad5687 | 3354 | } |
dflet | 0:91ad48ad5687 | 3355 | |
dflet | 0:91ad48ad5687 | 3356 | #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 3357 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3358 | |
dflet | 0:91ad48ad5687 | 3359 | #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) |
dflet | 0:91ad48ad5687 | 3360 | |
dflet | 0:91ad48ad5687 | 3361 | BaseType_t xTaskGetSchedulerState( void ) |
dflet | 0:91ad48ad5687 | 3362 | { |
dflet | 0:91ad48ad5687 | 3363 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 3364 | |
dflet | 0:91ad48ad5687 | 3365 | if( xSchedulerRunning == pdFALSE ) |
dflet | 0:91ad48ad5687 | 3366 | { |
dflet | 0:91ad48ad5687 | 3367 | xReturn = taskSCHEDULER_NOT_STARTED; |
dflet | 0:91ad48ad5687 | 3368 | } |
dflet | 0:91ad48ad5687 | 3369 | else |
dflet | 0:91ad48ad5687 | 3370 | { |
dflet | 0:91ad48ad5687 | 3371 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 3372 | { |
dflet | 0:91ad48ad5687 | 3373 | xReturn = taskSCHEDULER_RUNNING; |
dflet | 0:91ad48ad5687 | 3374 | } |
dflet | 0:91ad48ad5687 | 3375 | else |
dflet | 0:91ad48ad5687 | 3376 | { |
dflet | 0:91ad48ad5687 | 3377 | xReturn = taskSCHEDULER_SUSPENDED; |
dflet | 0:91ad48ad5687 | 3378 | } |
dflet | 0:91ad48ad5687 | 3379 | } |
dflet | 0:91ad48ad5687 | 3380 | |
dflet | 0:91ad48ad5687 | 3381 | return xReturn; |
dflet | 0:91ad48ad5687 | 3382 | } |
dflet | 0:91ad48ad5687 | 3383 | |
dflet | 0:91ad48ad5687 | 3384 | #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ |
dflet | 0:91ad48ad5687 | 3385 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3386 | |
dflet | 0:91ad48ad5687 | 3387 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 3388 | |
dflet | 0:91ad48ad5687 | 3389 | void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) |
dflet | 0:91ad48ad5687 | 3390 | { |
dflet | 0:91ad48ad5687 | 3391 | TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; |
dflet | 0:91ad48ad5687 | 3392 | |
dflet | 0:91ad48ad5687 | 3393 | /* If the mutex was given back by an interrupt while the queue was |
dflet | 0:91ad48ad5687 | 3394 | locked then the mutex holder might now be NULL. */ |
dflet | 0:91ad48ad5687 | 3395 | if( pxMutexHolder != NULL ) |
dflet | 0:91ad48ad5687 | 3396 | { |
dflet | 0:91ad48ad5687 | 3397 | /* If the holder of the mutex has a priority below the priority of |
dflet | 0:91ad48ad5687 | 3398 | the task attempting to obtain the mutex then it will temporarily |
dflet | 0:91ad48ad5687 | 3399 | inherit the priority of the task attempting to obtain the mutex. */ |
dflet | 0:91ad48ad5687 | 3400 | if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 3401 | { |
dflet | 0:91ad48ad5687 | 3402 | /* Adjust the mutex holder state to account for its new |
dflet | 0:91ad48ad5687 | 3403 | priority. Only reset the event list item value if the value is |
dflet | 0:91ad48ad5687 | 3404 | not being used for anything else. */ |
dflet | 0:91ad48ad5687 | 3405 | if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) |
dflet | 0:91ad48ad5687 | 3406 | { |
dflet | 0:91ad48ad5687 | 3407 | 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. */ |
dflet | 0:91ad48ad5687 | 3408 | } |
dflet | 0:91ad48ad5687 | 3409 | else |
dflet | 0:91ad48ad5687 | 3410 | { |
dflet | 0:91ad48ad5687 | 3411 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3412 | } |
dflet | 0:91ad48ad5687 | 3413 | |
dflet | 0:91ad48ad5687 | 3414 | /* If the task being modified is in the ready state it will need |
dflet | 0:91ad48ad5687 | 3415 | to be moved into a new list. */ |
dflet | 0:91ad48ad5687 | 3416 | if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE ) |
dflet | 0:91ad48ad5687 | 3417 | { |
dflet | 0:91ad48ad5687 | 3418 | if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3419 | { |
dflet | 0:91ad48ad5687 | 3420 | taskRESET_READY_PRIORITY( pxTCB->uxPriority ); |
dflet | 0:91ad48ad5687 | 3421 | } |
dflet | 0:91ad48ad5687 | 3422 | else |
dflet | 0:91ad48ad5687 | 3423 | { |
dflet | 0:91ad48ad5687 | 3424 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3425 | } |
dflet | 0:91ad48ad5687 | 3426 | |
dflet | 0:91ad48ad5687 | 3427 | /* Inherit the priority before being moved into the new list. */ |
dflet | 0:91ad48ad5687 | 3428 | pxTCB->uxPriority = pxCurrentTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 3429 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 3430 | } |
dflet | 0:91ad48ad5687 | 3431 | else |
dflet | 0:91ad48ad5687 | 3432 | { |
dflet | 0:91ad48ad5687 | 3433 | /* Just inherit the priority. */ |
dflet | 0:91ad48ad5687 | 3434 | pxTCB->uxPriority = pxCurrentTCB->uxPriority; |
dflet | 0:91ad48ad5687 | 3435 | } |
dflet | 0:91ad48ad5687 | 3436 | |
dflet | 0:91ad48ad5687 | 3437 | traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); |
dflet | 0:91ad48ad5687 | 3438 | } |
dflet | 0:91ad48ad5687 | 3439 | else |
dflet | 0:91ad48ad5687 | 3440 | { |
dflet | 0:91ad48ad5687 | 3441 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3442 | } |
dflet | 0:91ad48ad5687 | 3443 | } |
dflet | 0:91ad48ad5687 | 3444 | else |
dflet | 0:91ad48ad5687 | 3445 | { |
dflet | 0:91ad48ad5687 | 3446 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3447 | } |
dflet | 0:91ad48ad5687 | 3448 | } |
dflet | 0:91ad48ad5687 | 3449 | |
dflet | 0:91ad48ad5687 | 3450 | #endif /* configUSE_MUTEXES */ |
dflet | 0:91ad48ad5687 | 3451 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3452 | |
dflet | 0:91ad48ad5687 | 3453 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 3454 | |
dflet | 0:91ad48ad5687 | 3455 | BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) |
dflet | 0:91ad48ad5687 | 3456 | { |
dflet | 0:91ad48ad5687 | 3457 | TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; |
dflet | 0:91ad48ad5687 | 3458 | BaseType_t xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 3459 | |
dflet | 0:91ad48ad5687 | 3460 | if( pxMutexHolder != NULL ) |
dflet | 0:91ad48ad5687 | 3461 | { |
dflet | 0:91ad48ad5687 | 3462 | /* A task can only have an inherited priority if it holds the mutex. |
dflet | 0:91ad48ad5687 | 3463 | If the mutex is held by a task then it cannot be given from an |
dflet | 0:91ad48ad5687 | 3464 | interrupt, and if a mutex is given by the holding task then it must |
dflet | 0:91ad48ad5687 | 3465 | be the running state task. */ |
dflet | 0:91ad48ad5687 | 3466 | configASSERT( pxTCB == pxCurrentTCB ); |
dflet | 0:91ad48ad5687 | 3467 | |
dflet | 0:91ad48ad5687 | 3468 | configASSERT( pxTCB->uxMutexesHeld ); |
dflet | 0:91ad48ad5687 | 3469 | ( pxTCB->uxMutexesHeld )--; |
dflet | 0:91ad48ad5687 | 3470 | |
dflet | 0:91ad48ad5687 | 3471 | /* Has the holder of the mutex inherited the priority of another |
dflet | 0:91ad48ad5687 | 3472 | task? */ |
dflet | 0:91ad48ad5687 | 3473 | if( pxTCB->uxPriority != pxTCB->uxBasePriority ) |
dflet | 0:91ad48ad5687 | 3474 | { |
dflet | 0:91ad48ad5687 | 3475 | /* Only disinherit if no other mutexes are held. */ |
dflet | 0:91ad48ad5687 | 3476 | if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3477 | { |
dflet | 0:91ad48ad5687 | 3478 | /* A task can only have an inherited priority if it holds |
dflet | 0:91ad48ad5687 | 3479 | the mutex. If the mutex is held by a task then it cannot be |
dflet | 0:91ad48ad5687 | 3480 | given from an interrupt, and if a mutex is given by the |
dflet | 0:91ad48ad5687 | 3481 | holding task then it must be the running state task. Remove |
dflet | 0:91ad48ad5687 | 3482 | the holding task from the ready list. */ |
dflet | 0:91ad48ad5687 | 3483 | if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3484 | { |
dflet | 0:91ad48ad5687 | 3485 | taskRESET_READY_PRIORITY( pxTCB->uxPriority ); |
dflet | 0:91ad48ad5687 | 3486 | } |
dflet | 0:91ad48ad5687 | 3487 | else |
dflet | 0:91ad48ad5687 | 3488 | { |
dflet | 0:91ad48ad5687 | 3489 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3490 | } |
dflet | 0:91ad48ad5687 | 3491 | |
dflet | 0:91ad48ad5687 | 3492 | /* Disinherit the priority before adding the task into the |
dflet | 0:91ad48ad5687 | 3493 | new ready list. */ |
dflet | 0:91ad48ad5687 | 3494 | traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); |
dflet | 0:91ad48ad5687 | 3495 | pxTCB->uxPriority = pxTCB->uxBasePriority; |
dflet | 0:91ad48ad5687 | 3496 | |
dflet | 0:91ad48ad5687 | 3497 | /* Reset the event list item value. It cannot be in use for |
dflet | 0:91ad48ad5687 | 3498 | any other purpose if this task is running, and it must be |
dflet | 0:91ad48ad5687 | 3499 | running to give back the mutex. */ |
dflet | 0:91ad48ad5687 | 3500 | 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. */ |
dflet | 0:91ad48ad5687 | 3501 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 3502 | |
dflet | 0:91ad48ad5687 | 3503 | /* Return true to indicate that a context switch is required. |
dflet | 0:91ad48ad5687 | 3504 | This is only actually required in the corner case whereby |
dflet | 0:91ad48ad5687 | 3505 | multiple mutexes were held and the mutexes were given back |
dflet | 0:91ad48ad5687 | 3506 | in an order different to that in which they were taken. |
dflet | 0:91ad48ad5687 | 3507 | If a context switch did not occur when the first mutex was |
dflet | 0:91ad48ad5687 | 3508 | returned, even if a task was waiting on it, then a context |
dflet | 0:91ad48ad5687 | 3509 | switch should occur when the last mutex is returned whether |
dflet | 0:91ad48ad5687 | 3510 | a task is waiting on it or not. */ |
dflet | 0:91ad48ad5687 | 3511 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 3512 | } |
dflet | 0:91ad48ad5687 | 3513 | else |
dflet | 0:91ad48ad5687 | 3514 | { |
dflet | 0:91ad48ad5687 | 3515 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3516 | } |
dflet | 0:91ad48ad5687 | 3517 | } |
dflet | 0:91ad48ad5687 | 3518 | else |
dflet | 0:91ad48ad5687 | 3519 | { |
dflet | 0:91ad48ad5687 | 3520 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3521 | } |
dflet | 0:91ad48ad5687 | 3522 | } |
dflet | 0:91ad48ad5687 | 3523 | else |
dflet | 0:91ad48ad5687 | 3524 | { |
dflet | 0:91ad48ad5687 | 3525 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3526 | } |
dflet | 0:91ad48ad5687 | 3527 | |
dflet | 0:91ad48ad5687 | 3528 | return xReturn; |
dflet | 0:91ad48ad5687 | 3529 | } |
dflet | 0:91ad48ad5687 | 3530 | |
dflet | 0:91ad48ad5687 | 3531 | #endif /* configUSE_MUTEXES */ |
dflet | 0:91ad48ad5687 | 3532 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3533 | |
dflet | 0:91ad48ad5687 | 3534 | #if ( portCRITICAL_NESTING_IN_TCB == 1 ) |
dflet | 0:91ad48ad5687 | 3535 | |
dflet | 0:91ad48ad5687 | 3536 | void vTaskEnterCritical( void ) |
dflet | 0:91ad48ad5687 | 3537 | { |
dflet | 0:91ad48ad5687 | 3538 | portDISABLE_INTERRUPTS(); |
dflet | 0:91ad48ad5687 | 3539 | |
dflet | 0:91ad48ad5687 | 3540 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 3541 | { |
dflet | 0:91ad48ad5687 | 3542 | ( pxCurrentTCB->uxCriticalNesting )++; |
dflet | 0:91ad48ad5687 | 3543 | |
dflet | 0:91ad48ad5687 | 3544 | /* This is not the interrupt safe version of the enter critical |
dflet | 0:91ad48ad5687 | 3545 | function so assert() if it is being called from an interrupt |
dflet | 0:91ad48ad5687 | 3546 | context. Only API functions that end in "FromISR" can be used in an |
dflet | 0:91ad48ad5687 | 3547 | interrupt. Only assert if the critical nesting count is 1 to |
dflet | 0:91ad48ad5687 | 3548 | protect against recursive calls if the assert function also uses a |
dflet | 0:91ad48ad5687 | 3549 | critical section. */ |
dflet | 0:91ad48ad5687 | 3550 | if( pxCurrentTCB->uxCriticalNesting == 1 ) |
dflet | 0:91ad48ad5687 | 3551 | { |
dflet | 0:91ad48ad5687 | 3552 | portASSERT_IF_IN_ISR(); |
dflet | 0:91ad48ad5687 | 3553 | } |
dflet | 0:91ad48ad5687 | 3554 | |
dflet | 0:91ad48ad5687 | 3555 | } |
dflet | 0:91ad48ad5687 | 3556 | else |
dflet | 0:91ad48ad5687 | 3557 | { |
dflet | 0:91ad48ad5687 | 3558 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3559 | } |
dflet | 0:91ad48ad5687 | 3560 | } |
dflet | 0:91ad48ad5687 | 3561 | |
dflet | 0:91ad48ad5687 | 3562 | #endif /* portCRITICAL_NESTING_IN_TCB */ |
dflet | 0:91ad48ad5687 | 3563 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3564 | |
dflet | 0:91ad48ad5687 | 3565 | #if ( portCRITICAL_NESTING_IN_TCB == 1 ) |
dflet | 0:91ad48ad5687 | 3566 | |
dflet | 0:91ad48ad5687 | 3567 | void vTaskExitCritical( void ) |
dflet | 0:91ad48ad5687 | 3568 | { |
dflet | 0:91ad48ad5687 | 3569 | if( xSchedulerRunning != pdFALSE ) |
dflet | 0:91ad48ad5687 | 3570 | { |
dflet | 0:91ad48ad5687 | 3571 | if( pxCurrentTCB->uxCriticalNesting > 0U ) |
dflet | 0:91ad48ad5687 | 3572 | { |
dflet | 0:91ad48ad5687 | 3573 | ( pxCurrentTCB->uxCriticalNesting )--; |
dflet | 0:91ad48ad5687 | 3574 | |
dflet | 0:91ad48ad5687 | 3575 | if( pxCurrentTCB->uxCriticalNesting == 0U ) |
dflet | 0:91ad48ad5687 | 3576 | { |
dflet | 0:91ad48ad5687 | 3577 | portENABLE_INTERRUPTS(); |
dflet | 0:91ad48ad5687 | 3578 | } |
dflet | 0:91ad48ad5687 | 3579 | else |
dflet | 0:91ad48ad5687 | 3580 | { |
dflet | 0:91ad48ad5687 | 3581 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3582 | } |
dflet | 0:91ad48ad5687 | 3583 | } |
dflet | 0:91ad48ad5687 | 3584 | else |
dflet | 0:91ad48ad5687 | 3585 | { |
dflet | 0:91ad48ad5687 | 3586 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3587 | } |
dflet | 0:91ad48ad5687 | 3588 | } |
dflet | 0:91ad48ad5687 | 3589 | else |
dflet | 0:91ad48ad5687 | 3590 | { |
dflet | 0:91ad48ad5687 | 3591 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3592 | } |
dflet | 0:91ad48ad5687 | 3593 | } |
dflet | 0:91ad48ad5687 | 3594 | |
dflet | 0:91ad48ad5687 | 3595 | #endif /* portCRITICAL_NESTING_IN_TCB */ |
dflet | 0:91ad48ad5687 | 3596 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3597 | |
dflet | 0:91ad48ad5687 | 3598 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) |
dflet | 0:91ad48ad5687 | 3599 | |
dflet | 0:91ad48ad5687 | 3600 | static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) |
dflet | 0:91ad48ad5687 | 3601 | { |
dflet | 0:91ad48ad5687 | 3602 | BaseType_t x; |
dflet | 0:91ad48ad5687 | 3603 | |
dflet | 0:91ad48ad5687 | 3604 | /* Start by copying the entire string. */ |
dflet | 0:91ad48ad5687 | 3605 | strcpy( pcBuffer, pcTaskName ); |
dflet | 0:91ad48ad5687 | 3606 | |
dflet | 0:91ad48ad5687 | 3607 | /* Pad the end of the string with spaces to ensure columns line up when |
dflet | 0:91ad48ad5687 | 3608 | printed out. */ |
dflet | 0:91ad48ad5687 | 3609 | for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ ) |
dflet | 0:91ad48ad5687 | 3610 | { |
dflet | 0:91ad48ad5687 | 3611 | pcBuffer[ x ] = ' '; |
dflet | 0:91ad48ad5687 | 3612 | } |
dflet | 0:91ad48ad5687 | 3613 | |
dflet | 0:91ad48ad5687 | 3614 | /* Terminate. */ |
dflet | 0:91ad48ad5687 | 3615 | pcBuffer[ x ] = 0x00; |
dflet | 0:91ad48ad5687 | 3616 | |
dflet | 0:91ad48ad5687 | 3617 | /* Return the new end of string. */ |
dflet | 0:91ad48ad5687 | 3618 | return &( pcBuffer[ x ] ); |
dflet | 0:91ad48ad5687 | 3619 | } |
dflet | 0:91ad48ad5687 | 3620 | |
dflet | 0:91ad48ad5687 | 3621 | #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ |
dflet | 0:91ad48ad5687 | 3622 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3623 | |
dflet | 0:91ad48ad5687 | 3624 | #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) |
dflet | 0:91ad48ad5687 | 3625 | |
dflet | 0:91ad48ad5687 | 3626 | void vTaskList( char * pcWriteBuffer ) |
dflet | 0:91ad48ad5687 | 3627 | { |
dflet | 0:91ad48ad5687 | 3628 | TaskStatus_t *pxTaskStatusArray; |
dflet | 0:91ad48ad5687 | 3629 | volatile UBaseType_t uxArraySize, x; |
dflet | 0:91ad48ad5687 | 3630 | char cStatus; |
dflet | 0:91ad48ad5687 | 3631 | |
dflet | 0:91ad48ad5687 | 3632 | /* |
dflet | 0:91ad48ad5687 | 3633 | * PLEASE NOTE: |
dflet | 0:91ad48ad5687 | 3634 | * |
dflet | 0:91ad48ad5687 | 3635 | * This function is provided for convenience only, and is used by many |
dflet | 0:91ad48ad5687 | 3636 | * of the demo applications. Do not consider it to be part of the |
dflet | 0:91ad48ad5687 | 3637 | * scheduler. |
dflet | 0:91ad48ad5687 | 3638 | * |
dflet | 0:91ad48ad5687 | 3639 | * vTaskList() calls uxTaskGetSystemState(), then formats part of the |
dflet | 0:91ad48ad5687 | 3640 | * uxTaskGetSystemState() output into a human readable table that |
dflet | 0:91ad48ad5687 | 3641 | * displays task names, states and stack usage. |
dflet | 0:91ad48ad5687 | 3642 | * |
dflet | 0:91ad48ad5687 | 3643 | * vTaskList() has a dependency on the sprintf() C library function that |
dflet | 0:91ad48ad5687 | 3644 | * might bloat the code size, use a lot of stack, and provide different |
dflet | 0:91ad48ad5687 | 3645 | * results on different platforms. An alternative, tiny, third party, |
dflet | 0:91ad48ad5687 | 3646 | * and limited functionality implementation of sprintf() is provided in |
dflet | 0:91ad48ad5687 | 3647 | * many of the FreeRTOS/Demo sub-directories in a file called |
dflet | 0:91ad48ad5687 | 3648 | * printf-stdarg.c (note printf-stdarg.c does not provide a full |
dflet | 0:91ad48ad5687 | 3649 | * snprintf() implementation!). |
dflet | 0:91ad48ad5687 | 3650 | * |
dflet | 0:91ad48ad5687 | 3651 | * It is recommended that production systems call uxTaskGetSystemState() |
dflet | 0:91ad48ad5687 | 3652 | * directly to get access to raw stats data, rather than indirectly |
dflet | 0:91ad48ad5687 | 3653 | * through a call to vTaskList(). |
dflet | 0:91ad48ad5687 | 3654 | */ |
dflet | 0:91ad48ad5687 | 3655 | |
dflet | 0:91ad48ad5687 | 3656 | |
dflet | 0:91ad48ad5687 | 3657 | /* Make sure the write buffer does not contain a string. */ |
dflet | 0:91ad48ad5687 | 3658 | *pcWriteBuffer = 0x00; |
dflet | 0:91ad48ad5687 | 3659 | |
dflet | 0:91ad48ad5687 | 3660 | /* Take a snapshot of the number of tasks in case it changes while this |
dflet | 0:91ad48ad5687 | 3661 | function is executing. */ |
dflet | 0:91ad48ad5687 | 3662 | uxArraySize = uxCurrentNumberOfTasks; |
dflet | 0:91ad48ad5687 | 3663 | |
dflet | 0:91ad48ad5687 | 3664 | /* Allocate an array index for each task. */ |
dflet | 0:91ad48ad5687 | 3665 | pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); |
dflet | 0:91ad48ad5687 | 3666 | |
dflet | 0:91ad48ad5687 | 3667 | if( pxTaskStatusArray != NULL ) |
dflet | 0:91ad48ad5687 | 3668 | { |
dflet | 0:91ad48ad5687 | 3669 | /* Generate the (binary) data. */ |
dflet | 0:91ad48ad5687 | 3670 | uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); |
dflet | 0:91ad48ad5687 | 3671 | |
dflet | 0:91ad48ad5687 | 3672 | /* Create a human readable table from the binary data. */ |
dflet | 0:91ad48ad5687 | 3673 | for( x = 0; x < uxArraySize; x++ ) |
dflet | 0:91ad48ad5687 | 3674 | { |
dflet | 0:91ad48ad5687 | 3675 | switch( pxTaskStatusArray[ x ].eCurrentState ) |
dflet | 0:91ad48ad5687 | 3676 | { |
dflet | 0:91ad48ad5687 | 3677 | case eReady: cStatus = tskREADY_CHAR; |
dflet | 0:91ad48ad5687 | 3678 | break; |
dflet | 0:91ad48ad5687 | 3679 | |
dflet | 0:91ad48ad5687 | 3680 | case eBlocked: cStatus = tskBLOCKED_CHAR; |
dflet | 0:91ad48ad5687 | 3681 | break; |
dflet | 0:91ad48ad5687 | 3682 | |
dflet | 0:91ad48ad5687 | 3683 | case eSuspended: cStatus = tskSUSPENDED_CHAR; |
dflet | 0:91ad48ad5687 | 3684 | break; |
dflet | 0:91ad48ad5687 | 3685 | |
dflet | 0:91ad48ad5687 | 3686 | case eDeleted: cStatus = tskDELETED_CHAR; |
dflet | 0:91ad48ad5687 | 3687 | break; |
dflet | 0:91ad48ad5687 | 3688 | |
dflet | 0:91ad48ad5687 | 3689 | default: /* Should not get here, but it is included |
dflet | 0:91ad48ad5687 | 3690 | to prevent static checking errors. */ |
dflet | 0:91ad48ad5687 | 3691 | cStatus = 0x00; |
dflet | 0:91ad48ad5687 | 3692 | break; |
dflet | 0:91ad48ad5687 | 3693 | } |
dflet | 0:91ad48ad5687 | 3694 | |
dflet | 0:91ad48ad5687 | 3695 | /* Write the task name to the string, padding with spaces so it |
dflet | 0:91ad48ad5687 | 3696 | can be printed in tabular form more easily. */ |
dflet | 0:91ad48ad5687 | 3697 | pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); |
dflet | 0:91ad48ad5687 | 3698 | |
dflet | 0:91ad48ad5687 | 3699 | /* Write the rest of the string. */ |
dflet | 0:91ad48ad5687 | 3700 | sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); |
dflet | 0:91ad48ad5687 | 3701 | pcWriteBuffer += strlen( pcWriteBuffer ); |
dflet | 0:91ad48ad5687 | 3702 | } |
dflet | 0:91ad48ad5687 | 3703 | |
dflet | 0:91ad48ad5687 | 3704 | /* Free the array again. */ |
dflet | 0:91ad48ad5687 | 3705 | vPortFree( pxTaskStatusArray ); |
dflet | 0:91ad48ad5687 | 3706 | } |
dflet | 0:91ad48ad5687 | 3707 | else |
dflet | 0:91ad48ad5687 | 3708 | { |
dflet | 0:91ad48ad5687 | 3709 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3710 | } |
dflet | 0:91ad48ad5687 | 3711 | } |
dflet | 0:91ad48ad5687 | 3712 | |
dflet | 0:91ad48ad5687 | 3713 | #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ |
dflet | 0:91ad48ad5687 | 3714 | /*----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3715 | |
dflet | 0:91ad48ad5687 | 3716 | #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) |
dflet | 0:91ad48ad5687 | 3717 | |
dflet | 0:91ad48ad5687 | 3718 | void vTaskGetRunTimeStats( char *pcWriteBuffer ) |
dflet | 0:91ad48ad5687 | 3719 | { |
dflet | 0:91ad48ad5687 | 3720 | TaskStatus_t *pxTaskStatusArray; |
dflet | 0:91ad48ad5687 | 3721 | volatile UBaseType_t uxArraySize, x; |
dflet | 0:91ad48ad5687 | 3722 | uint32_t ulTotalTime, ulStatsAsPercentage; |
dflet | 0:91ad48ad5687 | 3723 | |
dflet | 0:91ad48ad5687 | 3724 | #if( configUSE_TRACE_FACILITY != 1 ) |
dflet | 0:91ad48ad5687 | 3725 | { |
dflet | 0:91ad48ad5687 | 3726 | #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). |
dflet | 0:91ad48ad5687 | 3727 | } |
dflet | 0:91ad48ad5687 | 3728 | #endif |
dflet | 0:91ad48ad5687 | 3729 | |
dflet | 0:91ad48ad5687 | 3730 | /* |
dflet | 0:91ad48ad5687 | 3731 | * PLEASE NOTE: |
dflet | 0:91ad48ad5687 | 3732 | * |
dflet | 0:91ad48ad5687 | 3733 | * This function is provided for convenience only, and is used by many |
dflet | 0:91ad48ad5687 | 3734 | * of the demo applications. Do not consider it to be part of the |
dflet | 0:91ad48ad5687 | 3735 | * scheduler. |
dflet | 0:91ad48ad5687 | 3736 | * |
dflet | 0:91ad48ad5687 | 3737 | * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part |
dflet | 0:91ad48ad5687 | 3738 | * of the uxTaskGetSystemState() output into a human readable table that |
dflet | 0:91ad48ad5687 | 3739 | * displays the amount of time each task has spent in the Running state |
dflet | 0:91ad48ad5687 | 3740 | * in both absolute and percentage terms. |
dflet | 0:91ad48ad5687 | 3741 | * |
dflet | 0:91ad48ad5687 | 3742 | * vTaskGetRunTimeStats() has a dependency on the sprintf() C library |
dflet | 0:91ad48ad5687 | 3743 | * function that might bloat the code size, use a lot of stack, and |
dflet | 0:91ad48ad5687 | 3744 | * provide different results on different platforms. An alternative, |
dflet | 0:91ad48ad5687 | 3745 | * tiny, third party, and limited functionality implementation of |
dflet | 0:91ad48ad5687 | 3746 | * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in |
dflet | 0:91ad48ad5687 | 3747 | * a file called printf-stdarg.c (note printf-stdarg.c does not provide |
dflet | 0:91ad48ad5687 | 3748 | * a full snprintf() implementation!). |
dflet | 0:91ad48ad5687 | 3749 | * |
dflet | 0:91ad48ad5687 | 3750 | * It is recommended that production systems call uxTaskGetSystemState() |
dflet | 0:91ad48ad5687 | 3751 | * directly to get access to raw stats data, rather than indirectly |
dflet | 0:91ad48ad5687 | 3752 | * through a call to vTaskGetRunTimeStats(). |
dflet | 0:91ad48ad5687 | 3753 | */ |
dflet | 0:91ad48ad5687 | 3754 | |
dflet | 0:91ad48ad5687 | 3755 | /* Make sure the write buffer does not contain a string. */ |
dflet | 0:91ad48ad5687 | 3756 | *pcWriteBuffer = 0x00; |
dflet | 0:91ad48ad5687 | 3757 | |
dflet | 0:91ad48ad5687 | 3758 | /* Take a snapshot of the number of tasks in case it changes while this |
dflet | 0:91ad48ad5687 | 3759 | function is executing. */ |
dflet | 0:91ad48ad5687 | 3760 | uxArraySize = uxCurrentNumberOfTasks; |
dflet | 0:91ad48ad5687 | 3761 | |
dflet | 0:91ad48ad5687 | 3762 | /* Allocate an array index for each task. */ |
dflet | 0:91ad48ad5687 | 3763 | pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); |
dflet | 0:91ad48ad5687 | 3764 | |
dflet | 0:91ad48ad5687 | 3765 | if( pxTaskStatusArray != NULL ) |
dflet | 0:91ad48ad5687 | 3766 | { |
dflet | 0:91ad48ad5687 | 3767 | /* Generate the (binary) data. */ |
dflet | 0:91ad48ad5687 | 3768 | uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); |
dflet | 0:91ad48ad5687 | 3769 | |
dflet | 0:91ad48ad5687 | 3770 | /* For percentage calculations. */ |
dflet | 0:91ad48ad5687 | 3771 | ulTotalTime /= 100UL; |
dflet | 0:91ad48ad5687 | 3772 | |
dflet | 0:91ad48ad5687 | 3773 | /* Avoid divide by zero errors. */ |
dflet | 0:91ad48ad5687 | 3774 | if( ulTotalTime > 0 ) |
dflet | 0:91ad48ad5687 | 3775 | { |
dflet | 0:91ad48ad5687 | 3776 | /* Create a human readable table from the binary data. */ |
dflet | 0:91ad48ad5687 | 3777 | for( x = 0; x < uxArraySize; x++ ) |
dflet | 0:91ad48ad5687 | 3778 | { |
dflet | 0:91ad48ad5687 | 3779 | /* What percentage of the total run time has the task used? |
dflet | 0:91ad48ad5687 | 3780 | This will always be rounded down to the nearest integer. |
dflet | 0:91ad48ad5687 | 3781 | ulTotalRunTimeDiv100 has already been divided by 100. */ |
dflet | 0:91ad48ad5687 | 3782 | ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; |
dflet | 0:91ad48ad5687 | 3783 | |
dflet | 0:91ad48ad5687 | 3784 | /* Write the task name to the string, padding with |
dflet | 0:91ad48ad5687 | 3785 | spaces so it can be printed in tabular form more |
dflet | 0:91ad48ad5687 | 3786 | easily. */ |
dflet | 0:91ad48ad5687 | 3787 | pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); |
dflet | 0:91ad48ad5687 | 3788 | |
dflet | 0:91ad48ad5687 | 3789 | if( ulStatsAsPercentage > 0UL ) |
dflet | 0:91ad48ad5687 | 3790 | { |
dflet | 0:91ad48ad5687 | 3791 | #ifdef portLU_PRINTF_SPECIFIER_REQUIRED |
dflet | 0:91ad48ad5687 | 3792 | { |
dflet | 0:91ad48ad5687 | 3793 | sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); |
dflet | 0:91ad48ad5687 | 3794 | } |
dflet | 0:91ad48ad5687 | 3795 | #else |
dflet | 0:91ad48ad5687 | 3796 | { |
dflet | 0:91ad48ad5687 | 3797 | /* sizeof( int ) == sizeof( long ) so a smaller |
dflet | 0:91ad48ad5687 | 3798 | printf() library can be used. */ |
dflet | 0:91ad48ad5687 | 3799 | sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); |
dflet | 0:91ad48ad5687 | 3800 | } |
dflet | 0:91ad48ad5687 | 3801 | #endif |
dflet | 0:91ad48ad5687 | 3802 | } |
dflet | 0:91ad48ad5687 | 3803 | else |
dflet | 0:91ad48ad5687 | 3804 | { |
dflet | 0:91ad48ad5687 | 3805 | /* If the percentage is zero here then the task has |
dflet | 0:91ad48ad5687 | 3806 | consumed less than 1% of the total run time. */ |
dflet | 0:91ad48ad5687 | 3807 | #ifdef portLU_PRINTF_SPECIFIER_REQUIRED |
dflet | 0:91ad48ad5687 | 3808 | { |
dflet | 0:91ad48ad5687 | 3809 | sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); |
dflet | 0:91ad48ad5687 | 3810 | } |
dflet | 0:91ad48ad5687 | 3811 | #else |
dflet | 0:91ad48ad5687 | 3812 | { |
dflet | 0:91ad48ad5687 | 3813 | /* sizeof( int ) == sizeof( long ) so a smaller |
dflet | 0:91ad48ad5687 | 3814 | printf() library can be used. */ |
dflet | 0:91ad48ad5687 | 3815 | sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); |
dflet | 0:91ad48ad5687 | 3816 | } |
dflet | 0:91ad48ad5687 | 3817 | #endif |
dflet | 0:91ad48ad5687 | 3818 | } |
dflet | 0:91ad48ad5687 | 3819 | |
dflet | 0:91ad48ad5687 | 3820 | pcWriteBuffer += strlen( pcWriteBuffer ); |
dflet | 0:91ad48ad5687 | 3821 | } |
dflet | 0:91ad48ad5687 | 3822 | } |
dflet | 0:91ad48ad5687 | 3823 | else |
dflet | 0:91ad48ad5687 | 3824 | { |
dflet | 0:91ad48ad5687 | 3825 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3826 | } |
dflet | 0:91ad48ad5687 | 3827 | |
dflet | 0:91ad48ad5687 | 3828 | /* Free the array again. */ |
dflet | 0:91ad48ad5687 | 3829 | vPortFree( pxTaskStatusArray ); |
dflet | 0:91ad48ad5687 | 3830 | } |
dflet | 0:91ad48ad5687 | 3831 | else |
dflet | 0:91ad48ad5687 | 3832 | { |
dflet | 0:91ad48ad5687 | 3833 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3834 | } |
dflet | 0:91ad48ad5687 | 3835 | } |
dflet | 0:91ad48ad5687 | 3836 | |
dflet | 0:91ad48ad5687 | 3837 | #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ |
dflet | 0:91ad48ad5687 | 3838 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3839 | |
dflet | 0:91ad48ad5687 | 3840 | TickType_t uxTaskResetEventItemValue( void ) |
dflet | 0:91ad48ad5687 | 3841 | { |
dflet | 0:91ad48ad5687 | 3842 | TickType_t uxReturn; |
dflet | 0:91ad48ad5687 | 3843 | |
dflet | 0:91ad48ad5687 | 3844 | uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 3845 | |
dflet | 0:91ad48ad5687 | 3846 | /* Reset the event list item to its normal value - so it can be used with |
dflet | 0:91ad48ad5687 | 3847 | queues and semaphores. */ |
dflet | 0:91ad48ad5687 | 3848 | 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. */ |
dflet | 0:91ad48ad5687 | 3849 | |
dflet | 0:91ad48ad5687 | 3850 | return uxReturn; |
dflet | 0:91ad48ad5687 | 3851 | } |
dflet | 0:91ad48ad5687 | 3852 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3853 | |
dflet | 0:91ad48ad5687 | 3854 | #if ( configUSE_MUTEXES == 1 ) |
dflet | 0:91ad48ad5687 | 3855 | |
dflet | 0:91ad48ad5687 | 3856 | void *pvTaskIncrementMutexHeldCount( void ) |
dflet | 0:91ad48ad5687 | 3857 | { |
dflet | 0:91ad48ad5687 | 3858 | /* If xSemaphoreCreateMutex() is called before any tasks have been created |
dflet | 0:91ad48ad5687 | 3859 | then pxCurrentTCB will be NULL. */ |
dflet | 0:91ad48ad5687 | 3860 | if( pxCurrentTCB != NULL ) |
dflet | 0:91ad48ad5687 | 3861 | { |
dflet | 0:91ad48ad5687 | 3862 | ( pxCurrentTCB->uxMutexesHeld )++; |
dflet | 0:91ad48ad5687 | 3863 | } |
dflet | 0:91ad48ad5687 | 3864 | |
dflet | 0:91ad48ad5687 | 3865 | return pxCurrentTCB; |
dflet | 0:91ad48ad5687 | 3866 | } |
dflet | 0:91ad48ad5687 | 3867 | |
dflet | 0:91ad48ad5687 | 3868 | #endif /* configUSE_MUTEXES */ |
dflet | 0:91ad48ad5687 | 3869 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3870 | |
dflet | 0:91ad48ad5687 | 3871 | #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 3872 | |
dflet | 0:91ad48ad5687 | 3873 | uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) |
dflet | 0:91ad48ad5687 | 3874 | { |
dflet | 0:91ad48ad5687 | 3875 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 3876 | uint32_t ulReturn; |
dflet | 0:91ad48ad5687 | 3877 | |
dflet | 0:91ad48ad5687 | 3878 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3879 | { |
dflet | 0:91ad48ad5687 | 3880 | /* Only block if the notification count is not already non-zero. */ |
dflet | 0:91ad48ad5687 | 3881 | if( pxCurrentTCB->ulNotifiedValue == 0UL ) |
dflet | 0:91ad48ad5687 | 3882 | { |
dflet | 0:91ad48ad5687 | 3883 | /* Mark this task as waiting for a notification. */ |
dflet | 0:91ad48ad5687 | 3884 | pxCurrentTCB->eNotifyState = eWaitingNotification; |
dflet | 0:91ad48ad5687 | 3885 | |
dflet | 0:91ad48ad5687 | 3886 | if( xTicksToWait > ( TickType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3887 | { |
dflet | 0:91ad48ad5687 | 3888 | /* The task is going to block. First it must be removed |
dflet | 0:91ad48ad5687 | 3889 | from the ready list. */ |
dflet | 0:91ad48ad5687 | 3890 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 3891 | { |
dflet | 0:91ad48ad5687 | 3892 | /* The current task must be in a ready list, so there is |
dflet | 0:91ad48ad5687 | 3893 | no need to check, and the port reset macro can be called |
dflet | 0:91ad48ad5687 | 3894 | directly. */ |
dflet | 0:91ad48ad5687 | 3895 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 3896 | } |
dflet | 0:91ad48ad5687 | 3897 | else |
dflet | 0:91ad48ad5687 | 3898 | { |
dflet | 0:91ad48ad5687 | 3899 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3900 | } |
dflet | 0:91ad48ad5687 | 3901 | |
dflet | 0:91ad48ad5687 | 3902 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 3903 | { |
dflet | 0:91ad48ad5687 | 3904 | if( xTicksToWait == portMAX_DELAY ) |
dflet | 0:91ad48ad5687 | 3905 | { |
dflet | 0:91ad48ad5687 | 3906 | /* Add the task to the suspended task list instead |
dflet | 0:91ad48ad5687 | 3907 | of a delayed task list to ensure the task is not |
dflet | 0:91ad48ad5687 | 3908 | woken by a timing event. It will block |
dflet | 0:91ad48ad5687 | 3909 | indefinitely. */ |
dflet | 0:91ad48ad5687 | 3910 | vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 3911 | } |
dflet | 0:91ad48ad5687 | 3912 | else |
dflet | 0:91ad48ad5687 | 3913 | { |
dflet | 0:91ad48ad5687 | 3914 | /* Calculate the time at which the task should be |
dflet | 0:91ad48ad5687 | 3915 | woken if no notification events occur. This may |
dflet | 0:91ad48ad5687 | 3916 | overflow but this doesn't matter, the scheduler will |
dflet | 0:91ad48ad5687 | 3917 | handle it. */ |
dflet | 0:91ad48ad5687 | 3918 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 3919 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 3920 | } |
dflet | 0:91ad48ad5687 | 3921 | } |
dflet | 0:91ad48ad5687 | 3922 | #else /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 3923 | { |
dflet | 0:91ad48ad5687 | 3924 | /* Calculate the time at which the task should be |
dflet | 0:91ad48ad5687 | 3925 | woken if the event does not occur. This may |
dflet | 0:91ad48ad5687 | 3926 | overflow but this doesn't matter, the scheduler will |
dflet | 0:91ad48ad5687 | 3927 | handle it. */ |
dflet | 0:91ad48ad5687 | 3928 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 3929 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 3930 | } |
dflet | 0:91ad48ad5687 | 3931 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 3932 | |
dflet | 0:91ad48ad5687 | 3933 | /* All ports are written to allow a yield in a critical |
dflet | 0:91ad48ad5687 | 3934 | section (some will yield immediately, others wait until the |
dflet | 0:91ad48ad5687 | 3935 | critical section exits) - but it is not something that |
dflet | 0:91ad48ad5687 | 3936 | application code should ever do. */ |
dflet | 0:91ad48ad5687 | 3937 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 3938 | } |
dflet | 0:91ad48ad5687 | 3939 | else |
dflet | 0:91ad48ad5687 | 3940 | { |
dflet | 0:91ad48ad5687 | 3941 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3942 | } |
dflet | 0:91ad48ad5687 | 3943 | } |
dflet | 0:91ad48ad5687 | 3944 | else |
dflet | 0:91ad48ad5687 | 3945 | { |
dflet | 0:91ad48ad5687 | 3946 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3947 | } |
dflet | 0:91ad48ad5687 | 3948 | } |
dflet | 0:91ad48ad5687 | 3949 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3950 | |
dflet | 0:91ad48ad5687 | 3951 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3952 | { |
dflet | 0:91ad48ad5687 | 3953 | ulReturn = pxCurrentTCB->ulNotifiedValue; |
dflet | 0:91ad48ad5687 | 3954 | |
dflet | 0:91ad48ad5687 | 3955 | if( ulReturn != 0UL ) |
dflet | 0:91ad48ad5687 | 3956 | { |
dflet | 0:91ad48ad5687 | 3957 | if( xClearCountOnExit != pdFALSE ) |
dflet | 0:91ad48ad5687 | 3958 | { |
dflet | 0:91ad48ad5687 | 3959 | pxCurrentTCB->ulNotifiedValue = 0UL; |
dflet | 0:91ad48ad5687 | 3960 | } |
dflet | 0:91ad48ad5687 | 3961 | else |
dflet | 0:91ad48ad5687 | 3962 | { |
dflet | 0:91ad48ad5687 | 3963 | ( pxCurrentTCB->ulNotifiedValue )--; |
dflet | 0:91ad48ad5687 | 3964 | } |
dflet | 0:91ad48ad5687 | 3965 | } |
dflet | 0:91ad48ad5687 | 3966 | else |
dflet | 0:91ad48ad5687 | 3967 | { |
dflet | 0:91ad48ad5687 | 3968 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 3969 | } |
dflet | 0:91ad48ad5687 | 3970 | |
dflet | 0:91ad48ad5687 | 3971 | pxCurrentTCB->eNotifyState = eNotWaitingNotification; |
dflet | 0:91ad48ad5687 | 3972 | } |
dflet | 0:91ad48ad5687 | 3973 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3974 | |
dflet | 0:91ad48ad5687 | 3975 | return ulReturn; |
dflet | 0:91ad48ad5687 | 3976 | } |
dflet | 0:91ad48ad5687 | 3977 | |
dflet | 0:91ad48ad5687 | 3978 | #endif /* configUSE_TASK_NOTIFICATIONS */ |
dflet | 0:91ad48ad5687 | 3979 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 3980 | |
dflet | 0:91ad48ad5687 | 3981 | #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 3982 | |
dflet | 0:91ad48ad5687 | 3983 | BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) |
dflet | 0:91ad48ad5687 | 3984 | { |
dflet | 0:91ad48ad5687 | 3985 | TickType_t xTimeToWake; |
dflet | 0:91ad48ad5687 | 3986 | BaseType_t xReturn; |
dflet | 0:91ad48ad5687 | 3987 | |
dflet | 0:91ad48ad5687 | 3988 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 3989 | { |
dflet | 0:91ad48ad5687 | 3990 | /* Only block if a notification is not already pending. */ |
dflet | 0:91ad48ad5687 | 3991 | if( pxCurrentTCB->eNotifyState != eNotified ) |
dflet | 0:91ad48ad5687 | 3992 | { |
dflet | 0:91ad48ad5687 | 3993 | /* Clear bits in the task's notification value as bits may get |
dflet | 0:91ad48ad5687 | 3994 | set by the notifying task or interrupt. This can be used to |
dflet | 0:91ad48ad5687 | 3995 | clear the value to zero. */ |
dflet | 0:91ad48ad5687 | 3996 | pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; |
dflet | 0:91ad48ad5687 | 3997 | |
dflet | 0:91ad48ad5687 | 3998 | /* Mark this task as waiting for a notification. */ |
dflet | 0:91ad48ad5687 | 3999 | pxCurrentTCB->eNotifyState = eWaitingNotification; |
dflet | 0:91ad48ad5687 | 4000 | |
dflet | 0:91ad48ad5687 | 4001 | if( xTicksToWait > ( TickType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 4002 | { |
dflet | 0:91ad48ad5687 | 4003 | /* The task is going to block. First it must be removed |
dflet | 0:91ad48ad5687 | 4004 | from the ready list. */ |
dflet | 0:91ad48ad5687 | 4005 | if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 ) |
dflet | 0:91ad48ad5687 | 4006 | { |
dflet | 0:91ad48ad5687 | 4007 | /* The current task must be in a ready list, so there is |
dflet | 0:91ad48ad5687 | 4008 | no need to check, and the port reset macro can be called |
dflet | 0:91ad48ad5687 | 4009 | directly. */ |
dflet | 0:91ad48ad5687 | 4010 | portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); |
dflet | 0:91ad48ad5687 | 4011 | } |
dflet | 0:91ad48ad5687 | 4012 | else |
dflet | 0:91ad48ad5687 | 4013 | { |
dflet | 0:91ad48ad5687 | 4014 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4015 | } |
dflet | 0:91ad48ad5687 | 4016 | |
dflet | 0:91ad48ad5687 | 4017 | #if ( INCLUDE_vTaskSuspend == 1 ) |
dflet | 0:91ad48ad5687 | 4018 | { |
dflet | 0:91ad48ad5687 | 4019 | if( xTicksToWait == portMAX_DELAY ) |
dflet | 0:91ad48ad5687 | 4020 | { |
dflet | 0:91ad48ad5687 | 4021 | /* Add the task to the suspended task list instead |
dflet | 0:91ad48ad5687 | 4022 | of a delayed task list to ensure the task is not |
dflet | 0:91ad48ad5687 | 4023 | woken by a timing event. It will block |
dflet | 0:91ad48ad5687 | 4024 | indefinitely. */ |
dflet | 0:91ad48ad5687 | 4025 | vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 4026 | } |
dflet | 0:91ad48ad5687 | 4027 | else |
dflet | 0:91ad48ad5687 | 4028 | { |
dflet | 0:91ad48ad5687 | 4029 | /* Calculate the time at which the task should be |
dflet | 0:91ad48ad5687 | 4030 | woken if no notification events occur. This may |
dflet | 0:91ad48ad5687 | 4031 | overflow but this doesn't matter, the scheduler will |
dflet | 0:91ad48ad5687 | 4032 | handle it. */ |
dflet | 0:91ad48ad5687 | 4033 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 4034 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 4035 | } |
dflet | 0:91ad48ad5687 | 4036 | } |
dflet | 0:91ad48ad5687 | 4037 | #else /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 4038 | { |
dflet | 0:91ad48ad5687 | 4039 | /* Calculate the time at which the task should be |
dflet | 0:91ad48ad5687 | 4040 | woken if the event does not occur. This may |
dflet | 0:91ad48ad5687 | 4041 | overflow but this doesn't matter, the scheduler will |
dflet | 0:91ad48ad5687 | 4042 | handle it. */ |
dflet | 0:91ad48ad5687 | 4043 | xTimeToWake = xTickCount + xTicksToWait; |
dflet | 0:91ad48ad5687 | 4044 | prvAddCurrentTaskToDelayedList( xTimeToWake ); |
dflet | 0:91ad48ad5687 | 4045 | } |
dflet | 0:91ad48ad5687 | 4046 | #endif /* INCLUDE_vTaskSuspend */ |
dflet | 0:91ad48ad5687 | 4047 | |
dflet | 0:91ad48ad5687 | 4048 | /* All ports are written to allow a yield in a critical |
dflet | 0:91ad48ad5687 | 4049 | section (some will yield immediately, others wait until the |
dflet | 0:91ad48ad5687 | 4050 | critical section exits) - but it is not something that |
dflet | 0:91ad48ad5687 | 4051 | application code should ever do. */ |
dflet | 0:91ad48ad5687 | 4052 | portYIELD_WITHIN_API(); |
dflet | 0:91ad48ad5687 | 4053 | } |
dflet | 0:91ad48ad5687 | 4054 | else |
dflet | 0:91ad48ad5687 | 4055 | { |
dflet | 0:91ad48ad5687 | 4056 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4057 | } |
dflet | 0:91ad48ad5687 | 4058 | } |
dflet | 0:91ad48ad5687 | 4059 | else |
dflet | 0:91ad48ad5687 | 4060 | { |
dflet | 0:91ad48ad5687 | 4061 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4062 | } |
dflet | 0:91ad48ad5687 | 4063 | } |
dflet | 0:91ad48ad5687 | 4064 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 4065 | |
dflet | 0:91ad48ad5687 | 4066 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 4067 | { |
dflet | 0:91ad48ad5687 | 4068 | if( pulNotificationValue != NULL ) |
dflet | 0:91ad48ad5687 | 4069 | { |
dflet | 0:91ad48ad5687 | 4070 | /* Output the current notification value, which may or may not |
dflet | 0:91ad48ad5687 | 4071 | have changed. */ |
dflet | 0:91ad48ad5687 | 4072 | *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; |
dflet | 0:91ad48ad5687 | 4073 | } |
dflet | 0:91ad48ad5687 | 4074 | |
dflet | 0:91ad48ad5687 | 4075 | /* If eNotifyValue is set then either the task never entered the |
dflet | 0:91ad48ad5687 | 4076 | blocked state (because a notification was already pending) or the |
dflet | 0:91ad48ad5687 | 4077 | task unblocked because of a notification. Otherwise the task |
dflet | 0:91ad48ad5687 | 4078 | unblocked because of a timeout. */ |
dflet | 0:91ad48ad5687 | 4079 | if( pxCurrentTCB->eNotifyState == eWaitingNotification ) |
dflet | 0:91ad48ad5687 | 4080 | { |
dflet | 0:91ad48ad5687 | 4081 | /* A notification was not received. */ |
dflet | 0:91ad48ad5687 | 4082 | xReturn = pdFALSE; |
dflet | 0:91ad48ad5687 | 4083 | } |
dflet | 0:91ad48ad5687 | 4084 | else |
dflet | 0:91ad48ad5687 | 4085 | { |
dflet | 0:91ad48ad5687 | 4086 | /* A notification was already pending or a notification was |
dflet | 0:91ad48ad5687 | 4087 | received while the task was waiting. */ |
dflet | 0:91ad48ad5687 | 4088 | pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; |
dflet | 0:91ad48ad5687 | 4089 | xReturn = pdTRUE; |
dflet | 0:91ad48ad5687 | 4090 | } |
dflet | 0:91ad48ad5687 | 4091 | |
dflet | 0:91ad48ad5687 | 4092 | pxCurrentTCB->eNotifyState = eNotWaitingNotification; |
dflet | 0:91ad48ad5687 | 4093 | } |
dflet | 0:91ad48ad5687 | 4094 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 4095 | |
dflet | 0:91ad48ad5687 | 4096 | return xReturn; |
dflet | 0:91ad48ad5687 | 4097 | } |
dflet | 0:91ad48ad5687 | 4098 | |
dflet | 0:91ad48ad5687 | 4099 | #endif /* configUSE_TASK_NOTIFICATIONS */ |
dflet | 0:91ad48ad5687 | 4100 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 4101 | |
dflet | 0:91ad48ad5687 | 4102 | #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 4103 | |
dflet | 0:91ad48ad5687 | 4104 | BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) |
dflet | 0:91ad48ad5687 | 4105 | { |
dflet | 0:91ad48ad5687 | 4106 | TCB_t * pxTCB; |
dflet | 0:91ad48ad5687 | 4107 | eNotifyValue eOriginalNotifyState; |
dflet | 0:91ad48ad5687 | 4108 | BaseType_t xReturn = pdPASS; |
dflet | 0:91ad48ad5687 | 4109 | |
dflet | 0:91ad48ad5687 | 4110 | configASSERT( xTaskToNotify ); |
dflet | 0:91ad48ad5687 | 4111 | pxTCB = ( TCB_t * ) xTaskToNotify; |
dflet | 0:91ad48ad5687 | 4112 | |
dflet | 0:91ad48ad5687 | 4113 | taskENTER_CRITICAL(); |
dflet | 0:91ad48ad5687 | 4114 | { |
dflet | 0:91ad48ad5687 | 4115 | if( pulPreviousNotificationValue != NULL ) |
dflet | 0:91ad48ad5687 | 4116 | { |
dflet | 0:91ad48ad5687 | 4117 | *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; |
dflet | 0:91ad48ad5687 | 4118 | } |
dflet | 0:91ad48ad5687 | 4119 | |
dflet | 0:91ad48ad5687 | 4120 | eOriginalNotifyState = pxTCB->eNotifyState; |
dflet | 0:91ad48ad5687 | 4121 | |
dflet | 0:91ad48ad5687 | 4122 | pxTCB->eNotifyState = eNotified; |
dflet | 0:91ad48ad5687 | 4123 | |
dflet | 0:91ad48ad5687 | 4124 | switch( eAction ) |
dflet | 0:91ad48ad5687 | 4125 | { |
dflet | 0:91ad48ad5687 | 4126 | case eSetBits : |
dflet | 0:91ad48ad5687 | 4127 | pxTCB->ulNotifiedValue |= ulValue; |
dflet | 0:91ad48ad5687 | 4128 | break; |
dflet | 0:91ad48ad5687 | 4129 | |
dflet | 0:91ad48ad5687 | 4130 | case eIncrement : |
dflet | 0:91ad48ad5687 | 4131 | ( pxTCB->ulNotifiedValue )++; |
dflet | 0:91ad48ad5687 | 4132 | break; |
dflet | 0:91ad48ad5687 | 4133 | |
dflet | 0:91ad48ad5687 | 4134 | case eSetValueWithOverwrite : |
dflet | 0:91ad48ad5687 | 4135 | pxTCB->ulNotifiedValue = ulValue; |
dflet | 0:91ad48ad5687 | 4136 | break; |
dflet | 0:91ad48ad5687 | 4137 | |
dflet | 0:91ad48ad5687 | 4138 | case eSetValueWithoutOverwrite : |
dflet | 0:91ad48ad5687 | 4139 | if( eOriginalNotifyState != eNotified ) |
dflet | 0:91ad48ad5687 | 4140 | { |
dflet | 0:91ad48ad5687 | 4141 | pxTCB->ulNotifiedValue = ulValue; |
dflet | 0:91ad48ad5687 | 4142 | } |
dflet | 0:91ad48ad5687 | 4143 | else |
dflet | 0:91ad48ad5687 | 4144 | { |
dflet | 0:91ad48ad5687 | 4145 | /* The value could not be written to the task. */ |
dflet | 0:91ad48ad5687 | 4146 | xReturn = pdFAIL; |
dflet | 0:91ad48ad5687 | 4147 | } |
dflet | 0:91ad48ad5687 | 4148 | break; |
dflet | 0:91ad48ad5687 | 4149 | |
dflet | 0:91ad48ad5687 | 4150 | case eNoAction: |
dflet | 0:91ad48ad5687 | 4151 | /* The task is being notified without its notify value being |
dflet | 0:91ad48ad5687 | 4152 | updated. */ |
dflet | 0:91ad48ad5687 | 4153 | break; |
dflet | 0:91ad48ad5687 | 4154 | } |
dflet | 0:91ad48ad5687 | 4155 | |
dflet | 0:91ad48ad5687 | 4156 | |
dflet | 0:91ad48ad5687 | 4157 | /* If the task is in the blocked state specifically to wait for a |
dflet | 0:91ad48ad5687 | 4158 | notification then unblock it now. */ |
dflet | 0:91ad48ad5687 | 4159 | if( eOriginalNotifyState == eWaitingNotification ) |
dflet | 0:91ad48ad5687 | 4160 | { |
dflet | 0:91ad48ad5687 | 4161 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 4162 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 4163 | |
dflet | 0:91ad48ad5687 | 4164 | /* The task should not have been on an event list. */ |
dflet | 0:91ad48ad5687 | 4165 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); |
dflet | 0:91ad48ad5687 | 4166 | |
dflet | 0:91ad48ad5687 | 4167 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 4168 | { |
dflet | 0:91ad48ad5687 | 4169 | /* The notified task has a priority above the currently |
dflet | 0:91ad48ad5687 | 4170 | executing task so a yield is required. */ |
dflet | 0:91ad48ad5687 | 4171 | taskYIELD_IF_USING_PREEMPTION(); |
dflet | 0:91ad48ad5687 | 4172 | } |
dflet | 0:91ad48ad5687 | 4173 | else |
dflet | 0:91ad48ad5687 | 4174 | { |
dflet | 0:91ad48ad5687 | 4175 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4176 | } |
dflet | 0:91ad48ad5687 | 4177 | } |
dflet | 0:91ad48ad5687 | 4178 | else |
dflet | 0:91ad48ad5687 | 4179 | { |
dflet | 0:91ad48ad5687 | 4180 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4181 | } |
dflet | 0:91ad48ad5687 | 4182 | } |
dflet | 0:91ad48ad5687 | 4183 | taskEXIT_CRITICAL(); |
dflet | 0:91ad48ad5687 | 4184 | |
dflet | 0:91ad48ad5687 | 4185 | return xReturn; |
dflet | 0:91ad48ad5687 | 4186 | } |
dflet | 0:91ad48ad5687 | 4187 | |
dflet | 0:91ad48ad5687 | 4188 | #endif /* configUSE_TASK_NOTIFICATIONS */ |
dflet | 0:91ad48ad5687 | 4189 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 4190 | |
dflet | 0:91ad48ad5687 | 4191 | #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 4192 | |
dflet | 0:91ad48ad5687 | 4193 | BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken ) |
dflet | 0:91ad48ad5687 | 4194 | { |
dflet | 0:91ad48ad5687 | 4195 | TCB_t * pxTCB; |
dflet | 0:91ad48ad5687 | 4196 | eNotifyValue eOriginalNotifyState; |
dflet | 0:91ad48ad5687 | 4197 | BaseType_t xReturn = pdPASS; |
dflet | 0:91ad48ad5687 | 4198 | UBaseType_t uxSavedInterruptStatus; |
dflet | 0:91ad48ad5687 | 4199 | |
dflet | 0:91ad48ad5687 | 4200 | configASSERT( xTaskToNotify ); |
dflet | 0:91ad48ad5687 | 4201 | |
dflet | 0:91ad48ad5687 | 4202 | /* RTOS ports that support interrupt nesting have the concept of a |
dflet | 0:91ad48ad5687 | 4203 | maximum system call (or maximum API call) interrupt priority. |
dflet | 0:91ad48ad5687 | 4204 | Interrupts that are above the maximum system call priority are keep |
dflet | 0:91ad48ad5687 | 4205 | permanently enabled, even when the RTOS kernel is in a critical section, |
dflet | 0:91ad48ad5687 | 4206 | but cannot make any calls to FreeRTOS API functions. If configASSERT() |
dflet | 0:91ad48ad5687 | 4207 | is defined in FreeRTOSConfig.h then |
dflet | 0:91ad48ad5687 | 4208 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion |
dflet | 0:91ad48ad5687 | 4209 | failure if a FreeRTOS API function is called from an interrupt that has |
dflet | 0:91ad48ad5687 | 4210 | been assigned a priority above the configured maximum system call |
dflet | 0:91ad48ad5687 | 4211 | priority. Only FreeRTOS functions that end in FromISR can be called |
dflet | 0:91ad48ad5687 | 4212 | from interrupts that have been assigned a priority at or (logically) |
dflet | 0:91ad48ad5687 | 4213 | below the maximum system call interrupt priority. FreeRTOS maintains a |
dflet | 0:91ad48ad5687 | 4214 | separate interrupt safe API to ensure interrupt entry is as fast and as |
dflet | 0:91ad48ad5687 | 4215 | simple as possible. More information (albeit Cortex-M specific) is |
dflet | 0:91ad48ad5687 | 4216 | provided on the following link: |
dflet | 0:91ad48ad5687 | 4217 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */ |
dflet | 0:91ad48ad5687 | 4218 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); |
dflet | 0:91ad48ad5687 | 4219 | |
dflet | 0:91ad48ad5687 | 4220 | pxTCB = ( TCB_t * ) xTaskToNotify; |
dflet | 0:91ad48ad5687 | 4221 | |
dflet | 0:91ad48ad5687 | 4222 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); |
dflet | 0:91ad48ad5687 | 4223 | { |
dflet | 0:91ad48ad5687 | 4224 | eOriginalNotifyState = pxTCB->eNotifyState; |
dflet | 0:91ad48ad5687 | 4225 | |
dflet | 0:91ad48ad5687 | 4226 | pxTCB->eNotifyState = eNotified; |
dflet | 0:91ad48ad5687 | 4227 | |
dflet | 0:91ad48ad5687 | 4228 | switch( eAction ) |
dflet | 0:91ad48ad5687 | 4229 | { |
dflet | 0:91ad48ad5687 | 4230 | case eSetBits : |
dflet | 0:91ad48ad5687 | 4231 | pxTCB->ulNotifiedValue |= ulValue; |
dflet | 0:91ad48ad5687 | 4232 | break; |
dflet | 0:91ad48ad5687 | 4233 | |
dflet | 0:91ad48ad5687 | 4234 | case eIncrement : |
dflet | 0:91ad48ad5687 | 4235 | ( pxTCB->ulNotifiedValue )++; |
dflet | 0:91ad48ad5687 | 4236 | break; |
dflet | 0:91ad48ad5687 | 4237 | |
dflet | 0:91ad48ad5687 | 4238 | case eSetValueWithOverwrite : |
dflet | 0:91ad48ad5687 | 4239 | pxTCB->ulNotifiedValue = ulValue; |
dflet | 0:91ad48ad5687 | 4240 | break; |
dflet | 0:91ad48ad5687 | 4241 | |
dflet | 0:91ad48ad5687 | 4242 | case eSetValueWithoutOverwrite : |
dflet | 0:91ad48ad5687 | 4243 | if( eOriginalNotifyState != eNotified ) |
dflet | 0:91ad48ad5687 | 4244 | { |
dflet | 0:91ad48ad5687 | 4245 | pxTCB->ulNotifiedValue = ulValue; |
dflet | 0:91ad48ad5687 | 4246 | } |
dflet | 0:91ad48ad5687 | 4247 | else |
dflet | 0:91ad48ad5687 | 4248 | { |
dflet | 0:91ad48ad5687 | 4249 | /* The value could not be written to the task. */ |
dflet | 0:91ad48ad5687 | 4250 | xReturn = pdFAIL; |
dflet | 0:91ad48ad5687 | 4251 | } |
dflet | 0:91ad48ad5687 | 4252 | break; |
dflet | 0:91ad48ad5687 | 4253 | |
dflet | 0:91ad48ad5687 | 4254 | case eNoAction : |
dflet | 0:91ad48ad5687 | 4255 | /* The task is being notified without its notify value being |
dflet | 0:91ad48ad5687 | 4256 | updated. */ |
dflet | 0:91ad48ad5687 | 4257 | break; |
dflet | 0:91ad48ad5687 | 4258 | } |
dflet | 0:91ad48ad5687 | 4259 | |
dflet | 0:91ad48ad5687 | 4260 | |
dflet | 0:91ad48ad5687 | 4261 | /* If the task is in the blocked state specifically to wait for a |
dflet | 0:91ad48ad5687 | 4262 | notification then unblock it now. */ |
dflet | 0:91ad48ad5687 | 4263 | if( eOriginalNotifyState == eWaitingNotification ) |
dflet | 0:91ad48ad5687 | 4264 | { |
dflet | 0:91ad48ad5687 | 4265 | /* The task should not have been on an event list. */ |
dflet | 0:91ad48ad5687 | 4266 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); |
dflet | 0:91ad48ad5687 | 4267 | |
dflet | 0:91ad48ad5687 | 4268 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 4269 | { |
dflet | 0:91ad48ad5687 | 4270 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 4271 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 4272 | } |
dflet | 0:91ad48ad5687 | 4273 | else |
dflet | 0:91ad48ad5687 | 4274 | { |
dflet | 0:91ad48ad5687 | 4275 | /* The delayed and ready lists cannot be accessed, so hold |
dflet | 0:91ad48ad5687 | 4276 | this task pending until the scheduler is resumed. */ |
dflet | 0:91ad48ad5687 | 4277 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 4278 | } |
dflet | 0:91ad48ad5687 | 4279 | |
dflet | 0:91ad48ad5687 | 4280 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 4281 | { |
dflet | 0:91ad48ad5687 | 4282 | /* The notified task has a priority above the currently |
dflet | 0:91ad48ad5687 | 4283 | executing task so a yield is required. */ |
dflet | 0:91ad48ad5687 | 4284 | if( pxHigherPriorityTaskWoken != NULL ) |
dflet | 0:91ad48ad5687 | 4285 | { |
dflet | 0:91ad48ad5687 | 4286 | *pxHigherPriorityTaskWoken = pdTRUE; |
dflet | 0:91ad48ad5687 | 4287 | } |
dflet | 0:91ad48ad5687 | 4288 | } |
dflet | 0:91ad48ad5687 | 4289 | else |
dflet | 0:91ad48ad5687 | 4290 | { |
dflet | 0:91ad48ad5687 | 4291 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4292 | } |
dflet | 0:91ad48ad5687 | 4293 | } |
dflet | 0:91ad48ad5687 | 4294 | } |
dflet | 0:91ad48ad5687 | 4295 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); |
dflet | 0:91ad48ad5687 | 4296 | |
dflet | 0:91ad48ad5687 | 4297 | return xReturn; |
dflet | 0:91ad48ad5687 | 4298 | } |
dflet | 0:91ad48ad5687 | 4299 | |
dflet | 0:91ad48ad5687 | 4300 | #endif /* configUSE_TASK_NOTIFICATIONS */ |
dflet | 0:91ad48ad5687 | 4301 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 4302 | |
dflet | 0:91ad48ad5687 | 4303 | #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
dflet | 0:91ad48ad5687 | 4304 | |
dflet | 0:91ad48ad5687 | 4305 | void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) |
dflet | 0:91ad48ad5687 | 4306 | { |
dflet | 0:91ad48ad5687 | 4307 | TCB_t * pxTCB; |
dflet | 0:91ad48ad5687 | 4308 | eNotifyValue eOriginalNotifyState; |
dflet | 0:91ad48ad5687 | 4309 | UBaseType_t uxSavedInterruptStatus; |
dflet | 0:91ad48ad5687 | 4310 | |
dflet | 0:91ad48ad5687 | 4311 | configASSERT( xTaskToNotify ); |
dflet | 0:91ad48ad5687 | 4312 | |
dflet | 0:91ad48ad5687 | 4313 | /* RTOS ports that support interrupt nesting have the concept of a |
dflet | 0:91ad48ad5687 | 4314 | maximum system call (or maximum API call) interrupt priority. |
dflet | 0:91ad48ad5687 | 4315 | Interrupts that are above the maximum system call priority are keep |
dflet | 0:91ad48ad5687 | 4316 | permanently enabled, even when the RTOS kernel is in a critical section, |
dflet | 0:91ad48ad5687 | 4317 | but cannot make any calls to FreeRTOS API functions. If configASSERT() |
dflet | 0:91ad48ad5687 | 4318 | is defined in FreeRTOSConfig.h then |
dflet | 0:91ad48ad5687 | 4319 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion |
dflet | 0:91ad48ad5687 | 4320 | failure if a FreeRTOS API function is called from an interrupt that has |
dflet | 0:91ad48ad5687 | 4321 | been assigned a priority above the configured maximum system call |
dflet | 0:91ad48ad5687 | 4322 | priority. Only FreeRTOS functions that end in FromISR can be called |
dflet | 0:91ad48ad5687 | 4323 | from interrupts that have been assigned a priority at or (logically) |
dflet | 0:91ad48ad5687 | 4324 | below the maximum system call interrupt priority. FreeRTOS maintains a |
dflet | 0:91ad48ad5687 | 4325 | separate interrupt safe API to ensure interrupt entry is as fast and as |
dflet | 0:91ad48ad5687 | 4326 | simple as possible. More information (albeit Cortex-M specific) is |
dflet | 0:91ad48ad5687 | 4327 | provided on the following link: |
dflet | 0:91ad48ad5687 | 4328 | http://www.freertos.org/RTOS-Cortex-M3-M4.html */ |
dflet | 0:91ad48ad5687 | 4329 | portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); |
dflet | 0:91ad48ad5687 | 4330 | |
dflet | 0:91ad48ad5687 | 4331 | pxTCB = ( TCB_t * ) xTaskToNotify; |
dflet | 0:91ad48ad5687 | 4332 | |
dflet | 0:91ad48ad5687 | 4333 | uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); |
dflet | 0:91ad48ad5687 | 4334 | { |
dflet | 0:91ad48ad5687 | 4335 | eOriginalNotifyState = pxTCB->eNotifyState; |
dflet | 0:91ad48ad5687 | 4336 | pxTCB->eNotifyState = eNotified; |
dflet | 0:91ad48ad5687 | 4337 | |
dflet | 0:91ad48ad5687 | 4338 | /* 'Giving' is equivalent to incrementing a count in a counting |
dflet | 0:91ad48ad5687 | 4339 | semaphore. */ |
dflet | 0:91ad48ad5687 | 4340 | ( pxTCB->ulNotifiedValue )++; |
dflet | 0:91ad48ad5687 | 4341 | |
dflet | 0:91ad48ad5687 | 4342 | /* If the task is in the blocked state specifically to wait for a |
dflet | 0:91ad48ad5687 | 4343 | notification then unblock it now. */ |
dflet | 0:91ad48ad5687 | 4344 | if( eOriginalNotifyState == eWaitingNotification ) |
dflet | 0:91ad48ad5687 | 4345 | { |
dflet | 0:91ad48ad5687 | 4346 | /* The task should not have been on an event list. */ |
dflet | 0:91ad48ad5687 | 4347 | configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); |
dflet | 0:91ad48ad5687 | 4348 | |
dflet | 0:91ad48ad5687 | 4349 | if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) |
dflet | 0:91ad48ad5687 | 4350 | { |
dflet | 0:91ad48ad5687 | 4351 | ( void ) uxListRemove( &( pxTCB->xGenericListItem ) ); |
dflet | 0:91ad48ad5687 | 4352 | prvAddTaskToReadyList( pxTCB ); |
dflet | 0:91ad48ad5687 | 4353 | } |
dflet | 0:91ad48ad5687 | 4354 | else |
dflet | 0:91ad48ad5687 | 4355 | { |
dflet | 0:91ad48ad5687 | 4356 | /* The delayed and ready lists cannot be accessed, so hold |
dflet | 0:91ad48ad5687 | 4357 | this task pending until the scheduler is resumed. */ |
dflet | 0:91ad48ad5687 | 4358 | vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); |
dflet | 0:91ad48ad5687 | 4359 | } |
dflet | 0:91ad48ad5687 | 4360 | |
dflet | 0:91ad48ad5687 | 4361 | if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) |
dflet | 0:91ad48ad5687 | 4362 | { |
dflet | 0:91ad48ad5687 | 4363 | /* The notified task has a priority above the currently |
dflet | 0:91ad48ad5687 | 4364 | executing task so a yield is required. */ |
dflet | 0:91ad48ad5687 | 4365 | if( pxHigherPriorityTaskWoken != NULL ) |
dflet | 0:91ad48ad5687 | 4366 | { |
dflet | 0:91ad48ad5687 | 4367 | *pxHigherPriorityTaskWoken = pdTRUE; |
dflet | 0:91ad48ad5687 | 4368 | } |
dflet | 0:91ad48ad5687 | 4369 | } |
dflet | 0:91ad48ad5687 | 4370 | else |
dflet | 0:91ad48ad5687 | 4371 | { |
dflet | 0:91ad48ad5687 | 4372 | mtCOVERAGE_TEST_MARKER(); |
dflet | 0:91ad48ad5687 | 4373 | } |
dflet | 0:91ad48ad5687 | 4374 | } |
dflet | 0:91ad48ad5687 | 4375 | } |
dflet | 0:91ad48ad5687 | 4376 | portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); |
dflet | 0:91ad48ad5687 | 4377 | } |
dflet | 0:91ad48ad5687 | 4378 | |
dflet | 0:91ad48ad5687 | 4379 | #endif /* configUSE_TASK_NOTIFICATIONS */ |
dflet | 0:91ad48ad5687 | 4380 | |
dflet | 0:91ad48ad5687 | 4381 | /*-----------------------------------------------------------*/ |
dflet | 0:91ad48ad5687 | 4382 | |
dflet | 0:91ad48ad5687 | 4383 | |
dflet | 0:91ad48ad5687 | 4384 | #ifdef FREERTOS_MODULE_TEST |
dflet | 0:91ad48ad5687 | 4385 | #include "tasks_test_access_functions.h" |
dflet | 0:91ad48ad5687 | 4386 | #endif |
dflet | 0:91ad48ad5687 | 4387 | |
dflet | 0:91ad48ad5687 | 4388 |