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Diffstat (limited to 'freertos/src/tasks.c')
| -rw-r--r-- | freertos/src/tasks.c | 4825 |
1 files changed, 4825 insertions, 0 deletions
diff --git a/freertos/src/tasks.c b/freertos/src/tasks.c new file mode 100644 index 0000000..df0f346 --- /dev/null +++ b/freertos/src/tasks.c @@ -0,0 +1,4825 @@ +/* + FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. + + *************************************************************************** + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< + *************************************************************************** + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* Standard includes. */ +#include <stdlib.h> +#include <string.h> + +/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining +all the API functions to use the MPU wrappers. That should only be done when +task.h is included from an application file. */ +#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "timers.h" +#include "StackMacros.h" + +/* Lint e961 and e750 are suppressed as a MISRA exception justified because the +MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the +header files above, but not in this file, in order to generate the correct +privileged Vs unprivileged linkage and placement. */ +#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ + +/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting +functions but without including stdio.h here. */ +#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) + /* At the bottom of this file are two optional functions that can be used + to generate human readable text from the raw data generated by the + uxTaskGetSystemState() function. Note the formatting functions are provided + for convenience only, and are NOT considered part of the kernel. */ + #include <stdio.h> +#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ + +#if( configUSE_PREEMPTION == 0 ) + /* If the cooperative scheduler is being used then a yield should not be + performed just because a higher priority task has been woken. */ + #define taskYIELD_IF_USING_PREEMPTION() +#else + #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() +#endif + +/* Values that can be assigned to the ucNotifyState member of the TCB. */ +#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) +#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 ) +#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 ) + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5U ) + +/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using +dynamically allocated RAM, in which case when any task is deleted it is known +that both the task's stack and TCB need to be freed. Sometimes the +FreeRTOSConfig.h settings only allow a task to be created using statically +allocated RAM, in which case when any task is deleted it is known that neither +the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h +settings allow a task to be created using either statically or dynamically +allocated RAM, in which case a member of the TCB is used to record whether the +stack and/or TCB were allocated statically or dynamically, so when a task is +deleted the RAM that was allocated dynamically is freed again and no attempt is +made to free the RAM that was allocated statically. +tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a +task to be created using either statically or dynamically allocated RAM. Note +that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with +a statically allocated stack and a dynamically allocated TCB. */ +#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) ) +#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) +#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) +#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskBLOCKED_CHAR ( 'B' ) +#define tskREADY_CHAR ( 'R' ) +#define tskDELETED_CHAR ( 'D' ) +#define tskSUSPENDED_CHAR ( 'S' ) + +/* + * Some kernel aware debuggers require the data the debugger needs access to be + * global, rather than file scope. + */ +#ifdef portREMOVE_STATIC_QUALIFIER + #define static +#endif + +#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) + + /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is + performed in a generic way that is not optimised to any particular + microcontroller architecture. */ + + /* uxTopReadyPriority holds the priority of the highest priority ready + state task. */ + #define taskRECORD_READY_PRIORITY( uxPriority ) \ + { \ + if( ( uxPriority ) > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = ( uxPriority ); \ + } \ + } /* taskRECORD_READY_PRIORITY */ + + /*-----------------------------------------------------------*/ + + #define taskSELECT_HIGHEST_PRIORITY_TASK() \ + { \ + UBaseType_t uxTopPriority = uxTopReadyPriority; \ + \ + /* Find the highest priority queue that contains ready tasks. */ \ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \ + { \ + configASSERT( uxTopPriority ); \ + --uxTopPriority; \ + } \ + \ + /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ + the same priority get an equal share of the processor time. */ \ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ + uxTopReadyPriority = uxTopPriority; \ + } /* taskSELECT_HIGHEST_PRIORITY_TASK */ + + /*-----------------------------------------------------------*/ + + /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as + they are only required when a port optimised method of task selection is + being used. */ + #define taskRESET_READY_PRIORITY( uxPriority ) + #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) + +#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + + /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is + performed in a way that is tailored to the particular microcontroller + architecture being used. */ + + /* A port optimised version is provided. Call the port defined macros. */ + #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) + + /*-----------------------------------------------------------*/ + + #define taskSELECT_HIGHEST_PRIORITY_TASK() \ + { \ + UBaseType_t uxTopPriority; \ + \ + /* Find the highest priority list that contains ready tasks. */ \ + portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ + configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ + } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ + + /*-----------------------------------------------------------*/ + + /* A port optimised version is provided, call it only if the TCB being reset + is being referenced from a ready list. If it is referenced from a delayed + or suspended list then it won't be in a ready list. */ + #define taskRESET_READY_PRIORITY( uxPriority ) \ + { \ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ + { \ + portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ + } \ + } + +#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ + +/*-----------------------------------------------------------*/ + +/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick +count overflows. */ +#define taskSWITCH_DELAYED_LISTS() \ +{ \ + List_t *pxTemp; \ + \ + /* The delayed tasks list should be empty when the lists are switched. */ \ + configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ + \ + pxTemp = pxDelayedTaskList; \ + pxDelayedTaskList = pxOverflowDelayedTaskList; \ + pxOverflowDelayedTaskList = pxTemp; \ + xNumOfOverflows++; \ + prvResetNextTaskUnblockTime(); \ +} + +/*-----------------------------------------------------------*/ + +/* + * Place the task represented by pxTCB into the appropriate ready list for + * the task. It is inserted at the end of the list. + */ +#define prvAddTaskToReadyList( pxTCB ) \ + traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ + taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ + vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ + tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) +/*-----------------------------------------------------------*/ + +/* + * Several functions take an TaskHandle_t parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) ) + +/* The item value of the event list item is normally used to hold the priority +of the task to which it belongs (coded to allow it to be held in reverse +priority order). However, it is occasionally borrowed for other purposes. It +is important its value is not updated due to a task priority change while it is +being used for another purpose. The following bit definition is used to inform +the scheduler that the value should not be changed - in which case it is the +responsibility of whichever module is using the value to ensure it gets set back +to its original value when it is released. */ +#if( configUSE_16_BIT_TICKS == 1 ) + #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U +#else + #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL +#endif + +/* + * Task control block. A task control block (TCB) is allocated for each task, + * and stores task state information, including a pointer to the task's context + * (the task's run time environment, including register values) + */ +typedef struct tskTaskControlBlock +{ + volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ + #endif + + ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ + ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ + UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ + StackType_t *pxStack; /*< Points to the start of the stack. */ + char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */ + #endif + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ + #endif + + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ + UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ + #endif + + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ + UBaseType_t uxMutexesHeld; + #endif + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + TaskHookFunction_t pxTaskTag; + #endif + + #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + + #if( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + /* Allocate a Newlib reent structure that is specific to this task. + Note Newlib support has been included by popular demand, but is not + used by the FreeRTOS maintainers themselves. FreeRTOS is not + responsible for resulting newlib operation. User must be familiar with + newlib and must provide system-wide implementations of the necessary + stubs. Be warned that (at the time of writing) the current newlib design + implements a system-wide malloc() that must be provided with locks. */ + struct _reent xNewLib_reent; + #endif + + #if( configUSE_TASK_NOTIFICATIONS == 1 ) + volatile uint32_t ulNotifiedValue; + volatile uint8_t ucNotifyState; + #endif + + /* See the comments above the definition of + tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ + #endif + + #if( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDelayAborted; + #endif + +} tskTCB; + +/* The old tskTCB name is maintained above then typedefed to the new TCB_t name +below to enable the use of older kernel aware debuggers. */ +typedef tskTCB TCB_t; + +/*lint -e956 A manual analysis and inspection has been used to determine which +static variables must be declared volatile. */ + +PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. --------------------*/ +PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */ +PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ +PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ +PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */ + +#if( INCLUDE_vTaskDelete == 1 ) + + PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ + PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +/* Other file private variables. --------------------------------*/ +PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; +PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U; +PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; +PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; +PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U; +PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; +PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; +PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; +PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */ +PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */ + +/* Context switches are held pending while the scheduler is suspended. Also, +interrupts must not manipulate the xStateListItem of a TCB, or any of the +lists the xStateListItem can be referenced from, if the scheduler is suspended. +If an interrupt needs to unblock a task while the scheduler is suspended then it +moves the task's event list item into the xPendingReadyList, ready for the +kernel to move the task from the pending ready list into the real ready list +when the scheduler is unsuspended. The pending ready list itself can only be +accessed from a critical section. */ +PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; + +#if ( configGENERATE_RUN_TIME_STATS == 1 ) + + PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ + PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ + +#endif + +/*lint +e956 */ + +/*-----------------------------------------------------------*/ + +/* Callback function prototypes. --------------------------*/ +#if( configCHECK_FOR_STACK_OVERFLOW > 0 ) + extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ); +#endif + +#if( configUSE_TICK_HOOK > 0 ) + extern void vApplicationTickHook( void ); +#endif + +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); +#endif + +/* File private functions. --------------------------------*/ + +/** + * Utility task that simply returns pdTRUE if the task referenced by xTask is + * currently in the Suspended state, or pdFALSE if the task referenced by xTask + * is in any other state. + */ +#if ( INCLUDE_vTaskSuspend == 1 ) + static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; +#endif /* INCLUDE_vTaskSuspend */ + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; + +/* + * The currently executing task is entering the Blocked state. Add the task to + * either the current or the overflow delayed task list. + */ +static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION; + +/* + * Fills an TaskStatus_t structure with information on each task that is + * referenced from the pxList list (which may be a ready list, a delayed list, + * a suspended list, etc.). + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Searches pxList for a task with name pcNameToQuery - returning a handle to + * the task if it is found, or NULL if the task is not found. + */ +#if ( INCLUDE_xTaskGetHandle == 1 ) + + static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION; + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Return the amount of time, in ticks, that will pass before the kernel will + * next move a task from the Blocked state to the Running state. + * + * This conditional compilation should use inequality to 0, not equality to 1. + * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user + * defined low power mode implementations require configUSE_TICKLESS_IDLE to be + * set to a value other than 1. + */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + + static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Set xNextTaskUnblockTime to the time at which the next Blocked state task + * will exit the Blocked state. + */ +static void prvResetNextTaskUnblockTime( void ); + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + /* + * Helper function used to pad task names with spaces when printing out + * human readable tables of task information. + */ + static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION; + +#endif + +/* + * Called after a Task_t structure has been allocated either statically or + * dynamically to fill in the structure's members. + */ +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t *pxNewTCB, + const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + +/* + * Called after a new task has been created and initialised to place the task + * under the control of the scheduler. + */ +static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; + +/*-----------------------------------------------------------*/ + +#if( configSUPPORT_STATIC_ALLOCATION == 1 ) + + TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + StackType_t * const puxStackBuffer, + StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + TCB_t *pxNewTCB; + TaskHandle_t xReturn; + + configASSERT( puxStackBuffer != NULL ); + configASSERT( pxTaskBuffer != NULL ); + + if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) ) + { + /* The memory used for the task's TCB and stack are passed into this + function - use them. */ + pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ + pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer; + + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + { + /* Tasks can be created statically or dynamically, so note this + task was created statically in case the task is later deleted. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + + prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); + prvAddNewTaskToReadyList( pxNewTCB ); + } + else + { + xReturn = NULL; + } + + return xReturn; + } + +#endif /* SUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +#if( portUSING_MPU_WRAPPERS == 1 ) + + BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) + { + TCB_t *pxNewTCB; + BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + + configASSERT( pxTaskDefinition->puxStackBuffer ); + + if( pxTaskDefinition->puxStackBuffer != NULL ) + { + /* Allocate space for the TCB. Where the memory comes from depends + on the implementation of the port malloc function and whether or + not static allocation is being used. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) + { + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; + + /* Tasks can be created statically or dynamically, so note + this task had a statically allocated stack in case it is + later deleted. The TCB was allocated dynamically. */ + pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; + + prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, + pxTaskDefinition->pcName, + ( uint32_t ) pxTaskDefinition->usStackDepth, + pxTaskDefinition->pvParameters, + pxTaskDefinition->uxPriority, + pxCreatedTask, pxNewTCB, + pxTaskDefinition->xRegions ); + + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + } + + return xReturn; + } + +#endif /* portUSING_MPU_WRAPPERS */ +/*-----------------------------------------------------------*/ + +#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + + BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint16_t usStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + TCB_t *pxNewTCB; + BaseType_t xReturn; + + /* If the stack grows down then allocate the stack then the TCB so the stack + does not grow into the TCB. Likewise if the stack grows up then allocate + the TCB then the stack. */ + #if( portSTACK_GROWTH > 0 ) + { + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function and whether or not static + allocation is being used. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + } + } + #else /* portSTACK_GROWTH */ + { + StackType_t *pxStack; + + /* Allocate space for the stack used by the task being created. */ + pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + if( pxStack != NULL ) + { + /* Allocate space for the TCB. */ + pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */ + + if( pxNewTCB != NULL ) + { + /* Store the stack location in the TCB. */ + pxNewTCB->pxStack = pxStack; + } + else + { + /* The stack cannot be used as the TCB was not created. Free + it again. */ + vPortFree( pxStack ); + } + } + else + { + pxNewTCB = NULL; + } + } + #endif /* portSTACK_GROWTH */ + + if( pxNewTCB != NULL ) + { + #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + { + /* Tasks can be created statically or dynamically, so note this + task was created dynamically in case it is later deleted. */ + pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + + prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); + prvAddNewTaskToReadyList( pxNewTCB ); + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; + } + +#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, + const char * const pcName, + const uint32_t ulStackDepth, + void * const pvParameters, + UBaseType_t uxPriority, + TaskHandle_t * const pxCreatedTask, + TCB_t *pxNewTCB, + const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +{ +StackType_t *pxTopOfStack; +UBaseType_t x; + + #if( portUSING_MPU_WRAPPERS == 1 ) + /* Should the task be created in privileged mode? */ + BaseType_t xRunPrivileged; + if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) + { + xRunPrivileged = pdTRUE; + } + else + { + xRunPrivileged = pdFALSE; + } + uxPriority &= ~portPRIVILEGE_BIT; + #endif /* portUSING_MPU_WRAPPERS == 1 */ + + /* Avoid dependency on memset() if it is not required. */ + #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + { + /* Fill the stack with a known value to assist debugging. */ + ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) ); + } + #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ + + /* Calculate the top of stack address. This depends on whether the stack + grows from high memory to low (as per the 80x86) or vice versa. + portSTACK_GROWTH is used to make the result positive or negative as required + by the port. */ + #if( portSTACK_GROWTH < 0 ) + { + pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); + pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ + + /* Check the alignment of the calculated top of stack is correct. */ + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + #if( configRECORD_STACK_HIGH_ADDRESS == 1 ) + { + /* Also record the stack's high address, which may assist + debugging. */ + pxNewTCB->pxEndOfStack = pxTopOfStack; + } + #endif /* configRECORD_STACK_HIGH_ADDRESS */ + } + #else /* portSTACK_GROWTH */ + { + pxTopOfStack = pxNewTCB->pxStack; + + /* Check the alignment of the stack buffer is correct. */ + configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); + + /* The other extreme of the stack space is required if stack checking is + performed. */ + pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); + } + #endif /* portSTACK_GROWTH */ + + /* Store the task name in the TCB. */ + for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) + { + pxNewTCB->pcTaskName[ x ] = pcName[ x ]; + + /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than + configMAX_TASK_NAME_LEN characters just in case the memory after the + string is not accessible (extremely unlikely). */ + if( pcName[ x ] == 0x00 ) + { + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Ensure the name string is terminated in the case that the string length + was greater or equal to configMAX_TASK_NAME_LEN. */ + pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; + + /* This is used as an array index so must ensure it's not too large. First + remove the privilege bit if one is present. */ + if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) + { + uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxNewTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxNewTCB->uxBasePriority = uxPriority; + pxNewTCB->uxMutexesHeld = 0; + } + #endif /* configUSE_MUTEXES */ + + vListInitialiseItem( &( pxNewTCB->xStateListItem ) ); + vListInitialiseItem( &( pxNewTCB->xEventListItem ) ); + + /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get + back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB ); + + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + { + pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U; + } + #endif /* portCRITICAL_NESTING_IN_TCB */ + + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + { + pxNewTCB->pxTaskTag = NULL; + } + #endif /* configUSE_APPLICATION_TASK_TAG */ + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxNewTCB->ulRunTimeCounter = 0UL; + } + #endif /* configGENERATE_RUN_TIME_STATS */ + + #if ( portUSING_MPU_WRAPPERS == 1 ) + { + vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); + } + #else + { + /* Avoid compiler warning about unreferenced parameter. */ + ( void ) xRegions; + } + #endif + + #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + { + for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) + { + pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL; + } + } + #endif + + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + { + pxNewTCB->ulNotifiedValue = 0; + pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; + } + #endif + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Initialise this task's Newlib reent structure. */ + _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) ); + } + #endif + + #if( INCLUDE_xTaskAbortDelay == 1 ) + { + pxNewTCB->ucDelayAborted = pdFALSE; + } + #endif + + /* Initialize the TCB stack to look as if the task was already running, + but had been interrupted by the scheduler. The return address is set + to the start of the task function. Once the stack has been initialised + the top of stack variable is updated. */ + #if( portUSING_MPU_WRAPPERS == 1 ) + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); + } + #else /* portUSING_MPU_WRAPPERS */ + { + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); + } + #endif /* portUSING_MPU_WRAPPERS */ + + if( ( void * ) pxCreatedTask != NULL ) + { + /* Pass the handle out in an anonymous way. The handle can be used to + change the created task's priority, delete the created task, etc.*/ + *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) +{ + /* Ensure interrupts don't access the task lists while the lists are being + updated. */ + taskENTER_CRITICAL(); + { + uxCurrentNumberOfTasks++; + if( pxCurrentTCB == NULL ) + { + /* There are no other tasks, or all the other tasks are in + the suspended state - make this the current task. */ + pxCurrentTCB = pxNewTCB; + + if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) + { + /* This is the first task to be created so do the preliminary + initialisation required. We will not recover if this call + fails, but we will report the failure. */ + prvInitialiseTaskLists(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* If the scheduler is not already running, make this task the + current task if it is the highest priority task to be created + so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + uxTaskNumber++; + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + } + #endif /* configUSE_TRACE_FACILITY */ + traceTASK_CREATE( pxNewTCB ); + + prvAddTaskToReadyList( pxNewTCB ); + + portSETUP_TCB( pxNewTCB ); + } + taskEXIT_CRITICAL(); + + if( xSchedulerRunning != pdFALSE ) + { + /* If the created task is of a higher priority than the current task + then it should run now. */ + if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority ) + { + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( TaskHandle_t xTaskToDelete ) + { + TCB_t *pxTCB; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the calling task that is + being deleted. */ + pxTCB = prvGetTCBFromHandle( xTaskToDelete ); + + /* Remove task from the ready list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Is the task waiting on an event also? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Increment the uxTaskNumber also so kernel aware debuggers can + detect that the task lists need re-generating. This is done before + portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will + not return. */ + uxTaskNumber++; + + if( pxTCB == pxCurrentTCB ) + { + /* A task is deleting itself. This cannot complete within the + task itself, as a context switch to another task is required. + Place the task in the termination list. The idle task will + check the termination list and free up any memory allocated by + the scheduler for the TCB and stack of the deleted task. */ + vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + there is a task that has been deleted and that it should therefore + check the xTasksWaitingTermination list. */ + ++uxDeletedTasksWaitingCleanUp; + + /* The pre-delete hook is primarily for the Windows simulator, + in which Windows specific clean up operations are performed, + after which it is not possible to yield away from this task - + hence xYieldPending is used to latch that a context switch is + required. */ + portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); + } + else + { + --uxCurrentNumberOfTasks; + prvDeleteTCB( pxTCB ); + + /* Reset the next expected unblock time in case it referred to + the task that has just been deleted. */ + prvResetNextTaskUnblockTime(); + } + + traceTASK_DELETE( pxTCB ); + } + taskEXIT_CRITICAL(); + + /* Force a reschedule if it is the currently running task that has just + been deleted. */ + if( xSchedulerRunning != pdFALSE ) + { + if( pxTCB == pxCurrentTCB ) + { + configASSERT( uxSchedulerSuspended == 0 ); + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + +#endif /* INCLUDE_vTaskDelete */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelayUntil == 1 ) + + void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) + { + TickType_t xTimeToWake; + BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; + + configASSERT( pxPreviousWakeTime ); + configASSERT( ( xTimeIncrement > 0U ) ); + configASSERT( uxSchedulerSuspended == 0 ); + + vTaskSuspendAll(); + { + /* Minor optimisation. The tick count cannot change in this + block. */ + const TickType_t xConstTickCount = xTickCount; + + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xConstTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) + { + xShouldDelay = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) + { + xShouldDelay = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay != pdFALSE ) + { + traceTASK_DELAY_UNTIL( xTimeToWake ); + + /* prvAddCurrentTaskToDelayedList() needs the block time, not + the time to wake, so subtract the current tick count. */ + prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskDelayUntil */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( const TickType_t xTicksToDelay ) + { + BaseType_t xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( TickType_t ) 0U ) + { + configASSERT( uxSchedulerSuspended == 0 ); + vTaskSuspendAll(); + { + traceTASK_DELAY(); + + /* A task that is removed from the event list while the + scheduler is suspended will not get placed in the ready + list or removed from the blocked list until the scheduler + is resumed. + + This task cannot be in an event list as it is the currently + executing task. */ + prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE ); + } + xAlreadyYielded = xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskDelay */ +/*-----------------------------------------------------------*/ + +#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) ) + + eTaskState eTaskGetState( TaskHandle_t xTask ) + { + eTaskState eReturn; + List_t *pxStateList; + const TCB_t * const pxTCB = ( TCB_t * ) xTask; + + configASSERT( pxTCB ); + + if( pxTCB == pxCurrentTCB ) + { + /* The task calling this function is querying its own state. */ + eReturn = eRunning; + } + else + { + taskENTER_CRITICAL(); + { + pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) ); + } + taskEXIT_CRITICAL(); + + if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) ) + { + /* The task being queried is referenced from one of the Blocked + lists. */ + eReturn = eBlocked; + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + else if( pxStateList == &xSuspendedTaskList ) + { + /* The task being queried is referenced from the suspended + list. Is it genuinely suspended or is it block + indefinitely? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) + { + eReturn = eSuspended; + } + else + { + eReturn = eBlocked; + } + } + #endif + + #if ( INCLUDE_vTaskDelete == 1 ) + else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) ) + { + /* The task being queried is referenced from the deleted + tasks list, or it is not referenced from any lists at + all. */ + eReturn = eDeleted; + } + #endif + + else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ + { + /* If the task is not in any other state, it must be in the + Ready (including pending ready) state. */ + eReturn = eReady; + } + } + + return eReturn; + } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ + +#endif /* INCLUDE_eTaskGetState */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + UBaseType_t uxReturn; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the priority of the that + called uxTaskPriorityGet() that is being queried. */ + pxTCB = prvGetTCBFromHandle( xTask ); + uxReturn = pxTCB->uxPriority; + } + taskEXIT_CRITICAL(); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskPriorityGet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + UBaseType_t uxReturn, uxSavedInterruptState; + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); + { + /* If null is passed in here then it is the priority of the calling + task that is being queried. */ + pxTCB = prvGetTCBFromHandle( xTask ); + uxReturn = pxTCB->uxPriority; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskPriorityGet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) + { + TCB_t *pxTCB; + UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; + BaseType_t xYieldRequired = pdFALSE; + + configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) + { + uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the priority of the calling + task that is being changed. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentBasePriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentBasePriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentBasePriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + priority than the calling task. */ + if( uxNewPriority > uxCurrentBasePriority ) + { + if( pxTCB != pxCurrentTCB ) + { + /* The priority of a task other than the currently + running task is being raised. Is the priority being + raised above that of the running task? */ + if( uxNewPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* The priority of the running task is being raised, + but the running task must already be the highest + priority task able to run so no yield is required. */ + } + } + else if( pxTCB == pxCurrentTCB ) + { + /* Setting the priority of the running task down means + there may now be another task of higher priority that + is ready to execute. */ + xYieldRequired = pdTRUE; + } + else + { + /* Setting the priority of any other task down does not + require a yield as the running task must be above the + new priority of the task being modified. */ + } + + /* Remember the ready list the task might be referenced from + before its uxPriority member is changed so the + taskRESET_READY_PRIORITY() macro can function correctly. */ + uxPriorityUsedOnEntry = pxTCB->uxPriority; + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else + { + pxTCB->uxPriority = uxNewPriority; + } + #endif + + /* Only reset the event list item value if the value is not + being used for anything else. */ + if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) + { + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* If the task is in the blocked or suspended list we need do + nothing more than change it's priority variable. However, if + the task is in a ready list it needs to be removed and placed + in the list appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + /* The task is currently in its ready list - remove before adding + it to it's new ready list. As we are in a critical section we + can do this even if the scheduler is suspended. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* It is known that the task is in its ready list so + there is no need to check again and the port level + reset macro can be called directly. */ + portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + prvAddTaskToReadyList( pxTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( xYieldRequired != pdFALSE ) + { + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Remove compiler warning about unused variables when the port + optimised task selection is not being used. */ + ( void ) uxPriorityUsedOnEntry; + } + } + taskEXIT_CRITICAL(); + } + +#endif /* INCLUDE_vTaskPrioritySet */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( TaskHandle_t xTaskToSuspend ) + { + TCB_t *pxTCB; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then it is the running task that is + being suspended. */ + pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); + + traceTASK_SUSPEND( pxTCB ); + + /* Remove task from the ready/delayed list and place in the + suspended list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Is the task waiting on an event also? */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ); + } + taskEXIT_CRITICAL(); + + if( xSchedulerRunning != pdFALSE ) + { + /* Reset the next expected unblock time in case it referred to the + task that is now in the Suspended state. */ + taskENTER_CRITICAL(); + { + prvResetNextTaskUnblockTime(); + } + taskEXIT_CRITICAL(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + if( pxTCB == pxCurrentTCB ) + { + if( xSchedulerRunning != pdFALSE ) + { + /* The current task has just been suspended. */ + configASSERT( uxSchedulerSuspended == 0 ); + portYIELD_WITHIN_API(); + } + else + { + /* The scheduler is not running, but the task that was pointed + to by pxCurrentTCB has just been suspended and pxCurrentTCB + must be adjusted to point to a different task. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) + { + /* No other tasks are ready, so set pxCurrentTCB back to + NULL so when the next task is created pxCurrentTCB will + be set to point to it no matter what its relative priority + is. */ + pxCurrentTCB = NULL; + } + else + { + vTaskSwitchContext(); + } + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskSuspend */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) + { + BaseType_t xReturn = pdFALSE; + const TCB_t * const pxTCB = ( TCB_t * ) xTask; + + /* Accesses xPendingReadyList so must be called from a critical + section. */ + + /* It does not make sense to check if the calling task is suspended. */ + configASSERT( xTask ); + + /* Is the task being resumed actually in the suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) + { + /* Is it in the suspended list because it is in the Suspended + state, or because is is blocked with no timeout? */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) + { + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ + +#endif /* INCLUDE_vTaskSuspend */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( TaskHandle_t xTaskToResume ) + { + TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; + + /* It does not make sense to resume the calling task. */ + configASSERT( xTaskToResume ); + + /* The parameter cannot be NULL as it is impossible to resume the + currently executing task. */ + if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) + { + taskENTER_CRITICAL(); + { + if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) + { + traceTASK_RESUME( pxTCB ); + + /* As we are in a critical section we can access the ready + lists even if the scheduler is suspended. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* We may have just resumed a higher priority task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, + but will leave the lists in the correct state for the + next yield. */ + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* INCLUDE_vTaskSuspend */ + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) + { + BaseType_t xYieldRequired = pdFALSE; + TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToResume ); + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) + { + traceTASK_RESUME_FROM_ISR( pxTCB ); + + /* Check the ready lists can be accessed. */ + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + /* Ready lists can be accessed so move the task from the + suspended list to the ready list directly. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed or ready lists cannot be accessed so the task + is held in the pending ready list until the scheduler is + unsuspended. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xYieldRequired; + } + +#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ +/*-----------------------------------------------------------*/ + +void vTaskStartScheduler( void ) +{ +BaseType_t xReturn; + + /* Add the idle task at the lowest priority. */ + #if( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + StaticTask_t *pxIdleTaskTCBBuffer = NULL; + StackType_t *pxIdleTaskStackBuffer = NULL; + uint32_t ulIdleTaskStackSize; + + /* The Idle task is created using user provided RAM - obtain the + address of the RAM then create the idle task. */ + vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); + xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, + "IDLE", + ulIdleTaskStackSize, + ( void * ) NULL, + ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), + pxIdleTaskStackBuffer, + pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ + + if( xIdleTaskHandle != NULL ) + { + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + #else + { + /* The Idle task is being created using dynamically allocated RAM. */ + xReturn = xTaskCreate( prvIdleTask, + "IDLE", configMINIMAL_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. */ + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ + + #if ( configUSE_TIMERS == 1 ) + { + if( xReturn == pdPASS ) + { + xReturn = xTimerCreateTimerTask(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TIMERS */ + + if( xReturn == pdPASS ) + { + /* Interrupts are turned off here, to ensure a tick does not occur + before or during the call to xPortStartScheduler(). The stacks of + the created tasks contain a status word with interrupts switched on + so interrupts will automatically get re-enabled when the first task + starts to run. */ + portDISABLE_INTERRUPTS(); + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Switch Newlib's _impure_ptr variable to point to the _reent + structure specific to the task that will run first. */ + _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + + xNextTaskUnblockTime = portMAX_DELAY; + xSchedulerRunning = pdTRUE; + xTickCount = ( TickType_t ) 0U; + + /* If configGENERATE_RUN_TIME_STATS is defined then the following + macro must be defined to configure the timer/counter used to generate + the run time counter time base. */ + portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); + + /* Setting up the timer tick is hardware specific and thus in the + portable interface. */ + if( xPortStartScheduler() != pdFALSE ) + { + /* Should not reach here as if the scheduler is running the + function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } + else + { + /* This line will only be reached if the kernel could not be started, + because there was not enough FreeRTOS heap to create the idle task + or the timer task. */ + configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ); + } + + /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, + meaning xIdleTaskHandle is not used anywhere else. */ + ( void ) xIdleTaskHandle; +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + routine so the original ISRs can be restored if necessary. The port + layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + /* A critical section is not required as the variable is of type + BaseType_t. Please read Richard Barry's reply in the following link to a + post in the FreeRTOS support forum before reporting this as a bug! - + http://goo.gl/wu4acr */ + ++uxSchedulerSuspended; +} +/*----------------------------------------------------------*/ + +#if ( configUSE_TICKLESS_IDLE != 0 ) + + static TickType_t prvGetExpectedIdleTime( void ) + { + TickType_t xReturn; + UBaseType_t uxHigherPriorityReadyTasks = pdFALSE; + + /* uxHigherPriorityReadyTasks takes care of the case where + configUSE_PREEMPTION is 0, so there may be tasks above the idle priority + task that are in the Ready state, even though the idle task is + running. */ + #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) + { + if( uxTopReadyPriority > tskIDLE_PRIORITY ) + { + uxHigherPriorityReadyTasks = pdTRUE; + } + } + #else + { + const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01; + + /* When port optimised task selection is used the uxTopReadyPriority + variable is used as a bit map. If bits other than the least + significant bit are set then there are tasks that have a priority + above the idle priority that are in the Ready state. This takes + care of the case where the co-operative scheduler is in use. */ + if( uxTopReadyPriority > uxLeastSignificantBit ) + { + uxHigherPriorityReadyTasks = pdTRUE; + } + } + #endif + + if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) + { + xReturn = 0; + } + else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) + { + /* There are other idle priority tasks in the ready state. If + time slicing is used then the very next tick interrupt must be + processed. */ + xReturn = 0; + } + else if( uxHigherPriorityReadyTasks != pdFALSE ) + { + /* There are tasks in the Ready state that have a priority above the + idle priority. This path can only be reached if + configUSE_PREEMPTION is 0. */ + xReturn = 0; + } + else + { + xReturn = xNextTaskUnblockTime - xTickCount; + } + + return xReturn; + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*----------------------------------------------------------*/ + +BaseType_t xTaskResumeAll( void ) +{ +TCB_t *pxTCB = NULL; +BaseType_t xAlreadyYielded = pdFALSE; + + /* If uxSchedulerSuspended is zero then this function does not match a + previous call to vTaskSuspendAll(). */ + configASSERT( uxSchedulerSuspended ); + + /* It is possible that an ISR caused a task to be removed from an event + list while the scheduler was suspended. If this was the case then the + removed task will have been added to the xPendingReadyList. Once the + scheduler has been resumed it is safe to move all the pending ready + tasks from this list into their appropriate ready list. */ + taskENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) + { + /* Move any readied tasks from the pending list into the + appropriate ready list. */ + while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) + { + pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* If the moved task has a priority higher than the current + task then a yield must be performed. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( pxTCB != NULL ) + { + /* A task was unblocked while the scheduler was suspended, + which may have prevented the next unblock time from being + re-calculated, in which case re-calculate it now. Mainly + important for low power tickless implementations, where + this can prevent an unnecessary exit from low power + state. */ + prvResetNextTaskUnblockTime(); + } + + /* If any ticks occurred while the scheduler was suspended then + they should be processed now. This ensures the tick count does + not slip, and that any delayed tasks are resumed at the correct + time. */ + { + UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */ + + if( uxPendedCounts > ( UBaseType_t ) 0U ) + { + do + { + if( xTaskIncrementTick() != pdFALSE ) + { + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + --uxPendedCounts; + } while( uxPendedCounts > ( UBaseType_t ) 0U ); + + uxPendedTicks = 0; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( xYieldPending != pdFALSE ) + { + #if( configUSE_PREEMPTION != 0 ) + { + xAlreadyYielded = pdTRUE; + } + #endif + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + return xAlreadyYielded; +} +/*-----------------------------------------------------------*/ + +TickType_t xTaskGetTickCount( void ) +{ +TickType_t xTicks; + + /* Critical section required if running on a 16 bit processor. */ + portTICK_TYPE_ENTER_CRITICAL(); + { + xTicks = xTickCount; + } + portTICK_TYPE_EXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +TickType_t xTaskGetTickCountFromISR( void ) +{ +TickType_t xReturn; +UBaseType_t uxSavedInterruptStatus; + + /* RTOS ports that support interrupt nesting have the concept of a maximum + system call (or maximum API call) interrupt priority. Interrupts that are + above the maximum system call priority are kept permanently enabled, even + when the RTOS kernel is in a critical section, but cannot make any calls to + FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h + then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has been + assigned a priority above the configured maximum system call priority. + Only FreeRTOS functions that end in FromISR can be called from interrupts + that have been assigned a priority at or (logically) below the maximum + system call interrupt priority. FreeRTOS maintains a separate interrupt + safe API to ensure interrupt entry is as fast and as simple as possible. + More information (albeit Cortex-M specific) is provided on the following + link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); + { + xReturn = xTickCount; + } + portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +UBaseType_t uxTaskGetNumberOfTasks( void ) +{ + /* A critical section is not required because the variables are of type + BaseType_t. */ + return uxCurrentNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ +{ +TCB_t *pxTCB; + + /* If null is passed in here then the name of the calling task is being + queried. */ + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + configASSERT( pxTCB ); + return &( pxTCB->pcTaskName[ 0 ] ); +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetHandle == 1 ) + + static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) + { + TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL; + UBaseType_t x; + char cNextChar; + + /* This function is called with the scheduler suspended. */ + + if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + + /* Check each character in the name looking for a match or + mismatch. */ + for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) + { + cNextChar = pxNextTCB->pcTaskName[ x ]; + + if( cNextChar != pcNameToQuery[ x ] ) + { + /* Characters didn't match. */ + break; + } + else if( cNextChar == 0x00 ) + { + /* Both strings terminated, a match must have been + found. */ + pxReturn = pxNextTCB; + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + if( pxReturn != NULL ) + { + /* The handle has been found. */ + break; + } + + } while( pxNextTCB != pxFirstTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return pxReturn; + } + +#endif /* INCLUDE_xTaskGetHandle */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetHandle == 1 ) + + TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ + { + UBaseType_t uxQueue = configMAX_PRIORITIES; + TCB_t* pxTCB; + + /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */ + configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN ); + + vTaskSuspendAll(); + { + /* Search the ready lists. */ + do + { + uxQueue--; + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery ); + + if( pxTCB != NULL ) + { + /* Found the handle. */ + break; + } + + } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + /* Search the delayed lists. */ + if( pxTCB == NULL ) + { + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery ); + } + + if( pxTCB == NULL ) + { + pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery ); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( pxTCB == NULL ) + { + /* Search the suspended list. */ + pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery ); + } + } + #endif + + #if( INCLUDE_vTaskDelete == 1 ) + { + if( pxTCB == NULL ) + { + /* Search the deleted list. */ + pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery ); + } + } + #endif + } + ( void ) xTaskResumeAll(); + + return ( TaskHandle_t ) pxTCB; + } + +#endif /* INCLUDE_xTaskGetHandle */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) + { + UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; + + vTaskSuspendAll(); + { + /* Is there a space in the array for each task in the system? */ + if( uxArraySize >= uxCurrentNumberOfTasks ) + { + /* Fill in an TaskStatus_t structure with information on each + task in the Ready state. */ + do + { + uxQueue--; + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); + + } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + /* Fill in an TaskStatus_t structure with information on each + task in the Blocked state. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); + + #if( INCLUDE_vTaskDelete == 1 ) + { + /* Fill in an TaskStatus_t structure with information on + each task that has been deleted but not yet cleaned up. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + /* Fill in an TaskStatus_t structure with information on + each task in the Suspended state. */ + uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1) + { + if( pulTotalRunTime != NULL ) + { + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); + #else + *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + } + } + #else + { + if( pulTotalRunTime != NULL ) + { + *pulTotalRunTime = 0; + } + } + #endif + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + ( void ) xTaskResumeAll(); + + return uxTask; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) + + TaskHandle_t xTaskGetIdleTaskHandle( void ) + { + /* If xTaskGetIdleTaskHandle() is called before the scheduler has been + started, then xIdleTaskHandle will be NULL. */ + configASSERT( ( xIdleTaskHandle != NULL ) ); + return xIdleTaskHandle; + } + +#endif /* INCLUDE_xTaskGetIdleTaskHandle */ +/*----------------------------------------------------------*/ + +/* This conditional compilation should use inequality to 0, not equality to 1. +This is to ensure vTaskStepTick() is available when user defined low power mode +implementations require configUSE_TICKLESS_IDLE to be set to a value other than +1. */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + + void vTaskStepTick( const TickType_t xTicksToJump ) + { + /* Correct the tick count value after a period during which the tick + was suppressed. Note this does *not* call the tick hook function for + each stepped tick. */ + configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); + xTickCount += xTicksToJump; + traceINCREASE_TICK_COUNT( xTicksToJump ); + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskAbortDelay == 1 ) + + BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) + { + TCB_t *pxTCB = ( TCB_t * ) xTask; + BaseType_t xReturn = pdFALSE; + + configASSERT( pxTCB ); + + vTaskSuspendAll(); + { + /* A task can only be prematurely removed from the Blocked state if + it is actually in the Blocked state. */ + if( eTaskGetState( xTask ) == eBlocked ) + { + /* Remove the reference to the task from the blocked list. An + interrupt won't touch the xStateListItem because the + scheduler is suspended. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + + /* Is the task waiting on an event also? If so remove it from + the event list too. Interrupts can touch the event list item, + even though the scheduler is suspended, so a critical section + is used. */ + taskENTER_CRITICAL(); + { + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + pxTCB->ucDelayAborted = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + /* Place the unblocked task into the appropriate ready list. */ + prvAddTaskToReadyList( pxTCB ); + + /* A task being unblocked cannot cause an immediate context + switch if preemption is turned off. */ + #if ( configUSE_PREEMPTION == 1 ) + { + /* Preemption is on, but a context switch should only be + performed if the unblocked task has a priority that is + equal to or higher than the currently executing task. */ + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* Pend the yield to be performed when the scheduler + is unsuspended. */ + xYieldPending = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + xTaskResumeAll(); + + return xReturn; + } + +#endif /* INCLUDE_xTaskAbortDelay */ +/*----------------------------------------------------------*/ + +BaseType_t xTaskIncrementTick( void ) +{ +TCB_t * pxTCB; +TickType_t xItemValue; +BaseType_t xSwitchRequired = pdFALSE; + + /* Called by the portable layer each time a tick interrupt occurs. + Increments the tick then checks to see if the new tick value will cause any + tasks to be unblocked. */ + traceTASK_INCREMENT_TICK( xTickCount ); + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + /* Minor optimisation. The tick count cannot change in this + block. */ + const TickType_t xConstTickCount = xTickCount + 1; + + /* Increment the RTOS tick, switching the delayed and overflowed + delayed lists if it wraps to 0. */ + xTickCount = xConstTickCount; + + if( xConstTickCount == ( TickType_t ) 0U ) + { + taskSWITCH_DELAYED_LISTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* See if this tick has made a timeout expire. Tasks are stored in + the queue in the order of their wake time - meaning once one task + has been found whose block time has not expired there is no need to + look any further down the list. */ + if( xConstTickCount >= xNextTaskUnblockTime ) + { + for( ;; ) + { + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) + { + /* The delayed list is empty. Set xNextTaskUnblockTime + to the maximum possible value so it is extremely + unlikely that the + if( xTickCount >= xNextTaskUnblockTime ) test will pass + next time through. */ + xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + break; + } + else + { + /* The delayed list is not empty, get the value of the + item at the head of the delayed list. This is the time + at which the task at the head of the delayed list must + be removed from the Blocked state. */ + pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); + xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) ); + + if( xConstTickCount < xItemValue ) + { + /* It is not time to unblock this item yet, but the + item value is the time at which the task at the head + of the blocked list must be removed from the Blocked + state - so record the item value in + xNextTaskUnblockTime. */ + xNextTaskUnblockTime = xItemValue; + break; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* It is time to remove the item from the Blocked state. */ + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + + /* Is the task waiting on an event also? If so remove + it from the event list. */ + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Place the unblocked task into the appropriate ready + list. */ + prvAddTaskToReadyList( pxTCB ); + + /* A task being unblocked cannot cause an immediate + context switch if preemption is turned off. */ + #if ( configUSE_PREEMPTION == 1 ) + { + /* Preemption is on, but a context switch should + only be performed if the unblocked task has a + priority that is equal to or higher than the + currently executing task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + } + } + } + + /* Tasks of equal priority to the currently running task will share + processing time (time slice) if preemption is on, and the application + writer has not explicitly turned time slicing off. */ + #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) + { + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ + + #if ( configUSE_TICK_HOOK == 1 ) + { + /* Guard against the tick hook being called when the pended tick + count is being unwound (when the scheduler is being unlocked). */ + if( uxPendedTicks == ( UBaseType_t ) 0U ) + { + vApplicationTickHook(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TICK_HOOK */ + } + else + { + ++uxPendedTicks; + + /* The tick hook gets called at regular intervals, even if the + scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + vApplicationTickHook(); + } + #endif + } + + #if ( configUSE_PREEMPTION == 1 ) + { + if( xYieldPending != pdFALSE ) + { + xSwitchRequired = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_PREEMPTION */ + + return xSwitchRequired; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) + { + TCB_t *xTCB; + + /* If xTask is NULL then it is the task hook of the calling task that is + getting set. */ + if( xTask == NULL ) + { + xTCB = ( TCB_t * ) pxCurrentTCB; + } + else + { + xTCB = ( TCB_t * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + xTCB->pxTaskTag = pxHookFunction; + taskEXIT_CRITICAL(); + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) + { + TCB_t *xTCB; + TaskHookFunction_t xReturn; + + /* If xTask is NULL then we are setting our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( TCB_t * ) pxCurrentTCB; + } + else + { + xTCB = ( TCB_t * ) xTask; + } + + /* Save the hook function in the TCB. A critical section is required as + the value can be accessed from an interrupt. */ + taskENTER_CRITICAL(); + { + xReturn = xTCB->pxTaskTag; + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_APPLICATION_TASK_TAG == 1 ) + + BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) + { + TCB_t *xTCB; + BaseType_t xReturn; + + /* If xTask is NULL then we are calling our own task hook. */ + if( xTask == NULL ) + { + xTCB = ( TCB_t * ) pxCurrentTCB; + } + else + { + xTCB = ( TCB_t * ) xTask; + } + + if( xTCB->pxTaskTag != NULL ) + { + xReturn = xTCB->pxTaskTag( pvParameter ); + } + else + { + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif /* configUSE_APPLICATION_TASK_TAG */ +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + switch. */ + xYieldPending = pdTRUE; + } + else + { + xYieldPending = pdFALSE; + traceTASK_SWITCHED_OUT(); + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE + portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); + #else + ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); + #endif + + /* Add the amount of time the task has been running to the + accumulated time so far. The time the task started running was + stored in ulTaskSwitchedInTime. Note that there is no overflow + protection here so count values are only valid until the timer + overflows. The guard against negative values is to protect + against suspect run time stat counter implementations - which + are provided by the application, not the kernel. */ + if( ulTotalRunTime > ulTaskSwitchedInTime ) + { + pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + ulTaskSwitchedInTime = ulTotalRunTime; + } + #endif /* configGENERATE_RUN_TIME_STATS */ + + /* Check for stack overflow, if configured. */ + taskCHECK_FOR_STACK_OVERFLOW(); + + /* Select a new task to run using either the generic C or port + optimised asm code. */ + taskSELECT_HIGHEST_PRIORITY_TASK(); + traceTASK_SWITCHED_IN(); + + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + /* Switch Newlib's _impure_ptr variable to point to the _reent + structure specific to this task. */ + _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + } +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) +{ + configASSERT( pxEventList ); + + /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ + + /* Place the event list item of the TCB in the appropriate event list. + This is placed in the list in priority order so the highest priority task + is the first to be woken by the event. The queue that contains the event + list is locked, preventing simultaneous access from interrupts. */ + vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) +{ + configASSERT( pxEventList ); + + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by + the event groups implementation. */ + configASSERT( uxSchedulerSuspended != 0 ); + + /* Store the item value in the event list item. It is safe to access the + event list item here as interrupts won't access the event list item of a + task that is not in the Blocked state. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); + + /* Place the event list item of the TCB at the end of the appropriate event + list. It is safe to access the event list here because it is part of an + event group implementation - and interrupts don't access event groups + directly (instead they access them indirectly by pending function calls to + the task level). */ + vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); +} +/*-----------------------------------------------------------*/ + +#if( configUSE_TIMERS == 1 ) + + void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) + { + configASSERT( pxEventList ); + + /* This function should not be called by application code hence the + 'Restricted' in its name. It is not part of the public API. It is + designed for use by kernel code, and has special calling requirements - + it should be called with the scheduler suspended. */ + + + /* Place the event list item of the TCB in the appropriate event list. + In this case it is assume that this is the only task that is going to + be waiting on this event list, so the faster vListInsertEnd() function + can be used in place of vListInsert. */ + vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); + + /* If the task should block indefinitely then set the block time to a + value that will be recognised as an indefinite delay inside the + prvAddCurrentTaskToDelayedList() function. */ + if( xWaitIndefinitely != pdFALSE ) + { + xTicksToWait = portMAX_DELAY; + } + + traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) ); + prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely ); + } + +#endif /* configUSE_TIMERS */ +/*-----------------------------------------------------------*/ + +BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) +{ +TCB_t *pxUnblockedTCB; +BaseType_t xReturn; + + /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be + called from a critical section within an ISR. */ + + /* The event list is sorted in priority order, so the first in the list can + be removed as it is known to be the highest priority. Remove the TCB from + the delayed list, and add it to the ready list. + + If an event is for a queue that is locked then this function will never + get called - the lock count on the queue will get modified instead. This + means exclusive access to the event list is guaranteed here. + + This function assumes that a check has already been made to ensure that + pxEventList is not empty. */ + pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + configASSERT( pxUnblockedTCB ); + ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxUnblockedTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold this task + pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has a higher + priority than the calling task. This allows the calling task to know if + it should force a context switch now. */ + xReturn = pdTRUE; + + /* Mark that a yield is pending in case the user is not using the + "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + #if( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked on a kernel object then xNextTaskUnblockTime + might be set to the blocked task's time out time. If the task is + unblocked for a reason other than a timeout xNextTaskUnblockTime is + normally left unchanged, because it is automatically reset to a new + value when the tick count equals xNextTaskUnblockTime. However if + tickless idling is used it might be more important to enter sleep mode + at the earliest possible time - so reset xNextTaskUnblockTime here to + ensure it is updated at the earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + + return xReturn; +} +/*-----------------------------------------------------------*/ + +BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) +{ +TCB_t *pxUnblockedTCB; +BaseType_t xReturn; + + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by + the event flags implementation. */ + configASSERT( uxSchedulerSuspended != pdFALSE ); + + /* Store the new item value in the event list. */ + listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); + + /* Remove the event list form the event flag. Interrupts do not access + event flags. */ + pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem ); + configASSERT( pxUnblockedTCB ); + ( void ) uxListRemove( pxEventListItem ); + + /* Remove the task from the delayed list and add it to the ready list. The + scheduler is suspended so interrupts will not be accessing the ready + lists. */ + ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxUnblockedTCB ); + + if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has + a higher priority than the calling task. This allows + the calling task to know if it should force a context + switch now. */ + xReturn = pdTRUE; + + /* Mark that a yield is pending in case the user is not using the + "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) +{ + configASSERT( pxTimeOut ); + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) +{ +BaseType_t xReturn; + + configASSERT( pxTimeOut ); + configASSERT( pxTicksToWait ); + + taskENTER_CRITICAL(); + { + /* Minor optimisation. The tick count cannot change in this block. */ + const TickType_t xConstTickCount = xTickCount; + + #if( INCLUDE_xTaskAbortDelay == 1 ) + if( pxCurrentTCB->ucDelayAborted != pdFALSE ) + { + /* The delay was aborted, which is not the same as a time out, + but has the same result. */ + pxCurrentTCB->ucDelayAborted = pdFALSE; + xReturn = pdTRUE; + } + else + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + if( *pxTicksToWait == portMAX_DELAY ) + { + /* If INCLUDE_vTaskSuspend is set to 1 and the block time + specified is the maximum block time then the task should block + indefinitely, and therefore never time out. */ + xReturn = pdFALSE; + } + else + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ + { + /* The tick count is greater than the time at which + vTaskSetTimeout() was called, but has also overflowed since + vTaskSetTimeOut() was called. It must have wrapped all the way + around and gone past again. This passed since vTaskSetTimeout() + was called. */ + xReturn = pdTRUE; + } + else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */ + { + /* Not a genuine timeout. Adjust parameters for time remaining. */ + *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering ); + vTaskSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + } + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xYieldPending = pdTRUE; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) + { + UBaseType_t uxReturn; + TCB_t *pxTCB; + + if( xTask != NULL ) + { + pxTCB = ( TCB_t * ) xTask; + uxReturn = pxTCB->uxTaskNumber; + } + else + { + uxReturn = 0U; + } + + return uxReturn; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) + { + TCB_t *pxTCB; + + if( xTask != NULL ) + { + pxTCB = ( TCB_t * ) xTask; + pxTCB->uxTaskNumber = uxHandle; + } + } + +#endif /* configUSE_TRACE_FACILITY */ + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE + SCHEDULER IS STARTED. **/ + + for( ;; ) + { + /* See if any tasks have deleted themselves - if so then the idle task + is responsible for freeing the deleted task's TCB and stack. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + see if any other task has become available. If we are using + preemption we don't need to do this as any task becoming available + will automatically get the processor anyway. */ + taskYIELD(); + } + #endif /* configUSE_PREEMPTION */ + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + timesliced. If a task that is sharing the idle priority is ready + to run then the idle task should yield before the end of the + timeslice. + + A critical region is not required here as we are just reading from + the list, and an occasional incorrect value will not matter. If + the ready list at the idle priority contains more than one task + then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) + { + taskYIELD(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + allows the application designer to add background functionality + without the overhead of a separate task. + NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif /* configUSE_IDLE_HOOK */ + + /* This conditional compilation should use inequality to 0, not equality + to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when + user defined low power mode implementations require + configUSE_TICKLESS_IDLE to be set to a value other than 1. */ + #if ( configUSE_TICKLESS_IDLE != 0 ) + { + TickType_t xExpectedIdleTime; + + /* It is not desirable to suspend then resume the scheduler on + each iteration of the idle task. Therefore, a preliminary + test of the expected idle time is performed without the + scheduler suspended. The result here is not necessarily + valid. */ + xExpectedIdleTime = prvGetExpectedIdleTime(); + + if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) + { + vTaskSuspendAll(); + { + /* Now the scheduler is suspended, the expected idle + time can be sampled again, and this time its value can + be used. */ + configASSERT( xNextTaskUnblockTime >= xTickCount ); + xExpectedIdleTime = prvGetExpectedIdleTime(); + + if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) + { + traceLOW_POWER_IDLE_BEGIN(); + portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); + traceLOW_POWER_IDLE_END(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + ( void ) xTaskResumeAll(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configUSE_TICKLESS_IDLE */ + } +} +/*-----------------------------------------------------------*/ + +#if( configUSE_TICKLESS_IDLE != 0 ) + + eSleepModeStatus eTaskConfirmSleepModeStatus( void ) + { + /* The idle task exists in addition to the application tasks. */ + const UBaseType_t uxNonApplicationTasks = 1; + eSleepModeStatus eReturn = eStandardSleep; + + if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) + { + /* A task was made ready while the scheduler was suspended. */ + eReturn = eAbortSleep; + } + else if( xYieldPending != pdFALSE ) + { + /* A yield was pended while the scheduler was suspended. */ + eReturn = eAbortSleep; + } + else + { + /* If all the tasks are in the suspended list (which might mean they + have an infinite block time rather than actually being suspended) + then it is safe to turn all clocks off and just wait for external + interrupts. */ + if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) + { + eReturn = eNoTasksWaitingTimeout; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + return eReturn; + } + +#endif /* configUSE_TICKLESS_IDLE */ +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) + { + TCB_t *pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToSet ); + pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; + } + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + +#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) + + void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) + { + void *pvReturn = NULL; + TCB_t *pxTCB; + + if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) + { + pxTCB = prvGetTCBFromHandle( xTaskToQuery ); + pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; + } + else + { + pvReturn = NULL; + } + + return pvReturn; + } + +#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ +/*-----------------------------------------------------------*/ + +#if ( portUSING_MPU_WRAPPERS == 1 ) + + void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) + { + TCB_t *pxTCB; + + /* If null is passed in here then we are modifying the MPU settings of + the calling task. */ + pxTCB = prvGetTCBFromHandle( xTaskToModify ); + + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + } + +#endif /* portUSING_MPU_WRAPPERS */ +/*-----------------------------------------------------------*/ + +static void prvInitialiseTaskLists( void ) +{ +UBaseType_t uxPriority; + + for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( &xDelayedTaskList1 ); + vListInitialise( &xDelayedTaskList2 ); + vListInitialise( &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( &xTasksWaitingTermination ); + } + #endif /* INCLUDE_vTaskDelete */ + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( &xSuspendedTaskList ); + } + #endif /* INCLUDE_vTaskSuspend */ + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + + /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/ + + #if ( INCLUDE_vTaskDelete == 1 ) + { + BaseType_t xListIsEmpty; + + /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called + too often in the idle task. */ + while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U ) + { + vTaskSuspendAll(); + { + xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); + } + ( void ) xTaskResumeAll(); + + if( xListIsEmpty == pdFALSE ) + { + TCB_t *pxTCB; + + taskENTER_CRITICAL(); + { + pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + --uxCurrentNumberOfTasks; + --uxDeletedTasksWaitingCleanUp; + } + taskEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + #endif /* INCLUDE_vTaskDelete */ +} +/*-----------------------------------------------------------*/ + +#if( configUSE_TRACE_FACILITY == 1 ) + + void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) + { + TCB_t *pxTCB; + + /* xTask is NULL then get the state of the calling task. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB; + pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] ); + pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority; + pxTaskStatus->pxStackBase = pxTCB->pxStack; + pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber; + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + /* If the task is in the suspended list then there is a chance it is + actually just blocked indefinitely - so really it should be reported as + being in the Blocked state. */ + if( pxTaskStatus->eCurrentState == eSuspended ) + { + vTaskSuspendAll(); + { + if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) + { + pxTaskStatus->eCurrentState = eBlocked; + } + } + xTaskResumeAll(); + } + } + #endif /* INCLUDE_vTaskSuspend */ + + #if ( configUSE_MUTEXES == 1 ) + { + pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority; + } + #else + { + pxTaskStatus->uxBasePriority = 0; + } + #endif + + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + { + pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter; + } + #else + { + pxTaskStatus->ulRunTimeCounter = 0; + } + #endif + + /* Obtaining the task state is a little fiddly, so is only done if the value + of eState passed into this function is eInvalid - otherwise the state is + just set to whatever is passed in. */ + if( eState != eInvalid ) + { + pxTaskStatus->eCurrentState = eState; + } + else + { + pxTaskStatus->eCurrentState = eTaskGetState( xTask ); + } + + /* Obtaining the stack space takes some time, so the xGetFreeStackSpace + parameter is provided to allow it to be skipped. */ + if( xGetFreeStackSpace != pdFALSE ) + { + #if ( portSTACK_GROWTH > 0 ) + { + pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack ); + } + #else + { + pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack ); + } + #endif + } + else + { + pxTaskStatus->usStackHighWaterMark = 0; + } + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) + { + volatile TCB_t *pxNextTCB, *pxFirstTCB; + UBaseType_t uxTask = 0; + + if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + + /* Populate an TaskStatus_t structure within the + pxTaskStatusArray array for each task that is referenced from + pxList. See the definition of TaskStatus_t in task.h for the + meaning of each TaskStatus_t structure member. */ + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState ); + uxTask++; + } while( pxNextTCB != pxFirstTCB ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return uxTask; + } + +#endif /* configUSE_TRACE_FACILITY */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) + + static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) + { + uint32_t ulCount = 0U; + + while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + ulCount++; + } + + ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ + + return ( uint16_t ) ulCount; + } + +#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) + + UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + uint8_t *pucEndOfStack; + UBaseType_t uxReturn; + + pxTCB = prvGetTCBFromHandle( xTask ); + + #if portSTACK_GROWTH < 0 + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; + } + #else + { + pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; + } + #endif + + uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); + + return uxReturn; + } + +#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + static void prvDeleteTCB( TCB_t *pxTCB ) + { + /* This call is required specifically for the TriCore port. It must be + above the vPortFree() calls. The call is also used by ports/demos that + want to allocate and clean RAM statically. */ + portCLEAN_UP_TCB( pxTCB ); + + /* Free up the memory allocated by the scheduler for the task. It is up + to the task to free any memory allocated at the application level. */ + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + { + _reclaim_reent( &( pxTCB->xNewLib_reent ) ); + } + #endif /* configUSE_NEWLIB_REENTRANT */ + + #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) + { + /* The task can only have been allocated dynamically - free both + the stack and TCB. */ + vPortFree( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 ) + { + /* The task could have been allocated statically or dynamically, so + check what was statically allocated before trying to free the + memory. */ + if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) + { + /* Both the stack and TCB were allocated dynamically, so both + must be freed. */ + vPortFree( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) + { + /* Only the stack was statically allocated, so the TCB is the + only memory that must be freed. */ + vPortFree( pxTCB ); + } + else + { + /* Neither the stack nor the TCB were allocated dynamically, so + nothing needs to be freed. */ + configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ) + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + } + +#endif /* INCLUDE_vTaskDelete */ +/*-----------------------------------------------------------*/ + +static void prvResetNextTaskUnblockTime( void ) +{ +TCB_t *pxTCB; + + if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) + { + /* The new current delayed list is empty. Set xNextTaskUnblockTime to + the maximum possible value so it is extremely unlikely that the + if( xTickCount >= xNextTaskUnblockTime ) test will pass until + there is an item in the delayed list. */ + xNextTaskUnblockTime = portMAX_DELAY; + } + else + { + /* The new current delayed list is not empty, get the value of + the item at the head of the delayed list. This is the time at + which the task at the head of the delayed list should be removed + from the Blocked state. */ + ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); + xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) ); + } +} +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) + + TaskHandle_t xTaskGetCurrentTaskHandle( void ) + { + TaskHandle_t xReturn; + + /* A critical section is not required as this is not called from + an interrupt and the current TCB will always be the same for any + individual execution thread. */ + xReturn = pxCurrentTCB; + + return xReturn; + } + +#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + + BaseType_t xTaskGetSchedulerState( void ) + { + BaseType_t xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) + { + TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; + + /* If the mutex was given back by an interrupt while the queue was + locked then the mutex holder might now be NULL. */ + if( pxMutexHolder != NULL ) + { + /* If the holder of the mutex has a priority below the priority of + the task attempting to obtain the mutex then it will temporarily + inherit the priority of the task attempting to obtain the mutex. */ + if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new + priority. Only reset the event list item value if the value is + not being used for anything else. */ + if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) + { + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* If the task being modified is in the ready state it will need + to be moved into a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) + { + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Inherit the priority before being moved into the new list. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* Just inherit the priority. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + } + + traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) + { + TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; + BaseType_t xReturn = pdFALSE; + + if( pxMutexHolder != NULL ) + { + /* A task can only have an inherited priority if it holds the mutex. + If the mutex is held by a task then it cannot be given from an + interrupt, and if a mutex is given by the holding task then it must + be the running state task. */ + configASSERT( pxTCB == pxCurrentTCB ); + + configASSERT( pxTCB->uxMutexesHeld ); + ( pxTCB->uxMutexesHeld )--; + + /* Has the holder of the mutex inherited the priority of another + task? */ + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* Only disinherit if no other mutexes are held. */ + if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) + { + /* A task can only have an inherited priority if it holds + the mutex. If the mutex is held by a task then it cannot be + given from an interrupt, and if a mutex is given by the + holding task then it must be the running state task. Remove + the holding task from the ready list. */ + if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + taskRESET_READY_PRIORITY( pxTCB->uxPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Disinherit the priority before adding the task into the + new ready list. */ + traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); + pxTCB->uxPriority = pxTCB->uxBasePriority; + + /* Reset the event list item value. It cannot be in use for + any other purpose if this task is running, and it must be + running to give back the mutex. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + prvAddTaskToReadyList( pxTCB ); + + /* Return true to indicate that a context switch is required. + This is only actually required in the corner case whereby + multiple mutexes were held and the mutexes were given back + in an order different to that in which they were taken. + If a context switch did not occur when the first mutex was + returned, even if a task was waiting on it, then a context + switch should occur when the last mutex is returned whether + a task is waiting on it or not. */ + xReturn = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + return xReturn; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskEnterCritical( void ) + { + portDISABLE_INTERRUPTS(); + + if( xSchedulerRunning != pdFALSE ) + { + ( pxCurrentTCB->uxCriticalNesting )++; + + /* This is not the interrupt safe version of the enter critical + function so assert() if it is being called from an interrupt + context. Only API functions that end in "FromISR" can be used in an + interrupt. Only assert if the critical nesting count is 1 to + protect against recursive calls if the assert function also uses a + critical section. */ + if( pxCurrentTCB->uxCriticalNesting == 1 ) + { + portASSERT_IF_IN_ISR(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* portCRITICAL_NESTING_IN_TCB */ +/*-----------------------------------------------------------*/ + +#if ( portCRITICAL_NESTING_IN_TCB == 1 ) + + void vTaskExitCritical( void ) + { + if( xSchedulerRunning != pdFALSE ) + { + if( pxCurrentTCB->uxCriticalNesting > 0U ) + { + ( pxCurrentTCB->uxCriticalNesting )--; + + if( pxCurrentTCB->uxCriticalNesting == 0U ) + { + portENABLE_INTERRUPTS(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* portCRITICAL_NESTING_IN_TCB */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) + { + size_t x; + + /* Start by copying the entire string. */ + strcpy( pcBuffer, pcTaskName ); + + /* Pad the end of the string with spaces to ensure columns line up when + printed out. */ + for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) + { + pcBuffer[ x ] = ' '; + } + + /* Terminate. */ + pcBuffer[ x ] = 0x00; + + /* Return the new end of string. */ + return &( pcBuffer[ x ] ); + } + +#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + void vTaskList( char * pcWriteBuffer ) + { + TaskStatus_t *pxTaskStatusArray; + volatile UBaseType_t uxArraySize, x; + char cStatus; + + /* + * PLEASE NOTE: + * + * This function is provided for convenience only, and is used by many + * of the demo applications. Do not consider it to be part of the + * scheduler. + * + * vTaskList() calls uxTaskGetSystemState(), then formats part of the + * uxTaskGetSystemState() output into a human readable table that + * displays task names, states and stack usage. + * + * vTaskList() has a dependency on the sprintf() C library function that + * might bloat the code size, use a lot of stack, and provide different + * results on different platforms. An alternative, tiny, third party, + * and limited functionality implementation of sprintf() is provided in + * many of the FreeRTOS/Demo sub-directories in a file called + * printf-stdarg.c (note printf-stdarg.c does not provide a full + * snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() + * directly to get access to raw stats data, rather than indirectly + * through a call to vTaskList(). + */ + + + /* Make sure the write buffer does not contain a string. */ + *pcWriteBuffer = 0x00; + + /* Take a snapshot of the number of tasks in case it changes while this + function is executing. */ + uxArraySize = uxCurrentNumberOfTasks; + + /* Allocate an array index for each task. NOTE! if + configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will + equate to NULL. */ + pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); + + if( pxTaskStatusArray != NULL ) + { + /* Generate the (binary) data. */ + uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); + + /* Create a human readable table from the binary data. */ + for( x = 0; x < uxArraySize; x++ ) + { + switch( pxTaskStatusArray[ x ].eCurrentState ) + { + case eReady: cStatus = tskREADY_CHAR; + break; + + case eBlocked: cStatus = tskBLOCKED_CHAR; + break; + + case eSuspended: cStatus = tskSUSPENDED_CHAR; + break; + + case eDeleted: cStatus = tskDELETED_CHAR; + break; + + default: /* Should not get here, but it is included + to prevent static checking errors. */ + cStatus = 0x00; + break; + } + + /* Write the task name to the string, padding with spaces so it + can be printed in tabular form more easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + + /* Write the rest of the string. */ + sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); + pcWriteBuffer += strlen( pcWriteBuffer ); + } + + /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION + is 0 then vPortFree() will be #defined to nothing. */ + vPortFree( pxTaskStatusArray ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ +/*----------------------------------------------------------*/ + +#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) + + void vTaskGetRunTimeStats( char *pcWriteBuffer ) + { + TaskStatus_t *pxTaskStatusArray; + volatile UBaseType_t uxArraySize, x; + uint32_t ulTotalTime, ulStatsAsPercentage; + + #if( configUSE_TRACE_FACILITY != 1 ) + { + #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). + } + #endif + + /* + * PLEASE NOTE: + * + * This function is provided for convenience only, and is used by many + * of the demo applications. Do not consider it to be part of the + * scheduler. + * + * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part + * of the uxTaskGetSystemState() output into a human readable table that + * displays the amount of time each task has spent in the Running state + * in both absolute and percentage terms. + * + * vTaskGetRunTimeStats() has a dependency on the sprintf() C library + * function that might bloat the code size, use a lot of stack, and + * provide different results on different platforms. An alternative, + * tiny, third party, and limited functionality implementation of + * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in + * a file called printf-stdarg.c (note printf-stdarg.c does not provide + * a full snprintf() implementation!). + * + * It is recommended that production systems call uxTaskGetSystemState() + * directly to get access to raw stats data, rather than indirectly + * through a call to vTaskGetRunTimeStats(). + */ + + /* Make sure the write buffer does not contain a string. */ + *pcWriteBuffer = 0x00; + + /* Take a snapshot of the number of tasks in case it changes while this + function is executing. */ + uxArraySize = uxCurrentNumberOfTasks; + + /* Allocate an array index for each task. NOTE! If + configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will + equate to NULL. */ + pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); + + if( pxTaskStatusArray != NULL ) + { + /* Generate the (binary) data. */ + uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); + + /* For percentage calculations. */ + ulTotalTime /= 100UL; + + /* Avoid divide by zero errors. */ + if( ulTotalTime > 0 ) + { + /* Create a human readable table from the binary data. */ + for( x = 0; x < uxArraySize; x++ ) + { + /* What percentage of the total run time has the task used? + This will always be rounded down to the nearest integer. + ulTotalRunTimeDiv100 has already been divided by 100. */ + ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; + + /* Write the task name to the string, padding with + spaces so it can be printed in tabular form more + easily. */ + pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); + + if( ulStatsAsPercentage > 0UL ) + { + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + printf() library can be used. */ + sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); + } + #endif + } + else + { + /* If the percentage is zero here then the task has + consumed less than 1% of the total run time. */ + #ifdef portLU_PRINTF_SPECIFIER_REQUIRED + { + sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); + } + #else + { + /* sizeof( int ) == sizeof( long ) so a smaller + printf() library can be used. */ + sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); + } + #endif + } + + pcWriteBuffer += strlen( pcWriteBuffer ); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION + is 0 then vPortFree() will be #defined to nothing. */ + vPortFree( pxTaskStatusArray ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + +#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ +/*-----------------------------------------------------------*/ + +TickType_t uxTaskResetEventItemValue( void ) +{ +TickType_t uxReturn; + + uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); + + /* Reset the event list item to its normal value - so it can be used with + queues and semaphores. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + void *pvTaskIncrementMutexHeldCount( void ) + { + /* If xSemaphoreCreateMutex() is called before any tasks have been created + then pxCurrentTCB will be NULL. */ + if( pxCurrentTCB != NULL ) + { + ( pxCurrentTCB->uxMutexesHeld )++; + } + + return pxCurrentTCB; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) + { + uint32_t ulReturn; + + taskENTER_CRITICAL(); + { + /* Only block if the notification count is not already non-zero. */ + if( pxCurrentTCB->ulNotifiedValue == 0UL ) + { + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); + traceTASK_NOTIFY_TAKE_BLOCK(); + + /* All ports are written to allow a yield in a critical + section (some will yield immediately, others wait until the + critical section exits) - but it is not something that + application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_TAKE(); + ulReturn = pxCurrentTCB->ulNotifiedValue; + + if( ulReturn != 0UL ) + { + if( xClearCountOnExit != pdFALSE ) + { + pxCurrentTCB->ulNotifiedValue = 0UL; + } + else + { + pxCurrentTCB->ulNotifiedValue = ulReturn - 1; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; + } + taskEXIT_CRITICAL(); + + return ulReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) + { + BaseType_t xReturn; + + taskENTER_CRITICAL(); + { + /* Only block if a notification is not already pending. */ + if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED ) + { + /* Clear bits in the task's notification value as bits may get + set by the notifying task or interrupt. This can be used to + clear the value to zero. */ + pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; + + /* Mark this task as waiting for a notification. */ + pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; + + if( xTicksToWait > ( TickType_t ) 0 ) + { + prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); + traceTASK_NOTIFY_WAIT_BLOCK(); + + /* All ports are written to allow a yield in a critical + section (some will yield immediately, others wait until the + critical section exits) - but it is not something that + application code should ever do. */ + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + taskENTER_CRITICAL(); + { + traceTASK_NOTIFY_WAIT(); + + if( pulNotificationValue != NULL ) + { + /* Output the current notification value, which may or may not + have changed. */ + *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; + } + + /* If ucNotifyValue is set then either the task never entered the + blocked state (because a notification was already pending) or the + task unblocked because of a notification. Otherwise the task + unblocked because of a timeout. */ + if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION ) + { + /* A notification was not received. */ + xReturn = pdFALSE; + } + else + { + /* A notification was already pending or a notification was + received while the task was waiting. */ + pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; + xReturn = pdTRUE; + } + + pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) + { + TCB_t * pxTCB; + BaseType_t xReturn = pdPASS; + uint8_t ucOriginalNotifyState; + + configASSERT( xTaskToNotify ); + pxTCB = ( TCB_t * ) xTaskToNotify; + + taskENTER_CRITICAL(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; + } + + ucOriginalNotifyState = pxTCB->ucNotifyState; + + pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; + + switch( eAction ) + { + case eSetBits : + pxTCB->ulNotifiedValue |= ulValue; + break; + + case eIncrement : + ( pxTCB->ulNotifiedValue )++; + break; + + case eSetValueWithOverwrite : + pxTCB->ulNotifiedValue = ulValue; + break; + + case eSetValueWithoutOverwrite : + if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) + { + pxTCB->ulNotifiedValue = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + break; + + case eNoAction: + /* The task is being notified without its notify value being + updated. */ + break; + } + + traceTASK_NOTIFY(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + #if( configUSE_TICKLESS_IDLE != 0 ) + { + /* If a task is blocked waiting for a notification then + xNextTaskUnblockTime might be set to the blocked task's time + out time. If the task is unblocked for a reason other than + a timeout xNextTaskUnblockTime is normally left unchanged, + because it will automatically get reset to a new value when + the tick count equals xNextTaskUnblockTime. However if + tickless idling is used it might be more important to enter + sleep mode at the earliest possible time - so reset + xNextTaskUnblockTime here to ensure it is updated at the + earliest possible time. */ + prvResetNextTaskUnblockTime(); + } + #endif + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + taskYIELD_IF_USING_PREEMPTION(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + uint8_t ucOriginalNotifyState; + BaseType_t xReturn = pdPASS; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = ( TCB_t * ) xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + if( pulPreviousNotificationValue != NULL ) + { + *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; + } + + ucOriginalNotifyState = pxTCB->ucNotifyState; + pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; + + switch( eAction ) + { + case eSetBits : + pxTCB->ulNotifiedValue |= ulValue; + break; + + case eIncrement : + ( pxTCB->ulNotifiedValue )++; + break; + + case eSetValueWithOverwrite : + pxTCB->ulNotifiedValue = ulValue; + break; + + case eSetValueWithoutOverwrite : + if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) + { + pxTCB->ulNotifiedValue = ulValue; + } + else + { + /* The value could not be written to the task. */ + xReturn = pdFAIL; + } + break; + + case eNoAction : + /* The task is being notified without its notify value being + updated. */ + break; + } + + traceTASK_NOTIFY_FROM_ISR(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + /* Mark that a yield is pending in case the user is not + using the "xHigherPriorityTaskWoken" parameter to an ISR + safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) + { + TCB_t * pxTCB; + uint8_t ucOriginalNotifyState; + UBaseType_t uxSavedInterruptStatus; + + configASSERT( xTaskToNotify ); + + /* RTOS ports that support interrupt nesting have the concept of a + maximum system call (or maximum API call) interrupt priority. + Interrupts that are above the maximum system call priority are keep + permanently enabled, even when the RTOS kernel is in a critical section, + but cannot make any calls to FreeRTOS API functions. If configASSERT() + is defined in FreeRTOSConfig.h then + portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion + failure if a FreeRTOS API function is called from an interrupt that has + been assigned a priority above the configured maximum system call + priority. Only FreeRTOS functions that end in FromISR can be called + from interrupts that have been assigned a priority at or (logically) + below the maximum system call interrupt priority. FreeRTOS maintains a + separate interrupt safe API to ensure interrupt entry is as fast and as + simple as possible. More information (albeit Cortex-M specific) is + provided on the following link: + http://www.freertos.org/RTOS-Cortex-M3-M4.html */ + portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); + + pxTCB = ( TCB_t * ) xTaskToNotify; + + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + ucOriginalNotifyState = pxTCB->ucNotifyState; + pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; + + /* 'Giving' is equivalent to incrementing a count in a counting + semaphore. */ + ( pxTCB->ulNotifiedValue )++; + + traceTASK_NOTIFY_GIVE_FROM_ISR(); + + /* If the task is in the blocked state specifically to wait for a + notification then unblock it now. */ + if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) + { + /* The task should not have been on an event list. */ + configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); + + if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) + { + ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); + prvAddTaskToReadyList( pxTCB ); + } + else + { + /* The delayed and ready lists cannot be accessed, so hold + this task pending until the scheduler is resumed. */ + vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + + if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) + { + /* The notified task has a priority above the currently + executing task so a yield is required. */ + if( pxHigherPriorityTaskWoken != NULL ) + { + *pxHigherPriorityTaskWoken = pdTRUE; + } + else + { + /* Mark that a yield is pending in case the user is not + using the "xHigherPriorityTaskWoken" parameter in an ISR + safe FreeRTOS function. */ + xYieldPending = pdTRUE; + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ + +/*-----------------------------------------------------------*/ + +#if( configUSE_TASK_NOTIFICATIONS == 1 ) + + BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask ) + { + TCB_t *pxTCB; + BaseType_t xReturn; + + /* If null is passed in here then it is the calling task that is having + its notification state cleared. */ + pxTCB = prvGetTCBFromHandle( xTask ); + + taskENTER_CRITICAL(); + { + if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED ) + { + pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_TASK_NOTIFICATIONS */ +/*-----------------------------------------------------------*/ + + +static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) +{ +TickType_t xTimeToWake; +const TickType_t xConstTickCount = xTickCount; + + #if( INCLUDE_xTaskAbortDelay == 1 ) + { + /* About to enter a delayed list, so ensure the ucDelayAborted flag is + reset to pdFALSE so it can be detected as having been set to pdTRUE + when the task leaves the Blocked state. */ + pxCurrentTCB->ucDelayAborted = pdFALSE; + } + #endif + + /* Remove the task from the ready list before adding it to the blocked list + as the same list item is used for both lists. */ + if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) + { + /* The current task must be in a ready list, so there is no need to + check, and the port reset macro can be called directly. */ + portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) ) + { + /* Add the task to the suspended task list instead of a delayed task + list to ensure it is not woken by a timing event. It will block + indefinitely. */ + vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event + does not occur. This may overflow but this doesn't matter, the + kernel will manage it correctly. */ + xTimeToWake = xConstTickCount + xTicksToWait; + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); + + if( xTimeToWake < xConstTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow + list. */ + vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* The wake time has not overflowed, so the current block list + is used. */ + vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + + /* If the task entering the blocked state was placed at the + head of the list of blocked tasks then xNextTaskUnblockTime + needs to be updated too. */ + if( xTimeToWake < xNextTaskUnblockTime ) + { + xNextTaskUnblockTime = xTimeToWake; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + } + } + #else /* INCLUDE_vTaskSuspend */ + { + /* Calculate the time at which the task should be woken if the event + does not occur. This may overflow but this doesn't matter, the kernel + will manage it correctly. */ + xTimeToWake = xConstTickCount + xTicksToWait; + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); + + if( xTimeToWake < xConstTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + } + else + { + /* The wake time has not overflowed, so the current block list is used. */ + vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); + + /* If the task entering the blocked state was placed at the head of the + list of blocked tasks then xNextTaskUnblockTime needs to be updated + too. */ + if( xTimeToWake < xNextTaskUnblockTime ) + { + xNextTaskUnblockTime = xTimeToWake; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + + /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */ + ( void ) xCanBlockIndefinitely; + } + #endif /* INCLUDE_vTaskSuspend */ +} + + +#ifdef FREERTOS_MODULE_TEST + #include "tasks_test_access_functions.h" +#endif + +#if (configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1) + #include "freertos_tasks_c_additions.h" + + #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT + static void freertos_tasks_c_additions_init( void ) + { + FREERTOS_TASKS_C_ADDITIONS_INIT(); + } + #endif +#endif + |