mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
2947 lines
98 KiB
C
2947 lines
98 KiB
C
/*
|
|
FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that has become a de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly and support the FreeRTOS *
|
|
* project by purchasing a FreeRTOS tutorial book, reference *
|
|
* manual, or both from: http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* Thank you! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
|
|
|
>>! NOTE: The modification to the GPL is included to allow you to distribute
|
|
>>! a combined work that includes FreeRTOS without being obliged to provide
|
|
>>! the source code for proprietary components outside of the FreeRTOS
|
|
>>! kernel.
|
|
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
FOR A PARTICULAR PURPOSE. Full license text is available from the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
***************************************************************************
|
|
* *
|
|
* Having a problem? Start by reading the FAQ "My application does *
|
|
* not run, what could be wrong?" *
|
|
* *
|
|
* http://www.FreeRTOS.org/FAQHelp.html *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
|
license and Real Time Engineers Ltd. contact details.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
|
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
/* Standard includes. */
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
|
|
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
|
|
all the API functions to use the MPU wrappers. That should only be done when
|
|
task.h is included from an application file. */
|
|
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
|
|
|
/* FreeRTOS includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "timers.h"
|
|
#include "StackMacros.h"
|
|
|
|
/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
|
|
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
|
|
header files above, but not in this file, in order to generate the correct
|
|
privileged Vs unprivileged linkage and placement. */
|
|
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
|
|
|
|
#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
|
|
/* At the bottom of this file are two optional functions that can be used
|
|
to generate human readable text from the raw data generated by the
|
|
uxTaskGetSystemState() function. Note the formatting functions are provided
|
|
for convenience only, and are NOT considered part of the kernel. */
|
|
#include <stdio.h>
|
|
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
|
|
|
|
/* Sanity check the configuration. */
|
|
#if configUSE_TICKLESS_IDLE != 0
|
|
#if INCLUDE_vTaskSuspend != 1
|
|
#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
|
|
/*
|
|
* Defines the size, in words, of the stack allocated to the idle task.
|
|
*/
|
|
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
|
|
|
|
/*
|
|
* 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 portSTACK_TYPE *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
|
|
|
|
xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
|
|
xListItem xEventListItem; /*< Used to reference a task from an event list. */
|
|
unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
|
|
portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
|
|
signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
|
|
|
|
#if ( portSTACK_GROWTH > 0 )
|
|
portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
|
|
#endif
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
unsigned portBASE_TYPE 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 )
|
|
unsigned portBASE_TYPE 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. */
|
|
unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
|
|
#endif
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
|
|
#endif
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
pdTASK_HOOK_CODE pxTaskTag;
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
|
|
#endif
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
/* Allocate a Newlib reent structure that is specific to this task.
|
|
Note Newlib support has been included by popular demand, but is not
|
|
used by the FreeRTOS maintainers themselves. FreeRTOS is not
|
|
responsible for resulting newlib operation. User must be familiar with
|
|
newlib and must provide system-wide implementations of the necessary
|
|
stubs. Be warned that (at the time of writing) the current newlib design
|
|
implements a system-wide malloc() that must be provided with locks. */
|
|
struct _reent xNewLib_reent;
|
|
#endif
|
|
|
|
} tskTCB;
|
|
|
|
|
|
/*
|
|
* Some kernel aware debuggers require the data the debugger needs access to to
|
|
* be global, rather than file scope.
|
|
*/
|
|
#ifdef portREMOVE_STATIC_QUALIFIER
|
|
#define static
|
|
#endif
|
|
|
|
/*lint -e956 A manual analysis and inspection has been used to determine which
|
|
static variables must be declared volatile. */
|
|
|
|
PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
|
|
|
|
/* Lists for ready and blocked tasks. --------------------*/
|
|
PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
|
|
PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
|
|
PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
|
|
PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
|
|
PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
|
|
PRIVILEGED_DATA static xList 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 xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
|
|
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
|
|
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
|
|
|
|
#endif
|
|
|
|
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
|
|
|
|
PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
|
|
|
|
#endif
|
|
|
|
/* Other file private variables. --------------------------------*/
|
|
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
|
|
PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
|
|
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
|
|
PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
|
|
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
|
|
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
|
|
PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
|
|
PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
|
|
PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
|
|
PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
|
|
PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
|
|
PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
|
|
|
|
#endif
|
|
|
|
/*lint +e956 */
|
|
|
|
/* Debugging and trace facilities private variables and macros. ------------*/
|
|
|
|
/*
|
|
* The value used to fill the stack of a task when the task is created. This
|
|
* is used purely for checking the high water mark for tasks.
|
|
*/
|
|
#define tskSTACK_FILL_BYTE ( 0xa5U )
|
|
|
|
/*
|
|
* Macros used by vListTask to indicate which state a task is in.
|
|
*/
|
|
#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
|
|
#define tskREADY_CHAR ( ( signed char ) 'R' )
|
|
#define tskDELETED_CHAR ( ( signed char ) 'D' )
|
|
#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
|
|
|
|
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
|
|
performed in a generic way that is not optimised to any particular
|
|
microcontroller architecture. */
|
|
|
|
/* uxTopReadyPriority holds the priority of the highest priority ready
|
|
state task. */
|
|
#define taskRECORD_READY_PRIORITY( uxPriority ) \
|
|
{ \
|
|
if( ( uxPriority ) > uxTopReadyPriority ) \
|
|
{ \
|
|
uxTopReadyPriority = ( uxPriority ); \
|
|
} \
|
|
} /* taskRECORD_READY_PRIORITY */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
|
|
{ \
|
|
/* Find the highest priority queue that contains ready tasks. */ \
|
|
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
|
|
{ \
|
|
configASSERT( uxTopReadyPriority ); \
|
|
--uxTopReadyPriority; \
|
|
} \
|
|
\
|
|
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
|
|
the same priority get an equal share of the processor time. */ \
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
|
|
} /* taskSELECT_HIGHEST_PRIORITY_TASK */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
|
|
they are only required when a port optimised method of task selection is
|
|
being used. */
|
|
#define taskRESET_READY_PRIORITY( uxPriority )
|
|
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
|
|
|
|
#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
|
|
|
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
|
|
performed in a way that is tailored to the particular microcontroller
|
|
architecture being used. */
|
|
|
|
/* A port optimised version is provided. Call the port defined macros. */
|
|
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
|
|
{ \
|
|
unsigned portBASE_TYPE uxTopPriority; \
|
|
\
|
|
/* Find the highest priority queue that contains ready tasks. */ \
|
|
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
|
|
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
|
|
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* A port optimised version is provided, call it only if the TCB being reset
|
|
is being referenced from a ready list. If it is referenced from a delayed
|
|
or suspended list then it won't be in a ready list. */
|
|
#define taskRESET_READY_PRIORITY( uxPriority ) \
|
|
{ \
|
|
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
|
|
{ \
|
|
portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
|
|
} \
|
|
}
|
|
|
|
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
|
|
count overflows. */
|
|
#define taskSWITCH_DELAYED_LISTS() \
|
|
{ \
|
|
xList *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++; \
|
|
\
|
|
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 = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
|
|
xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
|
|
} \
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Place the task represented by pxTCB into the appropriate ready list for
|
|
* the task. It is inserted at the end of the list.
|
|
*/
|
|
#define prvAddTaskToReadyList( pxTCB ) \
|
|
traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
|
|
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
|
|
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Several functions take an xTaskHandle 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 ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
|
|
|
|
/* Callback function prototypes. --------------------------*/
|
|
extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
|
|
extern void vApplicationTickHook( void );
|
|
|
|
/* File private functions. --------------------------------*/
|
|
|
|
/*
|
|
* Utility to ready a TCB for a given task. Mainly just copies the parameters
|
|
* into the TCB structure.
|
|
*/
|
|
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Utility to ready all the lists used by the scheduler. This is called
|
|
* automatically upon the creation of the first task.
|
|
*/
|
|
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* The idle task, which as all tasks is implemented as a never ending loop.
|
|
* The idle task is automatically created and added to the ready lists upon
|
|
* creation of the first user task.
|
|
*
|
|
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
|
|
* language extensions. The equivalent prototype for this function is:
|
|
*
|
|
* void prvIdleTask( void *pvParameters );
|
|
*
|
|
*/
|
|
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
|
|
|
|
/*
|
|
* Utility to free all memory allocated by the scheduler to hold a TCB,
|
|
* including the stack pointed to by the TCB.
|
|
*
|
|
* This does not free memory allocated by the task itself (i.e. memory
|
|
* allocated by calls to pvPortMalloc from within the tasks application code).
|
|
*/
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
static void prvDeleteTCB( tskTCB *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( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Allocates memory from the heap for a TCB and associated stack. Checks the
|
|
* allocation was successful.
|
|
*/
|
|
static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
|
|
|
|
/*
|
|
* Fills an xTaskStatusType 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 unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
/*
|
|
* When a task is created, the stack of the task is filled with a known value.
|
|
* This function determines the 'high water mark' of the task stack by
|
|
* determining how much of the stack remains at the original preset value.
|
|
*/
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
|
|
|
|
static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * 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 portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
|
|
|
|
#endif
|
|
|
|
signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
|
|
{
|
|
signed portBASE_TYPE xReturn;
|
|
tskTCB * pxNewTCB;
|
|
|
|
configASSERT( pxTaskCode );
|
|
configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
|
|
|
|
/* Allocate the memory required by the TCB and stack for the new task,
|
|
checking that the allocation was successful. */
|
|
pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
|
|
|
|
if( pxNewTCB != NULL )
|
|
{
|
|
portSTACK_TYPE *pxTopOfStack;
|
|
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
/* Should the task be created in privileged mode? */
|
|
portBASE_TYPE xRunPrivileged;
|
|
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
|
|
{
|
|
xRunPrivileged = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
xRunPrivileged = pdFALSE;
|
|
}
|
|
uxPriority &= ~portPRIVILEGE_BIT;
|
|
#endif /* portUSING_MPU_WRAPPERS == 1 */
|
|
|
|
/* Calculate the top of stack address. This depends on whether the
|
|
stack grows from high memory to low (as per the 80x86) or visa versa.
|
|
portSTACK_GROWTH is used to make the result positive or negative as
|
|
required by the port. */
|
|
#if( portSTACK_GROWTH < 0 )
|
|
{
|
|
pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
|
|
pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( 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( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|
}
|
|
#else /* portSTACK_GROWTH */
|
|
{
|
|
pxTopOfStack = pxNewTCB->pxStack;
|
|
|
|
/* Check the alignment of the stack buffer is correct. */
|
|
configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
|
|
|
|
/* If we want to use stack checking on architectures that use
|
|
a positive stack growth direction then we also need to store the
|
|
other extreme of the stack space. */
|
|
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
|
|
}
|
|
#endif /* portSTACK_GROWTH */
|
|
|
|
/* Setup the newly allocated TCB with the initial state of the task. */
|
|
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
|
|
|
|
/* Initialize the TCB stack to look as if the task was already running,
|
|
but had been interrupted by the scheduler. The return address is set
|
|
to the start of the task function. Once the stack has been initialised
|
|
the top of stack variable is updated. */
|
|
#if( portUSING_MPU_WRAPPERS == 1 )
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
|
|
}
|
|
#else /* portUSING_MPU_WRAPPERS */
|
|
{
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
|
|
}
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
|
|
if( ( void * ) pxCreatedTask != NULL )
|
|
{
|
|
/* Pass the TCB out - in an anonymous way. The calling function/
|
|
task can use this as a handle to delete the task later if
|
|
required.*/
|
|
*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
|
|
}
|
|
|
|
/* Ensure interrupts don't access the task lists while they are being
|
|
updated. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
uxCurrentNumberOfTasks++;
|
|
if( pxCurrentTCB == NULL )
|
|
{
|
|
/* There are no other tasks, or all the other tasks are in
|
|
the suspended state - make this the current task. */
|
|
pxCurrentTCB = pxNewTCB;
|
|
|
|
if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 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
|
|
{
|
|
/* If the scheduler is not already running, make this task the
|
|
current task if it is the highest priority task to be created
|
|
so far. */
|
|
if( xSchedulerRunning == pdFALSE )
|
|
{
|
|
if( pxCurrentTCB->uxPriority <= uxPriority )
|
|
{
|
|
pxCurrentTCB = pxNewTCB;
|
|
}
|
|
}
|
|
}
|
|
|
|
uxTaskNumber++;
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
{
|
|
/* Add a counter into the TCB for tracing only. */
|
|
pxNewTCB->uxTCBNumber = uxTaskNumber;
|
|
}
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
traceTASK_CREATE( pxNewTCB );
|
|
|
|
prvAddTaskToReadyList( pxNewTCB );
|
|
|
|
xReturn = pdPASS;
|
|
portSETUP_TCB( pxNewTCB );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
else
|
|
{
|
|
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
|
traceTASK_CREATE_FAILED();
|
|
}
|
|
|
|
if( xReturn == pdPASS )
|
|
{
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
/* If the created task is of a higher priority than the current task
|
|
then it should run now. */
|
|
if( pxCurrentTCB->uxPriority < uxPriority )
|
|
{
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
}
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
void vTaskDelete( xTaskHandle xTaskToDelete )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then we are deleting ourselves. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToDelete );
|
|
|
|
/* Remove task from the ready list and place in the termination list.
|
|
This will stop the task from be scheduled. The idle task will check
|
|
the termination list and free up any memory allocated by the
|
|
scheduler for the TCB and stack. */
|
|
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
|
|
/* Is the task waiting on an event also? */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
|
|
vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
|
|
|
|
/* Increment the ucTasksDeleted variable so the idle task knows
|
|
there is a task that has been deleted and that it should therefore
|
|
check the xTasksWaitingTermination list. */
|
|
++uxTasksDeleted;
|
|
|
|
/* Increment the uxTaskNumberVariable also so kernel aware debuggers
|
|
can detect that the task lists need re-generating. */
|
|
uxTaskNumber++;
|
|
|
|
traceTASK_DELETE( pxTCB );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* Force a reschedule if we have just deleted the current task. */
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelayUntil == 1 )
|
|
|
|
void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
|
|
{
|
|
portTickType xTimeToWake;
|
|
portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
|
|
|
|
configASSERT( pxPreviousWakeTime );
|
|
configASSERT( ( xTimeIncrement > 0U ) );
|
|
|
|
vTaskSuspendAll();
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this
|
|
block. */
|
|
const portTickType 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
|
|
{
|
|
/* 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;
|
|
}
|
|
}
|
|
|
|
/* Update the wake time ready for the next call. */
|
|
*pxPreviousWakeTime = xTimeToWake;
|
|
|
|
if( xShouldDelay != pdFALSE )
|
|
{
|
|
traceTASK_DELAY_UNTIL();
|
|
|
|
/* We must remove ourselves from the ready list before adding
|
|
ourselves to the blocked list as the same list item is used for
|
|
both lists. */
|
|
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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 );
|
|
}
|
|
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake );
|
|
}
|
|
}
|
|
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();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelayUntil */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelay == 1 )
|
|
|
|
void vTaskDelay( portTickType xTicksToDelay )
|
|
{
|
|
portTickType xTimeToWake;
|
|
signed portBASE_TYPE xAlreadyYielded = pdFALSE;
|
|
|
|
/* A delay time of zero just forces a reschedule. */
|
|
if( xTicksToDelay > ( portTickType ) 0U )
|
|
{
|
|
vTaskSuspendAll();
|
|
{
|
|
traceTASK_DELAY();
|
|
|
|
/* A task that is removed from the event list while the
|
|
scheduler is suspended will not get placed in the ready
|
|
list or removed from the blocked list until the scheduler
|
|
is resumed.
|
|
|
|
This task cannot be in an event list as it is the currently
|
|
executing task. */
|
|
|
|
/* Calculate the time to wake - this may overflow but this is
|
|
not a problem. */
|
|
xTimeToWake = xTickCount + xTicksToDelay;
|
|
|
|
/* We must remove ourselves from the ready list before adding
|
|
ourselves to the blocked list as the same list item is used for
|
|
both lists. */
|
|
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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 );
|
|
}
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake );
|
|
}
|
|
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();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelay */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_eTaskGetState == 1 )
|
|
|
|
eTaskState eTaskGetState( xTaskHandle xTask )
|
|
{
|
|
eTaskState eReturn;
|
|
xList *pxStateList;
|
|
const tskTCB * const pxTCB = ( tskTCB * ) xTask;
|
|
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
/* The task calling this function is querying its own state. */
|
|
eReturn = eRunning;
|
|
}
|
|
else
|
|
{
|
|
taskENTER_CRITICAL();
|
|
{
|
|
pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
|
|
{
|
|
/* The task being queried is referenced from one of the Blocked
|
|
lists. */
|
|
eReturn = eBlocked;
|
|
}
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
else if( pxStateList == &xSuspendedTaskList )
|
|
{
|
|
/* The task being queried is referenced from the suspended
|
|
list. */
|
|
eReturn = eSuspended;
|
|
}
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
else if( pxStateList == &xTasksWaitingTermination )
|
|
{
|
|
/* The task being queried is referenced from the deleted
|
|
tasks list. */
|
|
eReturn = eDeleted;
|
|
}
|
|
#endif
|
|
|
|
else
|
|
{
|
|
/* If the task is not in any other state, it must be in the
|
|
Ready (including pending ready) state. */
|
|
eReturn = eReady;
|
|
}
|
|
}
|
|
|
|
return eReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_eTaskGetState */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskPriorityGet == 1 )
|
|
|
|
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
|
|
{
|
|
tskTCB *pxTCB;
|
|
unsigned portBASE_TYPE uxReturn;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then we are changing the
|
|
priority of the calling function. */
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
uxReturn = pxTCB->uxPriority;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskPriorityGet */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskPrioritySet == 1 )
|
|
|
|
void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
|
|
{
|
|
tskTCB *pxTCB;
|
|
unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
|
|
portBASE_TYPE xYieldRequired = pdFALSE;
|
|
|
|
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
|
|
|
|
/* Ensure the new priority is valid. */
|
|
if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
|
|
{
|
|
uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
|
|
}
|
|
|
|
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
|
|
{
|
|
/* 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;
|
|
}
|
|
|
|
/* The base priority gets set whatever. */
|
|
pxTCB->uxBasePriority = uxNewPriority;
|
|
}
|
|
#else
|
|
{
|
|
pxTCB->uxPriority = uxNewPriority;
|
|
}
|
|
#endif
|
|
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
/* If the task is in the blocked or suspended list we need do
|
|
nothing more than change it's priority variable. However, if
|
|
the task is in a ready list it needs to be removed and placed
|
|
in the list appropriate to its new priority. */
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
|
|
{
|
|
/* The task is currently in its ready list - remove before adding
|
|
it to it's new ready list. As we are in a critical section we
|
|
can do this even if the scheduler is suspended. */
|
|
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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 );
|
|
}
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
|
|
if( xYieldRequired == pdTRUE )
|
|
{
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
|
|
/* 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( xTaskHandle xTaskToSuspend )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* If null is passed in here then it is the running task that is
|
|
being suspended. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
|
|
|
|
traceTASK_SUSPEND( pxTCB );
|
|
|
|
/* Remove task from the ready/delayed list and place in the suspended list. */
|
|
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
|
|
/* Is the task waiting on an event also? */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
|
|
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
if( pxTCB == pxCurrentTCB )
|
|
{
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
/* The current task has just been suspended. */
|
|
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();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
|
|
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
|
|
{
|
|
portBASE_TYPE xReturn = pdFALSE;
|
|
const tskTCB * const pxTCB = ( tskTCB * ) xTask;
|
|
|
|
/* It does not make sense to check if the calling task is suspended. */
|
|
configASSERT( xTask );
|
|
|
|
/* Is the task we are attempting to resume actually in the
|
|
suspended list? */
|
|
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
|
|
{
|
|
/* Has the task already been resumed from within an ISR? */
|
|
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
|
|
{
|
|
/* Is it in the suspended list because it is in the
|
|
Suspended state? It is possible to be in the suspended
|
|
list because it is blocked on a task with no timeout
|
|
specified. */
|
|
if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
}
|
|
}
|
|
|
|
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( xTaskHandle xTaskToResume )
|
|
{
|
|
tskTCB * const pxTCB = ( tskTCB * ) 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( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
|
|
{
|
|
traceTASK_RESUME( pxTCB );
|
|
|
|
/* As we are in a critical section we can access the ready
|
|
lists even if the scheduler is suspended. */
|
|
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* We may have just resumed a higher priority task. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
/* This yield may not cause the task just resumed to run, but
|
|
will leave the lists in the correct state for the next yield. */
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
}
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
|
|
|
portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
|
|
{
|
|
portBASE_TYPE xYieldRequired = pdFALSE;
|
|
tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
|
|
unsigned portBASE_TYPE 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( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
|
|
{
|
|
traceTASK_RESUME_FROM_ISR( pxTCB );
|
|
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
|
|
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
else
|
|
{
|
|
/* We cannot access the delayed or ready lists, so will hold this
|
|
task pending until the scheduler is resumed, at which point a
|
|
yield will be performed if necessary. */
|
|
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
|
}
|
|
}
|
|
}
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xYieldRequired;
|
|
}
|
|
|
|
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskStartScheduler( void )
|
|
{
|
|
portBASE_TYPE xReturn;
|
|
|
|
/* Add the idle task at the lowest priority. */
|
|
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
|
|
{
|
|
/* Create the idle task, storing its handle in xIdleTaskHandle so it can
|
|
be returned by the xTaskGetIdleTaskHandle() function. */
|
|
xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|
}
|
|
#else
|
|
{
|
|
/* Create the idle task without storing its handle. */
|
|
xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
|
|
}
|
|
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
|
|
|
|
#if ( configUSE_TIMERS == 1 )
|
|
{
|
|
if( xReturn == pdPASS )
|
|
{
|
|
xReturn = xTimerCreateTimerTask();
|
|
}
|
|
}
|
|
#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.
|
|
|
|
STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
|
|
DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
|
|
portDISABLE_INTERRUPTS();
|
|
|
|
xSchedulerRunning = pdTRUE;
|
|
xTickCount = ( portTickType ) 0U;
|
|
|
|
/* If configGENERATE_RUN_TIME_STATS is defined then the following
|
|
macro must be defined to configure the timer/counter used to generate
|
|
the run time counter time base. */
|
|
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
|
|
|
|
/* Setting up the timer tick is hardware specific and thus in the
|
|
portable interface. */
|
|
if( xPortStartScheduler() != pdFALSE )
|
|
{
|
|
/* Should not reach here as if the scheduler is running the
|
|
function will not return. */
|
|
}
|
|
else
|
|
{
|
|
/* Should only reach here if a task calls xTaskEndScheduler(). */
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* This line will only be reached if the kernel could not be started,
|
|
because there was not enough FreeRTOS heap to create the idle task
|
|
or the timer task. */
|
|
configASSERT( xReturn );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskEndScheduler( void )
|
|
{
|
|
/* Stop the scheduler interrupts and call the portable scheduler end
|
|
routine so the original ISRs can be restored if necessary. The port
|
|
layer must ensure interrupts enable bit is left in the correct state. */
|
|
portDISABLE_INTERRUPTS();
|
|
xSchedulerRunning = pdFALSE;
|
|
vPortEndScheduler();
|
|
}
|
|
/*----------------------------------------------------------*/
|
|
|
|
void vTaskSuspendAll( void )
|
|
{
|
|
/* A critical section is not required as the variable is of type
|
|
portBASE_TYPE. */
|
|
++uxSchedulerSuspended;
|
|
}
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TICKLESS_IDLE != 0 )
|
|
|
|
static portTickType prvGetExpectedIdleTime( void )
|
|
{
|
|
portTickType xReturn;
|
|
|
|
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
|
|
{
|
|
xReturn = 0;
|
|
}
|
|
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
|
|
{
|
|
/* There are other idle priority tasks in the ready state. If
|
|
time slicing is used then the very next tick interrupt must be
|
|
processed. */
|
|
xReturn = 0;
|
|
}
|
|
else
|
|
{
|
|
xReturn = xNextTaskUnblockTime - xTickCount;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
/*----------------------------------------------------------*/
|
|
|
|
signed portBASE_TYPE xTaskResumeAll( void )
|
|
{
|
|
tskTCB *pxTCB;
|
|
portBASE_TYPE xAlreadyYielded = pdFALSE;
|
|
portBASE_TYPE xYieldRequired = 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 == ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
|
|
{
|
|
/* Move any readied tasks from the pending list into the
|
|
appropriate ready list. */
|
|
while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
|
|
{
|
|
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
|
|
prvAddTaskToReadyList( pxTCB );
|
|
|
|
/* If we have moved a task that has a priority higher than
|
|
the current task then we should yield. */
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
|
{
|
|
xYieldRequired = pdTRUE;
|
|
}
|
|
}
|
|
|
|
/* If any ticks occurred while the scheduler was suspended then
|
|
they should be processed now. This ensures the tick count does not
|
|
slip, and that any delayed tasks are resumed at the correct time. */
|
|
if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
|
|
{
|
|
while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
|
|
{
|
|
if( xTaskIncrementTick() != pdFALSE )
|
|
{
|
|
xYieldRequired = pdTRUE;
|
|
}
|
|
--uxPendedTicks;
|
|
}
|
|
}
|
|
|
|
if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
|
|
{
|
|
xAlreadyYielded = pdTRUE;
|
|
xYieldPending = pdFALSE;
|
|
portYIELD_WITHIN_API();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xAlreadyYielded;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portTickType xTaskGetTickCount( void )
|
|
{
|
|
portTickType xTicks;
|
|
|
|
/* Critical section required if running on a 16 bit processor. */
|
|
taskENTER_CRITICAL();
|
|
{
|
|
xTicks = xTickCount;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xTicks;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portTickType xTaskGetTickCountFromISR( void )
|
|
{
|
|
portTickType xReturn;
|
|
unsigned portBASE_TYPE 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 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();
|
|
xReturn = xTickCount;
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
|
{
|
|
/* A critical section is not required because the variables are of type
|
|
portBASE_TYPE. */
|
|
return uxCurrentNumberOfTasks;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_pcTaskGetTaskName == 1 )
|
|
|
|
signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
/* If null is passed in here then the name of the calling task is being queried. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
|
|
configASSERT( pxTCB );
|
|
return &( pxTCB->pcTaskName[ 0 ] );
|
|
}
|
|
|
|
#endif /* INCLUDE_pcTaskGetTaskName */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
|
|
{
|
|
unsigned portBASE_TYPE 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 xTaskStatusType structure with information on each
|
|
task in the Ready state. */
|
|
do
|
|
{
|
|
uxQueue--;
|
|
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
|
|
|
|
} while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
/* Fill in an xTaskStatusType structure with information on each
|
|
task in the Blocked state. */
|
|
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
|
|
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
|
|
|
|
#if( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
/* Fill in an xTaskStatusType structure with information on
|
|
each task that has been deleted but not yet cleaned up. */
|
|
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
|
|
}
|
|
#endif
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
/* Fill in an xTaskStatusType structure with information on
|
|
each task in the Suspended state. */
|
|
uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
|
|
}
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1)
|
|
{
|
|
if( pulTotalRunTime != NULL )
|
|
{
|
|
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
|
|
}
|
|
}
|
|
#else
|
|
{
|
|
if( pulTotalRunTime != NULL )
|
|
{
|
|
*pulTotalRunTime = 0;
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
|
|
return uxTask;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskGetRunTime == 1 )
|
|
|
|
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
|
|
{
|
|
unsigned long runTime;
|
|
|
|
tskTCB *pxTCB;
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
runTime = pxTCB->ulRunTimeCounter;
|
|
pxTCB->ulRunTimeCounter = 0;
|
|
return runTime;
|
|
}
|
|
|
|
#endif
|
|
|
|
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
|
|
|
|
xTaskHandle 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( portTickType 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 */
|
|
/*----------------------------------------------------------*/
|
|
|
|
portBASE_TYPE xTaskIncrementTick( void )
|
|
{
|
|
tskTCB * pxTCB;
|
|
portTickType xItemValue;
|
|
portBASE_TYPE 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 == ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
/* Increment the RTOS tick, switching the delayed and overflowed
|
|
delayed lists if it wraps to 0. */
|
|
++xTickCount;
|
|
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this
|
|
block. */
|
|
const portTickType xConstTickCount = xTickCount;
|
|
|
|
if( xConstTickCount == ( portTickType ) 0U )
|
|
{
|
|
taskSWITCH_DELAYED_LISTS();
|
|
}
|
|
|
|
/* 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 tasks has been
|
|
found whose block time has not expired there is no need not look any
|
|
further down the list. */
|
|
if( xConstTickCount >= xNextTaskUnblockTime )
|
|
{
|
|
for( ;; )
|
|
{
|
|
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
|
|
{
|
|
/* The delayed list is empty. Set xNextTaskUnblockTime to
|
|
the maximum possible value so it is extremely unlikely that
|
|
the if( xTickCount >= xNextTaskUnblockTime ) test will pass
|
|
next time through. */
|
|
xNextTaskUnblockTime = portMAX_DELAY;
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
/* The delayed list is not empty, get the value of the item
|
|
at the head of the delayed list. This is the time at which
|
|
the task at the head of the delayed list must be removed
|
|
from the Blocked state. */
|
|
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
|
|
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
|
|
|
|
if( xConstTickCount < xItemValue )
|
|
{
|
|
/* It is not time to unblock this item yet, but the item
|
|
value is the time at which the task at the head of the
|
|
blocked list must be removed from the Blocked state -
|
|
so record the item value in xNextTaskUnblockTime. */
|
|
xNextTaskUnblockTime = xItemValue;
|
|
break;
|
|
}
|
|
|
|
/* It is time to remove the item from the Blocked state. */
|
|
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
|
|
|
|
/* Is the task waiting on an event also? If so remove it
|
|
from the event list. */
|
|
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
|
|
{
|
|
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
|
|
}
|
|
|
|
/* 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;
|
|
}
|
|
}
|
|
#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 ] ) ) > ( unsigned portBASE_TYPE ) 1 )
|
|
{
|
|
xSwitchRequired = pdTRUE;
|
|
}
|
|
}
|
|
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
|
|
}
|
|
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_TICK_HOOK == 1 )
|
|
{
|
|
/* Guard against the tick hook being called when the missed tick
|
|
count is being unwound (when the scheduler is being unlocked). */
|
|
if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
|
|
{
|
|
vApplicationTickHook();
|
|
}
|
|
}
|
|
#endif /* configUSE_TICK_HOOK */
|
|
|
|
return xSwitchRequired;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
|
|
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
|
|
{
|
|
tskTCB *xTCB;
|
|
|
|
/* If xTask is NULL then we are setting our own task hook. */
|
|
if( xTask == NULL )
|
|
{
|
|
xTCB = ( tskTCB * ) pxCurrentTCB;
|
|
}
|
|
else
|
|
{
|
|
xTCB = ( tskTCB * ) 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 )
|
|
|
|
pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
|
|
{
|
|
tskTCB *xTCB;
|
|
pdTASK_HOOK_CODE xReturn;
|
|
|
|
/* If xTask is NULL then we are setting our own task hook. */
|
|
if( xTask == NULL )
|
|
{
|
|
xTCB = ( tskTCB * ) pxCurrentTCB;
|
|
}
|
|
else
|
|
{
|
|
xTCB = ( tskTCB * ) 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 )
|
|
|
|
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
|
|
{
|
|
tskTCB *xTCB;
|
|
portBASE_TYPE xReturn;
|
|
|
|
/* If xTask is NULL then we are calling our own task hook. */
|
|
if( xTask == NULL )
|
|
{
|
|
xTCB = ( tskTCB * ) pxCurrentTCB;
|
|
}
|
|
else
|
|
{
|
|
xTCB = ( tskTCB * ) xTask;
|
|
}
|
|
|
|
if( xTCB->pxTaskTag != NULL )
|
|
{
|
|
xReturn = xTCB->pxTaskTag( pvParameter );
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskSwitchContext( void )
|
|
{
|
|
if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
/* The scheduler is currently suspended - do not allow a context
|
|
switch. */
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
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 );
|
|
}
|
|
ulTaskSwitchedInTime = ulTotalRunTime;
|
|
}
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
|
|
|
taskFIRST_CHECK_FOR_STACK_OVERFLOW();
|
|
taskSECOND_CHECK_FOR_STACK_OVERFLOW();
|
|
|
|
taskSELECT_HIGHEST_PRIORITY_TASK();
|
|
|
|
traceTASK_SWITCHED_IN();
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
/* Switch Newlib's _impure_ptr variable to point to the _reent
|
|
structure specific to this task. */
|
|
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
|
|
}
|
|
#endif /* configUSE_NEWLIB_REENTRANT */
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
|
|
{
|
|
portTickType xTimeToWake;
|
|
|
|
configASSERT( pxEventList );
|
|
|
|
/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
|
|
SCHEDULER SUSPENDED. */
|
|
|
|
/* 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. */
|
|
vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
/* We must remove ourselves from the ready list before adding ourselves
|
|
to the blocked list as the same list item is used for both lists. We have
|
|
exclusive access to the ready lists as the scheduler is locked. */
|
|
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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 );
|
|
}
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
if( xTicksToWait == portMAX_DELAY )
|
|
{
|
|
/* Add ourselves to the suspended task list instead of a delayed task
|
|
list to ensure we are not woken by a timing event. We will block
|
|
indefinitely. */
|
|
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
|
|
}
|
|
else
|
|
{
|
|
/* Calculate the time at which the task should be woken if the event does
|
|
not occur. This may overflow but this doesn't matter. */
|
|
xTimeToWake = xTickCount + xTicksToWait;
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake );
|
|
}
|
|
}
|
|
#else /* INCLUDE_vTaskSuspend */
|
|
{
|
|
/* Calculate the time at which the task should be woken if the event does
|
|
not occur. This may overflow but this doesn't matter. */
|
|
xTimeToWake = xTickCount + xTicksToWait;
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake );
|
|
}
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if configUSE_TIMERS == 1
|
|
|
|
void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
|
|
{
|
|
portTickType xTimeToWake;
|
|
|
|
configASSERT( pxEventList );
|
|
|
|
/* This function should not be called by application code hence the
|
|
'Restricted' in its name. It is not part of the public API. It is
|
|
designed for use by kernel code, and has special calling requirements -
|
|
it should be called from a critical section. */
|
|
|
|
|
|
/* Place the event list item of the TCB in the appropriate event list.
|
|
In this case it is assume that this is the only task that is going to
|
|
be waiting on this event list, so the faster vListInsertEnd() function
|
|
can be used in place of vListInsert. */
|
|
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
|
|
|
|
/* We must remove this task from the ready list before adding it to the
|
|
blocked list as the same list item is used for both lists. This
|
|
function is called form a critical section. */
|
|
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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 );
|
|
}
|
|
|
|
/* Calculate the time at which the task should be woken if the event does
|
|
not occur. This may overflow but this doesn't matter. */
|
|
xTimeToWake = xTickCount + xTicksToWait;
|
|
|
|
traceTASK_DELAY_UNTIL();
|
|
prvAddCurrentTaskToDelayedList( xTimeToWake );
|
|
}
|
|
|
|
#endif /* configUSE_TIMERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
|
|
{
|
|
tskTCB *pxUnblockedTCB;
|
|
portBASE_TYPE xReturn;
|
|
|
|
/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
|
|
SCHEDULER SUSPENDED. It can also be called from within an ISR. */
|
|
|
|
/* The event list is sorted in priority order, so we can remove the
|
|
first in the list, 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 we can always expect exclusive access to the event list here.
|
|
|
|
This function assumes that a check has already been made to ensure that
|
|
pxEventList is not empty. */
|
|
pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
|
|
configASSERT( pxUnblockedTCB );
|
|
( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
|
|
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
|
|
prvAddTaskToReadyList( pxUnblockedTCB );
|
|
}
|
|
else
|
|
{
|
|
/* We cannot access the delayed or ready lists, so will 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;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
|
|
{
|
|
configASSERT( pxTimeOut );
|
|
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
|
pxTimeOut->xTimeOnEntering = xTickCount;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
|
|
{
|
|
portBASE_TYPE xReturn;
|
|
|
|
configASSERT( pxTimeOut );
|
|
configASSERT( pxTicksToWait );
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* Minor optimisation. The tick count cannot change in this block. */
|
|
const portTickType xConstTickCount = xTickCount;
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
|
|
the maximum block time then the task should block indefinitely, and
|
|
therefore never time out. */
|
|
if( *pxTicksToWait == portMAX_DELAY )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
else /* We are not blocking indefinitely, perform the checks below. */
|
|
#endif
|
|
|
|
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
|
|
{
|
|
/* The tick count is greater than the time at which vTaskSetTimeout()
|
|
was called, but has also overflowed since vTaskSetTimeOut() was called.
|
|
It must have wrapped all the way around and gone past us again. This
|
|
passed since vTaskSetTimeout() was called. */
|
|
xReturn = pdTRUE;
|
|
}
|
|
else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
|
|
{
|
|
/* Not a genuine timeout. Adjust parameters for time remaining. */
|
|
*pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
|
|
vTaskSetTimeOutState( pxTimeOut );
|
|
xReturn = pdFALSE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTaskMissedYield( void )
|
|
{
|
|
xYieldPending = pdTRUE;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
|
|
{
|
|
unsigned portBASE_TYPE uxReturn;
|
|
tskTCB *pxTCB;
|
|
|
|
if( xTask != NULL )
|
|
{
|
|
pxTCB = ( tskTCB * ) xTask;
|
|
uxReturn = pxTCB->uxTaskNumber;
|
|
}
|
|
else
|
|
{
|
|
uxReturn = 0U;
|
|
}
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
if( xTask != NULL )
|
|
{
|
|
pxTCB = ( tskTCB * ) xTask;
|
|
pxTCB->uxTaskNumber = uxHandle;
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
|
|
/*
|
|
* -----------------------------------------------------------
|
|
* The Idle task.
|
|
* ----------------------------------------------------------
|
|
*
|
|
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
|
|
* language extensions. The equivalent prototype for this function is:
|
|
*
|
|
* void prvIdleTask( void *pvParameters );
|
|
*
|
|
*/
|
|
static portTASK_FUNCTION( prvIdleTask, pvParameters )
|
|
{
|
|
/* Stop warnings. */
|
|
( void ) pvParameters;
|
|
|
|
for( ;; )
|
|
{
|
|
/* See if any tasks have been deleted. */
|
|
prvCheckTasksWaitingTermination();
|
|
|
|
#if ( configUSE_PREEMPTION == 0 )
|
|
{
|
|
/* If we are not using preemption we keep forcing a task switch to
|
|
see if any other task has become available. If we are using
|
|
preemption we don't need to do this as any task becoming available
|
|
will automatically get the processor anyway. */
|
|
taskYIELD();
|
|
}
|
|
#endif /* configUSE_PREEMPTION */
|
|
|
|
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
|
|
{
|
|
/* When using preemption tasks of equal priority will be
|
|
timesliced. If a task that is sharing the idle priority is ready
|
|
to run then the idle task should yield before the end of the
|
|
timeslice.
|
|
|
|
A critical region is not required here as we are just reading from
|
|
the list, and an occasional incorrect value will not matter. If
|
|
the ready list at the idle priority contains more than one task
|
|
then a task other than the idle task is ready to execute. */
|
|
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
|
|
{
|
|
taskYIELD();
|
|
}
|
|
}
|
|
#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 )
|
|
{
|
|
portTickType 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();
|
|
}
|
|
}
|
|
( void ) xTaskResumeAll();
|
|
}
|
|
}
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if configUSE_TICKLESS_IDLE != 0
|
|
|
|
eSleepModeStatus eTaskConfirmSleepModeStatus( void )
|
|
{
|
|
eSleepModeStatus eReturn = eStandardSleep;
|
|
|
|
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
|
|
{
|
|
/* A task was made ready while the scheduler was suspended. */
|
|
eReturn = eAbortSleep;
|
|
}
|
|
else if( xYieldPending != pdFALSE )
|
|
{
|
|
/* A yield was pended while the scheduler was suspended. */
|
|
eReturn = eAbortSleep;
|
|
}
|
|
else
|
|
{
|
|
#if configUSE_TIMERS == 0
|
|
{
|
|
/* The idle task exists in addition to the application tasks. */
|
|
const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
|
|
|
|
/* If timers are not being used and all the tasks are in the
|
|
suspended list (which might mean they have an infinite block
|
|
time rather than actually being suspended) then it is safe to
|
|
turn all clocks off and just wait for external interrupts. */
|
|
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
|
|
{
|
|
eReturn = eNoTasksWaitingTimeout;
|
|
}
|
|
}
|
|
#endif /* configUSE_TIMERS */
|
|
}
|
|
|
|
return eReturn;
|
|
}
|
|
#endif /* configUSE_TICKLESS_IDLE */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
|
|
{
|
|
unsigned portBASE_TYPE x;
|
|
|
|
/* Store the task name in the TCB. */
|
|
for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
|
|
{
|
|
pxTCB->pcTaskName[ x ] = pcName[ x ];
|
|
|
|
/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
|
|
configMAX_TASK_NAME_LEN characters just in case the memory after the
|
|
string is not accessible (extremely unlikely). */
|
|
if( pcName[ x ] == 0x00 )
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* Ensure the name string is terminated in the case that the string length
|
|
was greater or equal to configMAX_TASK_NAME_LEN. */
|
|
pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\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 >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
|
|
{
|
|
uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
|
|
}
|
|
|
|
pxTCB->uxPriority = uxPriority;
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
pxTCB->uxBasePriority = uxPriority;
|
|
}
|
|
#endif /* configUSE_MUTEXES */
|
|
|
|
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
|
|
vListInitialiseItem( &( pxTCB->xEventListItem ) );
|
|
|
|
/* Set the pxTCB as a link back from the xListItem. This is so we can get
|
|
back to the containing TCB from a generic item in a list. */
|
|
listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
|
|
|
|
/* Event lists are always in priority order. */
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
{
|
|
pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
|
|
}
|
|
#endif /* portCRITICAL_NESTING_IN_TCB */
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
{
|
|
pxTCB->pxTaskTag = NULL;
|
|
}
|
|
#endif /* configUSE_APPLICATION_TASK_TAG */
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
{
|
|
pxTCB->ulRunTimeCounter = 0UL;
|
|
}
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
|
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
{
|
|
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
|
|
}
|
|
#else /* portUSING_MPU_WRAPPERS */
|
|
{
|
|
( void ) xRegions;
|
|
( void ) usStackDepth;
|
|
}
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
{
|
|
/* Initialise this task's Newlib reent structure. */
|
|
_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
|
|
}
|
|
#endif /* configUSE_NEWLIB_REENTRANT */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
|
|
void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
/* If null is passed in here then we are deleting ourselves. */
|
|
pxTCB = prvGetTCBFromHandle( xTaskToModify );
|
|
|
|
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
|
|
}
|
|
|
|
#endif /* portUSING_MPU_WRAPPERS */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvInitialiseTaskLists( void )
|
|
{
|
|
unsigned portBASE_TYPE uxPriority;
|
|
|
|
for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
|
|
{
|
|
vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
|
|
}
|
|
|
|
vListInitialise( &xDelayedTaskList1 );
|
|
vListInitialise( &xDelayedTaskList2 );
|
|
vListInitialise( &xPendingReadyList );
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
vListInitialise( &xTasksWaitingTermination );
|
|
}
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
|
{
|
|
vListInitialise( &xSuspendedTaskList );
|
|
}
|
|
#endif /* INCLUDE_vTaskSuspend */
|
|
|
|
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
|
|
using list2. */
|
|
pxDelayedTaskList = &xDelayedTaskList1;
|
|
pxOverflowDelayedTaskList = &xDelayedTaskList2;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCheckTasksWaitingTermination( void )
|
|
{
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
{
|
|
portBASE_TYPE xListIsEmpty;
|
|
|
|
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
|
|
too often in the idle task. */
|
|
while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
|
|
{
|
|
vTaskSuspendAll();
|
|
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
|
|
( void ) xTaskResumeAll();
|
|
|
|
if( xListIsEmpty == pdFALSE )
|
|
{
|
|
tskTCB *pxTCB;
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
|
|
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
|
|
--uxCurrentNumberOfTasks;
|
|
--uxTasksDeleted;
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
prvDeleteTCB( pxTCB );
|
|
}
|
|
}
|
|
}
|
|
#endif /* vTaskDelete */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
|
|
{
|
|
/* The list item will be inserted in wake time order. */
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
|
|
|
|
if( xTimeToWake < xTickCount )
|
|
{
|
|
/* Wake time has overflowed. Place this item in the overflow list. */
|
|
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
|
|
}
|
|
else
|
|
{
|
|
/* The wake time has not overflowed, so we can use the current block list. */
|
|
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
|
|
|
|
/* If the task entering the blocked state was placed at the head of the
|
|
list of blocked tasks then xNextTaskUnblockTime needs to be updated
|
|
too. */
|
|
if( xTimeToWake < xNextTaskUnblockTime )
|
|
{
|
|
xNextTaskUnblockTime = xTimeToWake;
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
|
|
{
|
|
tskTCB *pxNewTCB;
|
|
|
|
/* Allocate space for the TCB. Where the memory comes from depends on
|
|
the implementation of the port malloc function. */
|
|
pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
|
|
|
|
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 = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
if( pxNewTCB->pxStack == NULL )
|
|
{
|
|
/* Could not allocate the stack. Delete the allocated TCB. */
|
|
vPortFree( pxNewTCB );
|
|
pxNewTCB = NULL;
|
|
}
|
|
else
|
|
{
|
|
/* Just to help debugging. */
|
|
( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
|
|
}
|
|
}
|
|
|
|
return pxNewTCB;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
|
|
static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
|
|
{
|
|
volatile tskTCB *pxNextTCB, *pxFirstTCB;
|
|
unsigned portBASE_TYPE uxTask = 0;
|
|
|
|
if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
|
|
{
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
|
|
|
|
/* Populate an xTaskStatusType structure within the
|
|
pxTaskStatusArray array for each task that is referenced from
|
|
pxList. See the definition of xTaskStatusType in task.h for the
|
|
meaning of each xTaskStatusType structure member. */
|
|
do
|
|
{
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
|
|
|
|
pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
|
|
pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
|
|
pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
|
|
pxTaskStatusArray[ uxTask ].eCurrentState = eState;
|
|
pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
{
|
|
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ( portSTACK_GROWTH > 0 )
|
|
{
|
|
ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
|
|
}
|
|
#else
|
|
{
|
|
pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
|
|
}
|
|
#endif
|
|
|
|
uxTask++;
|
|
|
|
} while( pxNextTCB != pxFirstTCB );
|
|
}
|
|
|
|
return uxTask;
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
|
|
|
|
static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
|
|
{
|
|
register unsigned short usCount = 0U;
|
|
|
|
while( *pucStackByte == tskSTACK_FILL_BYTE )
|
|
{
|
|
pucStackByte -= portSTACK_GROWTH;
|
|
usCount++;
|
|
}
|
|
|
|
usCount /= sizeof( portSTACK_TYPE );
|
|
|
|
return usCount;
|
|
}
|
|
|
|
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
|
|
|
|
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
|
|
{
|
|
tskTCB *pxTCB;
|
|
unsigned char *pcEndOfStack;
|
|
unsigned portBASE_TYPE uxReturn;
|
|
|
|
pxTCB = prvGetTCBFromHandle( xTask );
|
|
|
|
#if portSTACK_GROWTH < 0
|
|
{
|
|
pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
|
|
}
|
|
#else
|
|
{
|
|
pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
|
|
}
|
|
#endif
|
|
|
|
uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
|
|
|
|
return uxReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
|
|
static void prvDeleteTCB( tskTCB *pxTCB )
|
|
{
|
|
/* This call is required specifically for the TriCore port. It must be
|
|
above the vPortFree() calls. The call is also used by ports/demos that
|
|
want to allocate and clean RAM statically. */
|
|
portCLEAN_UP_TCB( pxTCB );
|
|
|
|
/* Free up the memory allocated by the scheduler for the task. It is up to
|
|
the task to free any memory allocated at the application level. */
|
|
vPortFreeAligned( pxTCB->pxStack );
|
|
vPortFree( pxTCB );
|
|
}
|
|
|
|
#endif /* INCLUDE_vTaskDelete */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
|
|
|
|
xTaskHandle xTaskGetCurrentTaskHandle( void )
|
|
{
|
|
xTaskHandle 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 ) )
|
|
|
|
portBASE_TYPE xTaskGetSchedulerState( void )
|
|
{
|
|
portBASE_TYPE xReturn;
|
|
|
|
if( xSchedulerRunning == pdFALSE )
|
|
{
|
|
xReturn = taskSCHEDULER_NOT_STARTED;
|
|
}
|
|
else
|
|
{
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
|
{
|
|
xReturn = taskSCHEDULER_RUNNING;
|
|
}
|
|
else
|
|
{
|
|
xReturn = taskSCHEDULER_SUSPENDED;
|
|
}
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
|
|
{
|
|
tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
|
|
|
|
/* If the mutex was given back by an interrupt while the queue was
|
|
locked then the mutex holder might now be NULL. */
|
|
if( pxMutexHolder != NULL )
|
|
{
|
|
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
|
|
{
|
|
/* Adjust the mutex holder state to account for its new priority. */
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
|
|
/* If the task being modified is in the ready state it will need to
|
|
be moved into a new list. */
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
|
|
{
|
|
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
|
|
/* 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 );
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
|
|
void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
|
|
{
|
|
tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
|
|
|
|
if( pxMutexHolder != NULL )
|
|
{
|
|
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
|
|
{
|
|
/* We must be the running task to be able to give the mutex back.
|
|
Remove ourselves from the ready list we currently appear in. */
|
|
if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
|
|
{
|
|
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
|
|
}
|
|
|
|
/* Disinherit the priority before adding the task into the new
|
|
ready list. */
|
|
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
|
|
pxTCB->uxPriority = pxTCB->uxBasePriority;
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_MUTEXES */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
|
|
void vTaskEnterCritical( void )
|
|
{
|
|
portDISABLE_INTERRUPTS();
|
|
|
|
if( xSchedulerRunning != pdFALSE )
|
|
{
|
|
( pxCurrentTCB->uxCriticalNesting )++;
|
|
}
|
|
}
|
|
|
|
#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();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif /* portCRITICAL_NESTING_IN_TCB */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
|
|
|
|
void vTaskList( signed char *pcWriteBuffer )
|
|
{
|
|
xTaskStatusType *pxTaskStatusArray;
|
|
volatile unsigned portBASE_TYPE uxArraySize, x;
|
|
char cStatus;
|
|
|
|
/*
|
|
* PLEASE NOTE:
|
|
*
|
|
* This function is provided for convenience only, and is used by many
|
|
* of the demo applications. Do not consider it to be part of the
|
|
* scheduler.
|
|
*
|
|
* vTaskList() calls uxTaskGetSystemState(), then formats part of the
|
|
* uxTaskGetSystemState() output into a human readable table that
|
|
* displays task names, states and stack usage.
|
|
*
|
|
* vTaskList() has a dependency on the sprintf() C library function that
|
|
* might bloat the code size, use a lot of stack, and provide different
|
|
* results on different platforms. An alternative, tiny, third party,
|
|
* and limited functionality implementation of sprintf() is provided in
|
|
* many of the FreeRTOS/Demo sub-directories in a file called
|
|
* printf-stdarg.c (note printf-stdarg.c does not provide a full
|
|
* snprintf() implementation!).
|
|
*
|
|
* It is recommended that production systems call uxTaskGetSystemState()
|
|
* directly to get access to raw stats data, rather than indirectly
|
|
* through a call to vTaskList().
|
|
*/
|
|
|
|
|
|
/* Make sure the write buffer does not contain a string. */
|
|
*pcWriteBuffer = 0x00;
|
|
|
|
/* Take a snapshot of the number of tasks in case it changes while this
|
|
function is executing. */
|
|
uxArraySize = uxCurrentNumberOfTasks;
|
|
|
|
/* Allocate an array index for each task. */
|
|
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
|
|
|
|
if( pxTaskStatusArray != NULL )
|
|
{
|
|
/* Generate the (binary) data. */
|
|
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
|
|
|
|
/* Create a human readable table from the binary data. */
|
|
for( x = 0; x < uxArraySize; x++ )
|
|
{
|
|
switch( pxTaskStatusArray[ x ].eCurrentState )
|
|
{
|
|
case eReady: cStatus = tskREADY_CHAR;
|
|
break;
|
|
|
|
case eBlocked: cStatus = tskBLOCKED_CHAR;
|
|
break;
|
|
|
|
case eSuspended: cStatus = tskSUSPENDED_CHAR;
|
|
break;
|
|
|
|
case eDeleted: cStatus = tskDELETED_CHAR;
|
|
break;
|
|
|
|
default: /* Should not get here, but it is included
|
|
to prevent static checking errors. */
|
|
cStatus = 0x00;
|
|
break;
|
|
}
|
|
|
|
sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
|
|
pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
|
|
}
|
|
|
|
/* Free the array again. */
|
|
vPortFree( pxTaskStatusArray );
|
|
}
|
|
}
|
|
|
|
#endif /* configUSE_TRACE_FACILITY */
|
|
/*----------------------------------------------------------*/
|
|
|
|
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
|
|
|
|
void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
|
|
{
|
|
xTaskStatusType *pxTaskStatusArray;
|
|
volatile unsigned portBASE_TYPE uxArraySize, x;
|
|
unsigned long ulTotalTime, ulStatsAsPercentage;
|
|
|
|
/*
|
|
* PLEASE NOTE:
|
|
*
|
|
* This function is provided for convenience only, and is used by many
|
|
* of the demo applications. Do not consider it to be part of the
|
|
* scheduler.
|
|
*
|
|
* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
|
|
* of the uxTaskGetSystemState() output into a human readable table that
|
|
* displays the amount of time each task has spent in the Running state
|
|
* in both absolute and percentage terms.
|
|
*
|
|
* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
|
|
* function that might bloat the code size, use a lot of stack, and
|
|
* provide different results on different platforms. An alternative,
|
|
* tiny, third party, and limited functionality implementation of
|
|
* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
|
|
* a file called printf-stdarg.c (note printf-stdarg.c does not provide
|
|
* a full snprintf() implementation!).
|
|
*
|
|
* It is recommended that production systems call uxTaskGetSystemState()
|
|
* directly to get access to raw stats data, rather than indirectly
|
|
* through a call to vTaskGetRunTimeStats().
|
|
*/
|
|
|
|
/* Make sure the write buffer does not contain a string. */
|
|
*pcWriteBuffer = 0x00;
|
|
|
|
/* Take a snapshot of the number of tasks in case it changes while this
|
|
function is executing. */
|
|
uxArraySize = uxCurrentNumberOfTasks;
|
|
|
|
/* Allocate an array index for each task. */
|
|
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
|
|
|
|
if( pxTaskStatusArray != NULL )
|
|
{
|
|
/* Generate the (binary) data. */
|
|
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
|
|
|
|
/* For percentage calculations. */
|
|
ulTotalTime /= 100UL;
|
|
|
|
/* Avoid divide by zero errors. */
|
|
if( ulTotalTime > 0 )
|
|
{
|
|
/* Create a human readable table from the binary data. */
|
|
for( x = 0; x < uxArraySize; x++ )
|
|
{
|
|
/* What percentage of the total run time has the task used?
|
|
This will always be rounded down to the nearest integer.
|
|
ulTotalRunTimeDiv100 has already been divided by 100. */
|
|
ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
|
|
|
|
if( ulStatsAsPercentage > 0UL )
|
|
{
|
|
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|
{
|
|
sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
|
|
}
|
|
#else
|
|
{
|
|
/* sizeof( int ) == sizeof( long ) so a smaller
|
|
printf() library can be used. */
|
|
sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
/* If the percentage is zero here then the task has
|
|
consumed less than 1% of the total run time. */
|
|
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
|
|
{
|
|
sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
|
|
}
|
|
#else
|
|
{
|
|
/* sizeof( int ) == sizeof( long ) so a smaller
|
|
printf() library can be used. */
|
|
sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
|
|
}
|
|
#endif
|
|
}
|
|
|
|
pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
|
|
}
|
|
}
|
|
|
|
/* Free the array again. */
|
|
vPortFree( pxTaskStatusArray );
|
|
}
|
|
}
|
|
|
|
#endif /* configGENERATE_RUN_TIME_STATS */
|
|
|
|
|
|
|