diff options
Diffstat (limited to 'freertos/src/tasks.c')
| -rw-r--r-- | freertos/src/tasks.c | 9945 |
1 files changed, 5120 insertions, 4825 deletions
diff --git a/freertos/src/tasks.c b/freertos/src/tasks.c index df0f346..43af330 100644 --- a/freertos/src/tasks.c +++ b/freertos/src/tasks.c @@ -1,4825 +1,5120 @@ -/* - FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/* Standard includes. */ -#include <stdlib.h> -#include <string.h> - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" -#include "timers.h" -#include "StackMacros.h" - -/* Lint e961 and e750 are suppressed as a MISRA exception justified because the -MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the -header files above, but not in this file, in order to generate the correct -privileged Vs unprivileged linkage and placement. */ -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ - -/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting -functions but without including stdio.h here. */ -#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) - /* At the bottom of this file are two optional functions that can be used - to generate human readable text from the raw data generated by the - uxTaskGetSystemState() function. Note the formatting functions are provided - for convenience only, and are NOT considered part of the kernel. */ - #include <stdio.h> -#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ - -#if( configUSE_PREEMPTION == 0 ) - /* If the cooperative scheduler is being used then a yield should not be - performed just because a higher priority task has been woken. */ - #define taskYIELD_IF_USING_PREEMPTION() -#else - #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() -#endif - -/* Values that can be assigned to the ucNotifyState member of the TCB. */ -#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) -#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 ) -#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 ) - -/* - * The value used to fill the stack of a task when the task is created. This - * is used purely for checking the high water mark for tasks. - */ -#define tskSTACK_FILL_BYTE ( 0xa5U ) - -/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using -dynamically allocated RAM, in which case when any task is deleted it is known -that both the task's stack and TCB need to be freed. Sometimes the -FreeRTOSConfig.h settings only allow a task to be created using statically -allocated RAM, in which case when any task is deleted it is known that neither -the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h -settings allow a task to be created using either statically or dynamically -allocated RAM, in which case a member of the TCB is used to record whether the -stack and/or TCB were allocated statically or dynamically, so when a task is -deleted the RAM that was allocated dynamically is freed again and no attempt is -made to free the RAM that was allocated statically. -tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a -task to be created using either statically or dynamically allocated RAM. Note -that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with -a statically allocated stack and a dynamically allocated TCB. */ -#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) ) -#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) -#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) -#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) - -/* - * Macros used by vListTask to indicate which state a task is in. - */ -#define tskBLOCKED_CHAR ( 'B' ) -#define tskREADY_CHAR ( 'R' ) -#define tskDELETED_CHAR ( 'D' ) -#define tskSUSPENDED_CHAR ( 'S' ) - -/* - * Some kernel aware debuggers require the data the debugger needs access to be - * global, rather than file scope. - */ -#ifdef portREMOVE_STATIC_QUALIFIER - #define static -#endif - -#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is - performed in a generic way that is not optimised to any particular - microcontroller architecture. */ - - /* uxTopReadyPriority holds the priority of the highest priority ready - state task. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) \ - { \ - if( ( uxPriority ) > uxTopReadyPriority ) \ - { \ - uxTopReadyPriority = ( uxPriority ); \ - } \ - } /* taskRECORD_READY_PRIORITY */ - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - UBaseType_t uxTopPriority = uxTopReadyPriority; \ - \ - /* Find the highest priority queue that contains ready tasks. */ \ - while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \ - { \ - configASSERT( uxTopPriority ); \ - --uxTopPriority; \ - } \ - \ - /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ - the same priority get an equal share of the processor time. */ \ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ - uxTopReadyPriority = uxTopPriority; \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK */ - - /*-----------------------------------------------------------*/ - - /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as - they are only required when a port optimised method of task selection is - being used. */ - #define taskRESET_READY_PRIORITY( uxPriority ) - #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - -#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is - performed in a way that is tailored to the particular microcontroller - architecture being used. */ - - /* A port optimised version is provided. Call the port defined macros. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - UBaseType_t uxTopPriority; \ - \ - /* Find the highest priority list that contains ready tasks. */ \ - portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ - configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ - - /*-----------------------------------------------------------*/ - - /* A port optimised version is provided, call it only if the TCB being reset - is being referenced from a ready list. If it is referenced from a delayed - or suspended list then it won't be in a ready list. */ - #define taskRESET_READY_PRIORITY( uxPriority ) \ - { \ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ - { \ - portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ - } \ - } - -#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - -/*-----------------------------------------------------------*/ - -/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick -count overflows. */ -#define taskSWITCH_DELAYED_LISTS() \ -{ \ - List_t *pxTemp; \ - \ - /* The delayed tasks list should be empty when the lists are switched. */ \ - configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ - \ - pxTemp = pxDelayedTaskList; \ - pxDelayedTaskList = pxOverflowDelayedTaskList; \ - pxOverflowDelayedTaskList = pxTemp; \ - xNumOfOverflows++; \ - prvResetNextTaskUnblockTime(); \ -} - -/*-----------------------------------------------------------*/ - -/* - * Place the task represented by pxTCB into the appropriate ready list for - * the task. It is inserted at the end of the list. - */ -#define prvAddTaskToReadyList( pxTCB ) \ - traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ - taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ - vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ - tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) -/*-----------------------------------------------------------*/ - -/* - * Several functions take an TaskHandle_t parameter that can optionally be NULL, - * where NULL is used to indicate that the handle of the currently executing - * task should be used in place of the parameter. This macro simply checks to - * see if the parameter is NULL and returns a pointer to the appropriate TCB. - */ -#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) ) - -/* The item value of the event list item is normally used to hold the priority -of the task to which it belongs (coded to allow it to be held in reverse -priority order). However, it is occasionally borrowed for other purposes. It -is important its value is not updated due to a task priority change while it is -being used for another purpose. The following bit definition is used to inform -the scheduler that the value should not be changed - in which case it is the -responsibility of whichever module is using the value to ensure it gets set back -to its original value when it is released. */ -#if( configUSE_16_BIT_TICKS == 1 ) - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U -#else - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL -#endif - -/* - * Task control block. A task control block (TCB) is allocated for each task, - * and stores task state information, including a pointer to the task's context - * (the task's run time environment, including register values) - */ -typedef struct tskTaskControlBlock -{ - volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ - - #if ( portUSING_MPU_WRAPPERS == 1 ) - xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ - #endif - - ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ - ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ - UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ - StackType_t *pxStack; /*< Points to the start of the stack. */ - char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - - #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) - StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */ - #endif - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ - #endif - - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ - UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ - #endif - - #if ( configUSE_MUTEXES == 1 ) - UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ - UBaseType_t uxMutexesHeld; - #endif - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - TaskHookFunction_t pxTaskTag; - #endif - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) - void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #endif - - #if( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - /* Allocate a Newlib reent structure that is specific to this task. - Note Newlib support has been included by popular demand, but is not - used by the FreeRTOS maintainers themselves. FreeRTOS is not - responsible for resulting newlib operation. User must be familiar with - newlib and must provide system-wide implementations of the necessary - stubs. Be warned that (at the time of writing) the current newlib design - implements a system-wide malloc() that must be provided with locks. */ - struct _reent xNewLib_reent; - #endif - - #if( configUSE_TASK_NOTIFICATIONS == 1 ) - volatile uint32_t ulNotifiedValue; - volatile uint8_t ucNotifyState; - #endif - - /* See the comments above the definition of - tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ - #endif - - #if( INCLUDE_xTaskAbortDelay == 1 ) - uint8_t ucDelayAborted; - #endif - -} tskTCB; - -/* The old tskTCB name is maintained above then typedefed to the new TCB_t name -below to enable the use of older kernel aware debuggers. */ -typedef tskTCB TCB_t; - -/*lint -e956 A manual analysis and inspection has been used to determine which -static variables must be declared volatile. */ - -PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; - -/* Lists for ready and blocked tasks. --------------------*/ -PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ -PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */ - -#if( INCLUDE_vTaskDelete == 1 ) - - PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ - PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U; - -#endif - -#if ( INCLUDE_vTaskSuspend == 1 ) - - PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ - -#endif - -/* Other file private variables. --------------------------------*/ -PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U; -PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; -PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; -PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; -PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; -PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */ -PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */ - -/* Context switches are held pending while the scheduler is suspended. Also, -interrupts must not manipulate the xStateListItem of a TCB, or any of the -lists the xStateListItem can be referenced from, if the scheduler is suspended. -If an interrupt needs to unblock a task while the scheduler is suspended then it -moves the task's event list item into the xPendingReadyList, ready for the -kernel to move the task from the pending ready list into the real ready list -when the scheduler is unsuspended. The pending ready list itself can only be -accessed from a critical section. */ -PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ - PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ - -#endif - -/*lint +e956 */ - -/*-----------------------------------------------------------*/ - -/* Callback function prototypes. --------------------------*/ -#if( configCHECK_FOR_STACK_OVERFLOW > 0 ) - extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ); -#endif - -#if( configUSE_TICK_HOOK > 0 ) - extern void vApplicationTickHook( void ); -#endif - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); -#endif - -/* File private functions. --------------------------------*/ - -/** - * Utility task that simply returns pdTRUE if the task referenced by xTask is - * currently in the Suspended state, or pdFALSE if the task referenced by xTask - * is in any other state. - */ -#if ( INCLUDE_vTaskSuspend == 1 ) - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; -#endif /* INCLUDE_vTaskSuspend */ - -/* - * Utility to ready all the lists used by the scheduler. This is called - * automatically upon the creation of the first task. - */ -static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; - -/* - * The idle task, which as all tasks is implemented as a never ending loop. - * The idle task is automatically created and added to the ready lists upon - * creation of the first user task. - * - * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); - -/* - * Utility to free all memory allocated by the scheduler to hold a TCB, - * including the stack pointed to by the TCB. - * - * This does not free memory allocated by the task itself (i.e. memory - * allocated by calls to pvPortMalloc from within the tasks application code). - */ -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Used only by the idle task. This checks to see if anything has been placed - * in the list of tasks waiting to be deleted. If so the task is cleaned up - * and its TCB deleted. - */ -static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; - -/* - * The currently executing task is entering the Blocked state. Add the task to - * either the current or the overflow delayed task list. - */ -static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION; - -/* - * Fills an TaskStatus_t structure with information on each task that is - * referenced from the pxList list (which may be a ready list, a delayed list, - * a suspended list, etc.). - * - * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM - * NORMAL APPLICATION CODE. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Searches pxList for a task with name pcNameToQuery - returning a handle to - * the task if it is found, or NULL if the task is not found. - */ -#if ( INCLUDE_xTaskGetHandle == 1 ) - - static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION; - -#endif - -/* - * When a task is created, the stack of the task is filled with a known value. - * This function determines the 'high water mark' of the task stack by - * determining how much of the stack remains at the original preset value. - */ -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Return the amount of time, in ticks, that will pass before the kernel will - * next move a task from the Blocked state to the Running state. - * - * This conditional compilation should use inequality to 0, not equality to 1. - * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user - * defined low power mode implementations require configUSE_TICKLESS_IDLE to be - * set to a value other than 1. - */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Set xNextTaskUnblockTime to the time at which the next Blocked state task - * will exit the Blocked state. - */ -static void prvResetNextTaskUnblockTime( void ); - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - /* - * Helper function used to pad task names with spaces when printing out - * human readable tables of task information. - */ - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Called after a Task_t structure has been allocated either statically or - * dynamically to fill in the structure's members. - */ -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask, - TCB_t *pxNewTCB, - const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - -/* - * Called after a new task has been created and initialised to place the task - * under the control of the scheduler. - */ -static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; - -/*-----------------------------------------------------------*/ - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - - TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - StackType_t * const puxStackBuffer, - StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - TCB_t *pxNewTCB; - TaskHandle_t xReturn; - - configASSERT( puxStackBuffer != NULL ); - configASSERT( pxTaskBuffer != NULL ); - - if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) ) - { - /* The memory used for the task's TCB and stack are passed into this - function - use them. */ - pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ - pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer; - - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - { - /* Tasks can be created statically or dynamically, so note this - task was created statically in case the task is later deleted. */ - pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - - prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); - prvAddNewTaskToReadyList( pxNewTCB ); - } - else - { - xReturn = NULL; - } - - return xReturn; - } - -#endif /* SUPPORT_STATIC_ALLOCATION */ -/*-----------------------------------------------------------*/ - -#if( portUSING_MPU_WRAPPERS == 1 ) - - BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) - { - TCB_t *pxNewTCB; - BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - - configASSERT( pxTaskDefinition->puxStackBuffer ); - - if( pxTaskDefinition->puxStackBuffer != NULL ) - { - /* Allocate space for the TCB. Where the memory comes from depends - on the implementation of the port malloc function and whether or - not static allocation is being used. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) - { - /* Store the stack location in the TCB. */ - pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; - - /* Tasks can be created statically or dynamically, so note - this task had a statically allocated stack in case it is - later deleted. The TCB was allocated dynamically. */ - pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; - - prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, - pxTaskDefinition->pcName, - ( uint32_t ) pxTaskDefinition->usStackDepth, - pxTaskDefinition->pvParameters, - pxTaskDefinition->uxPriority, - pxCreatedTask, pxNewTCB, - pxTaskDefinition->xRegions ); - - prvAddNewTaskToReadyList( pxNewTCB ); - xReturn = pdPASS; - } - } - - return xReturn; - } - -#endif /* portUSING_MPU_WRAPPERS */ -/*-----------------------------------------------------------*/ - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint16_t usStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - TCB_t *pxNewTCB; - BaseType_t xReturn; - - /* If the stack grows down then allocate the stack then the TCB so the stack - does not grow into the TCB. Likewise if the stack grows up then allocate - the TCB then the stack. */ - #if( portSTACK_GROWTH > 0 ) - { - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function and whether or not static - allocation is being used. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) - { - /* Allocate space for the stack used by the task being created. - The base of the stack memory stored in the TCB so the task can - be deleted later if required. */ - pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxNewTCB->pxStack == NULL ) - { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; - } - } - } - #else /* portSTACK_GROWTH */ - { - StackType_t *pxStack; - - /* Allocate space for the stack used by the task being created. */ - pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxStack != NULL ) - { - /* Allocate space for the TCB. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */ - - if( pxNewTCB != NULL ) - { - /* Store the stack location in the TCB. */ - pxNewTCB->pxStack = pxStack; - } - else - { - /* The stack cannot be used as the TCB was not created. Free - it again. */ - vPortFree( pxStack ); - } - } - else - { - pxNewTCB = NULL; - } - } - #endif /* portSTACK_GROWTH */ - - if( pxNewTCB != NULL ) - { - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - { - /* Tasks can be created statically or dynamically, so note this - task was created dynamically in case it is later deleted. */ - pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; - } - #endif /* configSUPPORT_STATIC_ALLOCATION */ - - prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); - prvAddNewTaskToReadyList( pxNewTCB ); - xReturn = pdPASS; - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - } - - return xReturn; - } - -#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask, - TCB_t *pxNewTCB, - const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -StackType_t *pxTopOfStack; -UBaseType_t x; - - #if( portUSING_MPU_WRAPPERS == 1 ) - /* Should the task be created in privileged mode? */ - BaseType_t xRunPrivileged; - if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) - { - xRunPrivileged = pdTRUE; - } - else - { - xRunPrivileged = pdFALSE; - } - uxPriority &= ~portPRIVILEGE_BIT; - #endif /* portUSING_MPU_WRAPPERS == 1 */ - - /* Avoid dependency on memset() if it is not required. */ - #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - { - /* Fill the stack with a known value to assist debugging. */ - ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) ); - } - #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ - - /* Calculate the top of stack address. This depends on whether the stack - grows from high memory to low (as per the 80x86) or vice versa. - portSTACK_GROWTH is used to make the result positive or negative as required - by the port. */ - #if( portSTACK_GROWTH < 0 ) - { - pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); - pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ - - /* Check the alignment of the calculated top of stack is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - #if( configRECORD_STACK_HIGH_ADDRESS == 1 ) - { - /* Also record the stack's high address, which may assist - debugging. */ - pxNewTCB->pxEndOfStack = pxTopOfStack; - } - #endif /* configRECORD_STACK_HIGH_ADDRESS */ - } - #else /* portSTACK_GROWTH */ - { - pxTopOfStack = pxNewTCB->pxStack; - - /* Check the alignment of the stack buffer is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - - /* The other extreme of the stack space is required if stack checking is - performed. */ - pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); - } - #endif /* portSTACK_GROWTH */ - - /* Store the task name in the TCB. */ - for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) - { - pxNewTCB->pcTaskName[ x ] = pcName[ x ]; - - /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than - configMAX_TASK_NAME_LEN characters just in case the memory after the - string is not accessible (extremely unlikely). */ - if( pcName[ x ] == 0x00 ) - { - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Ensure the name string is terminated in the case that the string length - was greater or equal to configMAX_TASK_NAME_LEN. */ - pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; - - /* This is used as an array index so must ensure it's not too large. First - remove the privilege bit if one is present. */ - if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxNewTCB->uxPriority = uxPriority; - #if ( configUSE_MUTEXES == 1 ) - { - pxNewTCB->uxBasePriority = uxPriority; - pxNewTCB->uxMutexesHeld = 0; - } - #endif /* configUSE_MUTEXES */ - - vListInitialiseItem( &( pxNewTCB->xStateListItem ) ); - vListInitialiseItem( &( pxNewTCB->xEventListItem ) ); - - /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get - back to the containing TCB from a generic item in a list. */ - listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB ); - - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB ); - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - { - pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U; - } - #endif /* portCRITICAL_NESTING_IN_TCB */ - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - { - pxNewTCB->pxTaskTag = NULL; - } - #endif /* configUSE_APPLICATION_TASK_TAG */ - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxNewTCB->ulRunTimeCounter = 0UL; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - #if ( portUSING_MPU_WRAPPERS == 1 ) - { - vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); - } - #else - { - /* Avoid compiler warning about unreferenced parameter. */ - ( void ) xRegions; - } - #endif - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - { - for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) - { - pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL; - } - } - #endif - - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - { - pxNewTCB->ulNotifiedValue = 0; - pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Initialise this task's Newlib reent structure. */ - _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) ); - } - #endif - - #if( INCLUDE_xTaskAbortDelay == 1 ) - { - pxNewTCB->ucDelayAborted = pdFALSE; - } - #endif - - /* Initialize the TCB stack to look as if the task was already running, - but had been interrupted by the scheduler. The return address is set - to the start of the task function. Once the stack has been initialised - the top of stack variable is updated. */ - #if( portUSING_MPU_WRAPPERS == 1 ) - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); - } - #else /* portUSING_MPU_WRAPPERS */ - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); - } - #endif /* portUSING_MPU_WRAPPERS */ - - if( ( void * ) pxCreatedTask != NULL ) - { - /* Pass the handle out in an anonymous way. The handle can be used to - change the created task's priority, delete the created task, etc.*/ - *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} -/*-----------------------------------------------------------*/ - -static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) -{ - /* Ensure interrupts don't access the task lists while the lists are being - updated. */ - taskENTER_CRITICAL(); - { - uxCurrentNumberOfTasks++; - if( pxCurrentTCB == NULL ) - { - /* There are no other tasks, or all the other tasks are in - the suspended state - make this the current task. */ - pxCurrentTCB = pxNewTCB; - - if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) - { - /* This is the first task to be created so do the preliminary - initialisation required. We will not recover if this call - fails, but we will report the failure. */ - prvInitialiseTaskLists(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* If the scheduler is not already running, make this task the - current task if it is the highest priority task to be created - so far. */ - if( xSchedulerRunning == pdFALSE ) - { - if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority ) - { - pxCurrentTCB = pxNewTCB; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - uxTaskNumber++; - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - /* Add a counter into the TCB for tracing only. */ - pxNewTCB->uxTCBNumber = uxTaskNumber; - } - #endif /* configUSE_TRACE_FACILITY */ - traceTASK_CREATE( pxNewTCB ); - - prvAddTaskToReadyList( pxNewTCB ); - - portSETUP_TCB( pxNewTCB ); - } - taskEXIT_CRITICAL(); - - if( xSchedulerRunning != pdFALSE ) - { - /* If the created task is of a higher priority than the current task - then it should run now. */ - if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - void vTaskDelete( TaskHandle_t xTaskToDelete ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the calling task that is - being deleted. */ - pxTCB = prvGetTCBFromHandle( xTaskToDelete ); - - /* Remove task from the ready list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Increment the uxTaskNumber also so kernel aware debuggers can - detect that the task lists need re-generating. This is done before - portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will - not return. */ - uxTaskNumber++; - - if( pxTCB == pxCurrentTCB ) - { - /* A task is deleting itself. This cannot complete within the - task itself, as a context switch to another task is required. - Place the task in the termination list. The idle task will - check the termination list and free up any memory allocated by - the scheduler for the TCB and stack of the deleted task. */ - vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) ); - - /* Increment the ucTasksDeleted variable so the idle task knows - there is a task that has been deleted and that it should therefore - check the xTasksWaitingTermination list. */ - ++uxDeletedTasksWaitingCleanUp; - - /* The pre-delete hook is primarily for the Windows simulator, - in which Windows specific clean up operations are performed, - after which it is not possible to yield away from this task - - hence xYieldPending is used to latch that a context switch is - required. */ - portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); - } - else - { - --uxCurrentNumberOfTasks; - prvDeleteTCB( pxTCB ); - - /* Reset the next expected unblock time in case it referred to - the task that has just been deleted. */ - prvResetNextTaskUnblockTime(); - } - - traceTASK_DELETE( pxTCB ); - } - taskEXIT_CRITICAL(); - - /* Force a reschedule if it is the currently running task that has just - been deleted. */ - if( xSchedulerRunning != pdFALSE ) - { - if( pxTCB == pxCurrentTCB ) - { - configASSERT( uxSchedulerSuspended == 0 ); - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelayUntil == 1 ) - - void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) - { - TickType_t xTimeToWake; - BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; - - configASSERT( pxPreviousWakeTime ); - configASSERT( ( xTimeIncrement > 0U ) ); - configASSERT( uxSchedulerSuspended == 0 ); - - vTaskSuspendAll(); - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount; - - /* Generate the tick time at which the task wants to wake. */ - xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; - - if( xConstTickCount < *pxPreviousWakeTime ) - { - /* The tick count has overflowed since this function was - lasted called. In this case the only time we should ever - actually delay is if the wake time has also overflowed, - and the wake time is greater than the tick time. When this - is the case it is as if neither time had overflowed. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* The tick time has not overflowed. In this case we will - delay if either the wake time has overflowed, and/or the - tick time is less than the wake time. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Update the wake time ready for the next call. */ - *pxPreviousWakeTime = xTimeToWake; - - if( xShouldDelay != pdFALSE ) - { - traceTASK_DELAY_UNTIL( xTimeToWake ); - - /* prvAddCurrentTaskToDelayedList() needs the block time, not - the time to wake, so subtract the current tick count. */ - prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - xAlreadyYielded = xTaskResumeAll(); - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelayUntil */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelay == 1 ) - - void vTaskDelay( const TickType_t xTicksToDelay ) - { - BaseType_t xAlreadyYielded = pdFALSE; - - /* A delay time of zero just forces a reschedule. */ - if( xTicksToDelay > ( TickType_t ) 0U ) - { - configASSERT( uxSchedulerSuspended == 0 ); - vTaskSuspendAll(); - { - traceTASK_DELAY(); - - /* A task that is removed from the event list while the - scheduler is suspended will not get placed in the ready - list or removed from the blocked list until the scheduler - is resumed. - - This task cannot be in an event list as it is the currently - executing task. */ - prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE ); - } - xAlreadyYielded = xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelay */ -/*-----------------------------------------------------------*/ - -#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) ) - - eTaskState eTaskGetState( TaskHandle_t xTask ) - { - eTaskState eReturn; - List_t *pxStateList; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - configASSERT( pxTCB ); - - if( pxTCB == pxCurrentTCB ) - { - /* The task calling this function is querying its own state. */ - eReturn = eRunning; - } - else - { - taskENTER_CRITICAL(); - { - pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) ); - } - taskEXIT_CRITICAL(); - - if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) ) - { - /* The task being queried is referenced from one of the Blocked - lists. */ - eReturn = eBlocked; - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - else if( pxStateList == &xSuspendedTaskList ) - { - /* The task being queried is referenced from the suspended - list. Is it genuinely suspended or is it block - indefinitely? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) - { - eReturn = eSuspended; - } - else - { - eReturn = eBlocked; - } - } - #endif - - #if ( INCLUDE_vTaskDelete == 1 ) - else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) ) - { - /* The task being queried is referenced from the deleted - tasks list, or it is not referenced from any lists at - all. */ - eReturn = eDeleted; - } - #endif - - else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ - { - /* If the task is not in any other state, it must be in the - Ready (including pending ready) state. */ - eReturn = eReady; - } - } - - return eReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_eTaskGetState */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the priority of the that - called uxTaskPriorityGet() that is being queried. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - taskEXIT_CRITICAL(); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn, uxSavedInterruptState; - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* If null is passed in here then it is the priority of the calling - task that is being queried. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskPrioritySet == 1 ) - - void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) - { - TCB_t *pxTCB; - UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; - BaseType_t xYieldRequired = pdFALSE; - - configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); - - /* Ensure the new priority is valid. */ - if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the priority of the calling - task that is being changed. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); - - #if ( configUSE_MUTEXES == 1 ) - { - uxCurrentBasePriority = pxTCB->uxBasePriority; - } - #else - { - uxCurrentBasePriority = pxTCB->uxPriority; - } - #endif - - if( uxCurrentBasePriority != uxNewPriority ) - { - /* The priority change may have readied a task of higher - priority than the calling task. */ - if( uxNewPriority > uxCurrentBasePriority ) - { - if( pxTCB != pxCurrentTCB ) - { - /* The priority of a task other than the currently - running task is being raised. Is the priority being - raised above that of the running task? */ - if( uxNewPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* The priority of the running task is being raised, - but the running task must already be the highest - priority task able to run so no yield is required. */ - } - } - else if( pxTCB == pxCurrentTCB ) - { - /* Setting the priority of the running task down means - there may now be another task of higher priority that - is ready to execute. */ - xYieldRequired = pdTRUE; - } - else - { - /* Setting the priority of any other task down does not - require a yield as the running task must be above the - new priority of the task being modified. */ - } - - /* Remember the ready list the task might be referenced from - before its uxPriority member is changed so the - taskRESET_READY_PRIORITY() macro can function correctly. */ - uxPriorityUsedOnEntry = pxTCB->uxPriority; - - #if ( configUSE_MUTEXES == 1 ) - { - /* Only change the priority being used if the task is not - currently using an inherited priority. */ - if( pxTCB->uxBasePriority == pxTCB->uxPriority ) - { - pxTCB->uxPriority = uxNewPriority; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* The base priority gets set whatever. */ - pxTCB->uxBasePriority = uxNewPriority; - } - #else - { - pxTCB->uxPriority = uxNewPriority; - } - #endif - - /* Only reset the event list item value if the value is not - being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* If the task is in the blocked or suspended list we need do - nothing more than change it's priority variable. However, if - the task is in a ready list it needs to be removed and placed - in the list appropriate to its new priority. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - /* The task is currently in its ready list - remove before adding - it to it's new ready list. As we are in a critical section we - can do this even if the scheduler is suspended. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - /* It is known that the task is in its ready list so - there is no need to check again and the port level - reset macro can be called directly. */ - portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - prvAddTaskToReadyList( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( xYieldRequired != pdFALSE ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Remove compiler warning about unused variables when the port - optimised task selection is not being used. */ - ( void ) uxPriorityUsedOnEntry; - } - } - taskEXIT_CRITICAL(); - } - -#endif /* INCLUDE_vTaskPrioritySet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskSuspend( TaskHandle_t xTaskToSuspend ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the running task that is - being suspended. */ - pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); - - traceTASK_SUSPEND( pxTCB ); - - /* Remove task from the ready/delayed list and place in the - suspended list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ); - } - taskEXIT_CRITICAL(); - - if( xSchedulerRunning != pdFALSE ) - { - /* Reset the next expected unblock time in case it referred to the - task that is now in the Suspended state. */ - taskENTER_CRITICAL(); - { - prvResetNextTaskUnblockTime(); - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( pxTCB == pxCurrentTCB ) - { - if( xSchedulerRunning != pdFALSE ) - { - /* The current task has just been suspended. */ - configASSERT( uxSchedulerSuspended == 0 ); - portYIELD_WITHIN_API(); - } - else - { - /* The scheduler is not running, but the task that was pointed - to by pxCurrentTCB has just been suspended and pxCurrentTCB - must be adjusted to point to a different task. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) - { - /* No other tasks are ready, so set pxCurrentTCB back to - NULL so when the next task is created pxCurrentTCB will - be set to point to it no matter what its relative priority - is. */ - pxCurrentTCB = NULL; - } - else - { - vTaskSwitchContext(); - } - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) - { - BaseType_t xReturn = pdFALSE; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - /* Accesses xPendingReadyList so must be called from a critical - section. */ - - /* It does not make sense to check if the calling task is suspended. */ - configASSERT( xTask ); - - /* Is the task being resumed actually in the suspended list? */ - if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - /* Has the task already been resumed from within an ISR? */ - if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) - { - /* Is it in the suspended list because it is in the Suspended - state, or because is is blocked with no timeout? */ - if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) - { - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskResume( TaskHandle_t xTaskToResume ) - { - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - - /* It does not make sense to resume the calling task. */ - configASSERT( xTaskToResume ); - - /* The parameter cannot be NULL as it is impossible to resume the - currently executing task. */ - if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) - { - taskENTER_CRITICAL(); - { - if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) - { - traceTASK_RESUME( pxTCB ); - - /* As we are in a critical section we can access the ready - lists even if the scheduler is suspended. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* We may have just resumed a higher priority task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* This yield may not cause the task just resumed to run, - but will leave the lists in the correct state for the - next yield. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskSuspend */ - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) - { - BaseType_t xYieldRequired = pdFALSE; - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToResume ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) - { - traceTASK_RESUME_FROM_ISR( pxTCB ); - - /* Check the ready lists can be accessed. */ - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Ready lists can be accessed so move the task from the - suspended list to the ready list directly. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed or ready lists cannot be accessed so the task - is held in the pending ready list until the scheduler is - unsuspended. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xYieldRequired; - } - -#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ -/*-----------------------------------------------------------*/ - -void vTaskStartScheduler( void ) -{ -BaseType_t xReturn; - - /* Add the idle task at the lowest priority. */ - #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - { - StaticTask_t *pxIdleTaskTCBBuffer = NULL; - StackType_t *pxIdleTaskStackBuffer = NULL; - uint32_t ulIdleTaskStackSize; - - /* The Idle task is created using user provided RAM - obtain the - address of the RAM then create the idle task. */ - vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); - xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, - "IDLE", - ulIdleTaskStackSize, - ( void * ) NULL, - ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), - pxIdleTaskStackBuffer, - pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - - if( xIdleTaskHandle != NULL ) - { - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - } - #else - { - /* The Idle task is being created using dynamically allocated RAM. */ - xReturn = xTaskCreate( prvIdleTask, - "IDLE", configMINIMAL_STACK_SIZE, - ( void * ) NULL, - ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), - &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #endif /* configSUPPORT_STATIC_ALLOCATION */ - - #if ( configUSE_TIMERS == 1 ) - { - if( xReturn == pdPASS ) - { - xReturn = xTimerCreateTimerTask(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TIMERS */ - - if( xReturn == pdPASS ) - { - /* Interrupts are turned off here, to ensure a tick does not occur - before or during the call to xPortStartScheduler(). The stacks of - the created tasks contain a status word with interrupts switched on - so interrupts will automatically get re-enabled when the first task - starts to run. */ - portDISABLE_INTERRUPTS(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to the task that will run first. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - xNextTaskUnblockTime = portMAX_DELAY; - xSchedulerRunning = pdTRUE; - xTickCount = ( TickType_t ) 0U; - - /* If configGENERATE_RUN_TIME_STATS is defined then the following - macro must be defined to configure the timer/counter used to generate - the run time counter time base. */ - portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); - - /* Setting up the timer tick is hardware specific and thus in the - portable interface. */ - if( xPortStartScheduler() != pdFALSE ) - { - /* Should not reach here as if the scheduler is running the - function will not return. */ - } - else - { - /* Should only reach here if a task calls xTaskEndScheduler(). */ - } - } - else - { - /* This line will only be reached if the kernel could not be started, - because there was not enough FreeRTOS heap to create the idle task - or the timer task. */ - configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ); - } - - /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, - meaning xIdleTaskHandle is not used anywhere else. */ - ( void ) xIdleTaskHandle; -} -/*-----------------------------------------------------------*/ - -void vTaskEndScheduler( void ) -{ - /* Stop the scheduler interrupts and call the portable scheduler end - routine so the original ISRs can be restored if necessary. The port - layer must ensure interrupts enable bit is left in the correct state. */ - portDISABLE_INTERRUPTS(); - xSchedulerRunning = pdFALSE; - vPortEndScheduler(); -} -/*----------------------------------------------------------*/ - -void vTaskSuspendAll( void ) -{ - /* A critical section is not required as the variable is of type - BaseType_t. Please read Richard Barry's reply in the following link to a - post in the FreeRTOS support forum before reporting this as a bug! - - http://goo.gl/wu4acr */ - ++uxSchedulerSuspended; -} -/*----------------------------------------------------------*/ - -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) - { - TickType_t xReturn; - UBaseType_t uxHigherPriorityReadyTasks = pdFALSE; - - /* uxHigherPriorityReadyTasks takes care of the case where - configUSE_PREEMPTION is 0, so there may be tasks above the idle priority - task that are in the Ready state, even though the idle task is - running. */ - #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) - { - if( uxTopReadyPriority > tskIDLE_PRIORITY ) - { - uxHigherPriorityReadyTasks = pdTRUE; - } - } - #else - { - const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01; - - /* When port optimised task selection is used the uxTopReadyPriority - variable is used as a bit map. If bits other than the least - significant bit are set then there are tasks that have a priority - above the idle priority that are in the Ready state. This takes - care of the case where the co-operative scheduler is in use. */ - if( uxTopReadyPriority > uxLeastSignificantBit ) - { - uxHigherPriorityReadyTasks = pdTRUE; - } - } - #endif - - if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) - { - xReturn = 0; - } - else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) - { - /* There are other idle priority tasks in the ready state. If - time slicing is used then the very next tick interrupt must be - processed. */ - xReturn = 0; - } - else if( uxHigherPriorityReadyTasks != pdFALSE ) - { - /* There are tasks in the Ready state that have a priority above the - idle priority. This path can only be reached if - configUSE_PREEMPTION is 0. */ - xReturn = 0; - } - else - { - xReturn = xNextTaskUnblockTime - xTickCount; - } - - return xReturn; - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskResumeAll( void ) -{ -TCB_t *pxTCB = NULL; -BaseType_t xAlreadyYielded = pdFALSE; - - /* If uxSchedulerSuspended is zero then this function does not match a - previous call to vTaskSuspendAll(). */ - configASSERT( uxSchedulerSuspended ); - - /* It is possible that an ISR caused a task to be removed from an event - list while the scheduler was suspended. If this was the case then the - removed task will have been added to the xPendingReadyList. Once the - scheduler has been resumed it is safe to move all the pending ready - tasks from this list into their appropriate ready list. */ - taskENTER_CRITICAL(); - { - --uxSchedulerSuspended; - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) - { - /* Move any readied tasks from the pending list into the - appropriate ready list. */ - while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* If the moved task has a priority higher than the current - task then a yield must be performed. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( pxTCB != NULL ) - { - /* A task was unblocked while the scheduler was suspended, - which may have prevented the next unblock time from being - re-calculated, in which case re-calculate it now. Mainly - important for low power tickless implementations, where - this can prevent an unnecessary exit from low power - state. */ - prvResetNextTaskUnblockTime(); - } - - /* If any ticks occurred while the scheduler was suspended then - they should be processed now. This ensures the tick count does - not slip, and that any delayed tasks are resumed at the correct - time. */ - { - UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */ - - if( uxPendedCounts > ( UBaseType_t ) 0U ) - { - do - { - if( xTaskIncrementTick() != pdFALSE ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - --uxPendedCounts; - } while( uxPendedCounts > ( UBaseType_t ) 0U ); - - uxPendedTicks = 0; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( xYieldPending != pdFALSE ) - { - #if( configUSE_PREEMPTION != 0 ) - { - xAlreadyYielded = pdTRUE; - } - #endif - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xAlreadyYielded; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCount( void ) -{ -TickType_t xTicks; - - /* Critical section required if running on a 16 bit processor. */ - portTICK_TYPE_ENTER_CRITICAL(); - { - xTicks = xTickCount; - } - portTICK_TYPE_EXIT_CRITICAL(); - - return xTicks; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCountFromISR( void ) -{ -TickType_t xReturn; -UBaseType_t uxSavedInterruptStatus; - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); - { - xReturn = xTickCount; - } - portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxTaskGetNumberOfTasks( void ) -{ - /* A critical section is not required because the variables are of type - BaseType_t. */ - return uxCurrentNumberOfTasks; -} -/*-----------------------------------------------------------*/ - -char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -TCB_t *pxTCB; - - /* If null is passed in here then the name of the calling task is being - queried. */ - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - configASSERT( pxTCB ); - return &( pxTCB->pcTaskName[ 0 ] ); -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetHandle == 1 ) - - static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) - { - TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL; - UBaseType_t x; - char cNextChar; - - /* This function is called with the scheduler suspended. */ - - if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - - /* Check each character in the name looking for a match or - mismatch. */ - for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) - { - cNextChar = pxNextTCB->pcTaskName[ x ]; - - if( cNextChar != pcNameToQuery[ x ] ) - { - /* Characters didn't match. */ - break; - } - else if( cNextChar == 0x00 ) - { - /* Both strings terminated, a match must have been - found. */ - pxReturn = pxNextTCB; - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( pxReturn != NULL ) - { - /* The handle has been found. */ - break; - } - - } while( pxNextTCB != pxFirstTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return pxReturn; - } - -#endif /* INCLUDE_xTaskGetHandle */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetHandle == 1 ) - - TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - UBaseType_t uxQueue = configMAX_PRIORITIES; - TCB_t* pxTCB; - - /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */ - configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN ); - - vTaskSuspendAll(); - { - /* Search the ready lists. */ - do - { - uxQueue--; - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery ); - - if( pxTCB != NULL ) - { - /* Found the handle. */ - break; - } - - } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - /* Search the delayed lists. */ - if( pxTCB == NULL ) - { - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery ); - } - - if( pxTCB == NULL ) - { - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery ); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( pxTCB == NULL ) - { - /* Search the suspended list. */ - pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery ); - } - } - #endif - - #if( INCLUDE_vTaskDelete == 1 ) - { - if( pxTCB == NULL ) - { - /* Search the deleted list. */ - pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery ); - } - } - #endif - } - ( void ) xTaskResumeAll(); - - return ( TaskHandle_t ) pxTCB; - } - -#endif /* INCLUDE_xTaskGetHandle */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) - { - UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; - - vTaskSuspendAll(); - { - /* Is there a space in the array for each task in the system? */ - if( uxArraySize >= uxCurrentNumberOfTasks ) - { - /* Fill in an TaskStatus_t structure with information on each - task in the Ready state. */ - do - { - uxQueue--; - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); - - } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - /* Fill in an TaskStatus_t structure with information on each - task in the Blocked state. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); - - #if( INCLUDE_vTaskDelete == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task that has been deleted but not yet cleaned up. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task in the Suspended state. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1) - { - if( pulTotalRunTime != NULL ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); - #else - *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - } - } - #else - { - if( pulTotalRunTime != NULL ) - { - *pulTotalRunTime = 0; - } - } - #endif - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - TaskHandle_t xTaskGetIdleTaskHandle( void ) - { - /* If xTaskGetIdleTaskHandle() is called before the scheduler has been - started, then xIdleTaskHandle will be NULL. */ - configASSERT( ( xIdleTaskHandle != NULL ) ); - return xIdleTaskHandle; - } - -#endif /* INCLUDE_xTaskGetIdleTaskHandle */ -/*----------------------------------------------------------*/ - -/* This conditional compilation should use inequality to 0, not equality to 1. -This is to ensure vTaskStepTick() is available when user defined low power mode -implementations require configUSE_TICKLESS_IDLE to be set to a value other than -1. */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - void vTaskStepTick( const TickType_t xTicksToJump ) - { - /* Correct the tick count value after a period during which the tick - was suppressed. Note this does *not* call the tick hook function for - each stepped tick. */ - configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); - xTickCount += xTicksToJump; - traceINCREASE_TICK_COUNT( xTicksToJump ); - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskAbortDelay == 1 ) - - BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) - { - TCB_t *pxTCB = ( TCB_t * ) xTask; - BaseType_t xReturn = pdFALSE; - - configASSERT( pxTCB ); - - vTaskSuspendAll(); - { - /* A task can only be prematurely removed from the Blocked state if - it is actually in the Blocked state. */ - if( eTaskGetState( xTask ) == eBlocked ) - { - /* Remove the reference to the task from the blocked list. An - interrupt won't touch the xStateListItem because the - scheduler is suspended. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - - /* Is the task waiting on an event also? If so remove it from - the event list too. Interrupts can touch the event list item, - even though the scheduler is suspended, so a critical section - is used. */ - taskENTER_CRITICAL(); - { - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - pxTCB->ucDelayAborted = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - /* Place the unblocked task into the appropriate ready list. */ - prvAddTaskToReadyList( pxTCB ); - - /* A task being unblocked cannot cause an immediate context - switch if preemption is turned off. */ - #if ( configUSE_PREEMPTION == 1 ) - { - /* Preemption is on, but a context switch should only be - performed if the unblocked task has a priority that is - equal to or higher than the currently executing task. */ - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Pend the yield to be performed when the scheduler - is unsuspended. */ - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - xTaskResumeAll(); - - return xReturn; - } - -#endif /* INCLUDE_xTaskAbortDelay */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskIncrementTick( void ) -{ -TCB_t * pxTCB; -TickType_t xItemValue; -BaseType_t xSwitchRequired = pdFALSE; - - /* Called by the portable layer each time a tick interrupt occurs. - Increments the tick then checks to see if the new tick value will cause any - tasks to be unblocked. */ - traceTASK_INCREMENT_TICK( xTickCount ); - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount + 1; - - /* Increment the RTOS tick, switching the delayed and overflowed - delayed lists if it wraps to 0. */ - xTickCount = xConstTickCount; - - if( xConstTickCount == ( TickType_t ) 0U ) - { - taskSWITCH_DELAYED_LISTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* See if this tick has made a timeout expire. Tasks are stored in - the queue in the order of their wake time - meaning once one task - has been found whose block time has not expired there is no need to - look any further down the list. */ - if( xConstTickCount >= xNextTaskUnblockTime ) - { - for( ;; ) - { - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) - { - /* The delayed list is empty. Set xNextTaskUnblockTime - to the maximum possible value so it is extremely - unlikely that the - if( xTickCount >= xNextTaskUnblockTime ) test will pass - next time through. */ - xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - break; - } - else - { - /* The delayed list is not empty, get the value of the - item at the head of the delayed list. This is the time - at which the task at the head of the delayed list must - be removed from the Blocked state. */ - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) ); - - if( xConstTickCount < xItemValue ) - { - /* It is not time to unblock this item yet, but the - item value is the time at which the task at the head - of the blocked list must be removed from the Blocked - state - so record the item value in - xNextTaskUnblockTime. */ - xNextTaskUnblockTime = xItemValue; - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* It is time to remove the item from the Blocked state. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - - /* Is the task waiting on an event also? If so remove - it from the event list. */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Place the unblocked task into the appropriate ready - list. */ - prvAddTaskToReadyList( pxTCB ); - - /* A task being unblocked cannot cause an immediate - context switch if preemption is turned off. */ - #if ( configUSE_PREEMPTION == 1 ) - { - /* Preemption is on, but a context switch should - only be performed if the unblocked task has a - priority that is equal to or higher than the - currently executing task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - } - } - } - - /* Tasks of equal priority to the currently running task will share - processing time (time slice) if preemption is on, and the application - writer has not explicitly turned time slicing off. */ - #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) - { - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ - - #if ( configUSE_TICK_HOOK == 1 ) - { - /* Guard against the tick hook being called when the pended tick - count is being unwound (when the scheduler is being unlocked). */ - if( uxPendedTicks == ( UBaseType_t ) 0U ) - { - vApplicationTickHook(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICK_HOOK */ - } - else - { - ++uxPendedTicks; - - /* The tick hook gets called at regular intervals, even if the - scheduler is locked. */ - #if ( configUSE_TICK_HOOK == 1 ) - { - vApplicationTickHook(); - } - #endif - } - - #if ( configUSE_PREEMPTION == 1 ) - { - if( xYieldPending != pdFALSE ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - - return xSwitchRequired; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) - { - TCB_t *xTCB; - - /* If xTask is NULL then it is the task hook of the calling task that is - getting set. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - xTCB->pxTaskTag = pxHookFunction; - taskEXIT_CRITICAL(); - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) - { - TCB_t *xTCB; - TaskHookFunction_t xReturn; - - /* If xTask is NULL then we are setting our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - { - xReturn = xTCB->pxTaskTag; - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) - { - TCB_t *xTCB; - BaseType_t xReturn; - - /* If xTask is NULL then we are calling our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - if( xTCB->pxTaskTag != NULL ) - { - xReturn = xTCB->pxTaskTag( pvParameter ); - } - else - { - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -void vTaskSwitchContext( void ) -{ - if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) - { - /* The scheduler is currently suspended - do not allow a context - switch. */ - xYieldPending = pdTRUE; - } - else - { - xYieldPending = pdFALSE; - traceTASK_SWITCHED_OUT(); - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); - #else - ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - - /* Add the amount of time the task has been running to the - accumulated time so far. The time the task started running was - stored in ulTaskSwitchedInTime. Note that there is no overflow - protection here so count values are only valid until the timer - overflows. The guard against negative values is to protect - against suspect run time stat counter implementations - which - are provided by the application, not the kernel. */ - if( ulTotalRunTime > ulTaskSwitchedInTime ) - { - pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - ulTaskSwitchedInTime = ulTotalRunTime; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - /* Check for stack overflow, if configured. */ - taskCHECK_FOR_STACK_OVERFLOW(); - - /* Select a new task to run using either the generic C or port - optimised asm code. */ - taskSELECT_HIGHEST_PRIORITY_TASK(); - traceTASK_SWITCHED_IN(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to this task. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - } -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) -{ - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ - - /* Place the event list item of the TCB in the appropriate event list. - This is placed in the list in priority order so the highest priority task - is the first to be woken by the event. The queue that contains the event - list is locked, preventing simultaneous access from interrupts. */ - vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) -{ - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event groups implementation. */ - configASSERT( uxSchedulerSuspended != 0 ); - - /* Store the item value in the event list item. It is safe to access the - event list item here as interrupts won't access the event list item of a - task that is not in the Blocked state. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Place the event list item of the TCB at the end of the appropriate event - list. It is safe to access the event list here because it is part of an - event group implementation - and interrupts don't access event groups - directly (instead they access them indirectly by pending function calls to - the task level). */ - vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TIMERS == 1 ) - - void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) - { - configASSERT( pxEventList ); - - /* This function should not be called by application code hence the - 'Restricted' in its name. It is not part of the public API. It is - designed for use by kernel code, and has special calling requirements - - it should be called with the scheduler suspended. */ - - - /* Place the event list item of the TCB in the appropriate event list. - In this case it is assume that this is the only task that is going to - be waiting on this event list, so the faster vListInsertEnd() function - can be used in place of vListInsert. */ - vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - /* If the task should block indefinitely then set the block time to a - value that will be recognised as an indefinite delay inside the - prvAddCurrentTaskToDelayedList() function. */ - if( xWaitIndefinitely != pdFALSE ) - { - xTicksToWait = portMAX_DELAY; - } - - traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) ); - prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely ); - } - -#endif /* configUSE_TIMERS */ -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be - called from a critical section within an ISR. */ - - /* The event list is sorted in priority order, so the first in the list can - be removed as it is known to be the highest priority. Remove the TCB from - the delayed list, and add it to the ready list. - - If an event is for a queue that is locked then this function will never - get called - the lock count on the queue will get modified instead. This - means exclusive access to the event list is guaranteed here. - - This function assumes that a check has already been made to ensure that - pxEventList is not empty. */ - pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold this task - pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); - } - - if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has a higher - priority than the calling task. This allows the calling task to know if - it should force a context switch now. */ - xReturn = pdTRUE; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - #if( configUSE_TICKLESS_IDLE != 0 ) - { - /* If a task is blocked on a kernel object then xNextTaskUnblockTime - might be set to the blocked task's time out time. If the task is - unblocked for a reason other than a timeout xNextTaskUnblockTime is - normally left unchanged, because it is automatically reset to a new - value when the tick count equals xNextTaskUnblockTime. However if - tickless idling is used it might be more important to enter sleep mode - at the earliest possible time - so reset xNextTaskUnblockTime here to - ensure it is updated at the earliest possible time. */ - prvResetNextTaskUnblockTime(); - } - #endif - - return xReturn; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event flags implementation. */ - configASSERT( uxSchedulerSuspended != pdFALSE ); - - /* Store the new item value in the event list. */ - listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Remove the event list form the event flag. Interrupts do not access - event flags. */ - pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( pxEventListItem ); - - /* Remove the task from the delayed list and add it to the ready list. The - scheduler is suspended so interrupts will not be accessing the ready - lists. */ - ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - - if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has - a higher priority than the calling task. This allows - the calling task to know if it should force a context - switch now. */ - xReturn = pdTRUE; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) -{ - configASSERT( pxTimeOut ); - pxTimeOut->xOverflowCount = xNumOfOverflows; - pxTimeOut->xTimeOnEntering = xTickCount; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) -{ -BaseType_t xReturn; - - configASSERT( pxTimeOut ); - configASSERT( pxTicksToWait ); - - taskENTER_CRITICAL(); - { - /* Minor optimisation. The tick count cannot change in this block. */ - const TickType_t xConstTickCount = xTickCount; - - #if( INCLUDE_xTaskAbortDelay == 1 ) - if( pxCurrentTCB->ucDelayAborted != pdFALSE ) - { - /* The delay was aborted, which is not the same as a time out, - but has the same result. */ - pxCurrentTCB->ucDelayAborted = pdFALSE; - xReturn = pdTRUE; - } - else - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - if( *pxTicksToWait == portMAX_DELAY ) - { - /* If INCLUDE_vTaskSuspend is set to 1 and the block time - specified is the maximum block time then the task should block - indefinitely, and therefore never time out. */ - xReturn = pdFALSE; - } - else - #endif - - if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ - { - /* The tick count is greater than the time at which - vTaskSetTimeout() was called, but has also overflowed since - vTaskSetTimeOut() was called. It must have wrapped all the way - around and gone past again. This passed since vTaskSetTimeout() - was called. */ - xReturn = pdTRUE; - } - else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */ - { - /* Not a genuine timeout. Adjust parameters for time remaining. */ - *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering ); - vTaskSetTimeOutState( pxTimeOut ); - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskMissedYield( void ) -{ - xYieldPending = pdTRUE; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) - { - UBaseType_t uxReturn; - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - uxReturn = pxTCB->uxTaskNumber; - } - else - { - uxReturn = 0U; - } - - return uxReturn; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) - { - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - pxTCB->uxTaskNumber = uxHandle; - } - } - -#endif /* configUSE_TRACE_FACILITY */ - -/* - * ----------------------------------------------------------- - * The Idle task. - * ---------------------------------------------------------- - * - * The portTASK_FUNCTION() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION( prvIdleTask, pvParameters ) -{ - /* Stop warnings. */ - ( void ) pvParameters; - - /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE - SCHEDULER IS STARTED. **/ - - for( ;; ) - { - /* See if any tasks have deleted themselves - if so then the idle task - is responsible for freeing the deleted task's TCB and stack. */ - prvCheckTasksWaitingTermination(); - - #if ( configUSE_PREEMPTION == 0 ) - { - /* If we are not using preemption we keep forcing a task switch to - see if any other task has become available. If we are using - preemption we don't need to do this as any task becoming available - will automatically get the processor anyway. */ - taskYIELD(); - } - #endif /* configUSE_PREEMPTION */ - - #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) - { - /* When using preemption tasks of equal priority will be - timesliced. If a task that is sharing the idle priority is ready - to run then the idle task should yield before the end of the - timeslice. - - A critical region is not required here as we are just reading from - the list, and an occasional incorrect value will not matter. If - the ready list at the idle priority contains more than one task - then a task other than the idle task is ready to execute. */ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) - { - taskYIELD(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ - - #if ( configUSE_IDLE_HOOK == 1 ) - { - extern void vApplicationIdleHook( void ); - - /* Call the user defined function from within the idle task. This - allows the application designer to add background functionality - without the overhead of a separate task. - NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, - CALL A FUNCTION THAT MIGHT BLOCK. */ - vApplicationIdleHook(); - } - #endif /* configUSE_IDLE_HOOK */ - - /* This conditional compilation should use inequality to 0, not equality - to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when - user defined low power mode implementations require - configUSE_TICKLESS_IDLE to be set to a value other than 1. */ - #if ( configUSE_TICKLESS_IDLE != 0 ) - { - TickType_t xExpectedIdleTime; - - /* It is not desirable to suspend then resume the scheduler on - each iteration of the idle task. Therefore, a preliminary - test of the expected idle time is performed without the - scheduler suspended. The result here is not necessarily - valid. */ - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - vTaskSuspendAll(); - { - /* Now the scheduler is suspended, the expected idle - time can be sampled again, and this time its value can - be used. */ - configASSERT( xNextTaskUnblockTime >= xTickCount ); - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - traceLOW_POWER_IDLE_BEGIN(); - portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); - traceLOW_POWER_IDLE_END(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICKLESS_IDLE */ - } -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TICKLESS_IDLE != 0 ) - - eSleepModeStatus eTaskConfirmSleepModeStatus( void ) - { - /* The idle task exists in addition to the application tasks. */ - const UBaseType_t uxNonApplicationTasks = 1; - eSleepModeStatus eReturn = eStandardSleep; - - if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) - { - /* A task was made ready while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else if( xYieldPending != pdFALSE ) - { - /* A yield was pended while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else - { - /* If all the tasks are in the suspended list (which might mean they - have an infinite block time rather than actually being suspended) - then it is safe to turn all clocks off and just wait for external - interrupts. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) - { - eReturn = eNoTasksWaitingTimeout; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - return eReturn; - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) - { - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToSet ); - pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; - } - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) - { - void *pvReturn = NULL; - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; - } - else - { - pvReturn = NULL; - } - - return pvReturn; - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( portUSING_MPU_WRAPPERS == 1 ) - - void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) - { - TCB_t *pxTCB; - - /* If null is passed in here then we are modifying the MPU settings of - the calling task. */ - pxTCB = prvGetTCBFromHandle( xTaskToModify ); - - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); - } - -#endif /* portUSING_MPU_WRAPPERS */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseTaskLists( void ) -{ -UBaseType_t uxPriority; - - for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) - { - vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); - } - - vListInitialise( &xDelayedTaskList1 ); - vListInitialise( &xDelayedTaskList2 ); - vListInitialise( &xPendingReadyList ); - - #if ( INCLUDE_vTaskDelete == 1 ) - { - vListInitialise( &xTasksWaitingTermination ); - } - #endif /* INCLUDE_vTaskDelete */ - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - vListInitialise( &xSuspendedTaskList ); - } - #endif /* INCLUDE_vTaskSuspend */ - - /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList - using list2. */ - pxDelayedTaskList = &xDelayedTaskList1; - pxOverflowDelayedTaskList = &xDelayedTaskList2; -} -/*-----------------------------------------------------------*/ - -static void prvCheckTasksWaitingTermination( void ) -{ - - /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/ - - #if ( INCLUDE_vTaskDelete == 1 ) - { - BaseType_t xListIsEmpty; - - /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called - too often in the idle task. */ - while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U ) - { - vTaskSuspendAll(); - { - xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); - } - ( void ) xTaskResumeAll(); - - if( xListIsEmpty == pdFALSE ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - --uxCurrentNumberOfTasks; - --uxDeletedTasksWaitingCleanUp; - } - taskEXIT_CRITICAL(); - - prvDeleteTCB( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #endif /* INCLUDE_vTaskDelete */ -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TRACE_FACILITY == 1 ) - - void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) - { - TCB_t *pxTCB; - - /* xTask is NULL then get the state of the calling task. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB; - pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] ); - pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority; - pxTaskStatus->pxStackBase = pxTCB->pxStack; - pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber; - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* If the task is in the suspended list then there is a chance it is - actually just blocked indefinitely - so really it should be reported as - being in the Blocked state. */ - if( pxTaskStatus->eCurrentState == eSuspended ) - { - vTaskSuspendAll(); - { - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - pxTaskStatus->eCurrentState = eBlocked; - } - } - xTaskResumeAll(); - } - } - #endif /* INCLUDE_vTaskSuspend */ - - #if ( configUSE_MUTEXES == 1 ) - { - pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority; - } - #else - { - pxTaskStatus->uxBasePriority = 0; - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter; - } - #else - { - pxTaskStatus->ulRunTimeCounter = 0; - } - #endif - - /* Obtaining the task state is a little fiddly, so is only done if the value - of eState passed into this function is eInvalid - otherwise the state is - just set to whatever is passed in. */ - if( eState != eInvalid ) - { - pxTaskStatus->eCurrentState = eState; - } - else - { - pxTaskStatus->eCurrentState = eTaskGetState( xTask ); - } - - /* Obtaining the stack space takes some time, so the xGetFreeStackSpace - parameter is provided to allow it to be skipped. */ - if( xGetFreeStackSpace != pdFALSE ) - { - #if ( portSTACK_GROWTH > 0 ) - { - pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack ); - } - #else - { - pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack ); - } - #endif - } - else - { - pxTaskStatus->usStackHighWaterMark = 0; - } - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) - { - volatile TCB_t *pxNextTCB, *pxFirstTCB; - UBaseType_t uxTask = 0; - - if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - - /* Populate an TaskStatus_t structure within the - pxTaskStatusArray array for each task that is referenced from - pxList. See the definition of TaskStatus_t in task.h for the - meaning of each TaskStatus_t structure member. */ - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState ); - uxTask++; - } while( pxNextTCB != pxFirstTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) - { - uint32_t ulCount = 0U; - - while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) - { - pucStackByte -= portSTACK_GROWTH; - ulCount++; - } - - ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ - - return ( uint16_t ) ulCount; - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) - - UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - uint8_t *pucEndOfStack; - UBaseType_t uxReturn; - - pxTCB = prvGetTCBFromHandle( xTask ); - - #if portSTACK_GROWTH < 0 - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; - } - #else - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; - } - #endif - - uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( TCB_t *pxTCB ) - { - /* This call is required specifically for the TriCore port. It must be - above the vPortFree() calls. The call is also used by ports/demos that - want to allocate and clean RAM statically. */ - portCLEAN_UP_TCB( pxTCB ); - - /* Free up the memory allocated by the scheduler for the task. It is up - to the task to free any memory allocated at the application level. */ - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - _reclaim_reent( &( pxTCB->xNewLib_reent ) ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) - { - /* The task can only have been allocated dynamically - free both - the stack and TCB. */ - vPortFree( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 ) - { - /* The task could have been allocated statically or dynamically, so - check what was statically allocated before trying to free the - memory. */ - if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) - { - /* Both the stack and TCB were allocated dynamically, so both - must be freed. */ - vPortFree( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) - { - /* Only the stack was statically allocated, so the TCB is the - only memory that must be freed. */ - vPortFree( pxTCB ); - } - else - { - /* Neither the stack nor the TCB were allocated dynamically, so - nothing needs to be freed. */ - configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ) - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -static void prvResetNextTaskUnblockTime( void ) -{ -TCB_t *pxTCB; - - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) - { - /* The new current delayed list is empty. Set xNextTaskUnblockTime to - the maximum possible value so it is extremely unlikely that the - if( xTickCount >= xNextTaskUnblockTime ) test will pass until - there is an item in the delayed list. */ - xNextTaskUnblockTime = portMAX_DELAY; - } - else - { - /* The new current delayed list is not empty, get the value of - the item at the head of the delayed list. This is the time at - which the task at the head of the delayed list should be removed - from the Blocked state. */ - ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) ); - } -} -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) - - TaskHandle_t xTaskGetCurrentTaskHandle( void ) - { - TaskHandle_t xReturn; - - /* A critical section is not required as this is not called from - an interrupt and the current TCB will always be the same for any - individual execution thread. */ - xReturn = pxCurrentTCB; - - return xReturn; - } - -#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - - BaseType_t xTaskGetSchedulerState( void ) - { - BaseType_t xReturn; - - if( xSchedulerRunning == pdFALSE ) - { - xReturn = taskSCHEDULER_NOT_STARTED; - } - else - { - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - xReturn = taskSCHEDULER_RUNNING; - } - else - { - xReturn = taskSCHEDULER_SUSPENDED; - } - } - - return xReturn; - } - -#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - - /* If the mutex was given back by an interrupt while the queue was - locked then the mutex holder might now be NULL. */ - if( pxMutexHolder != NULL ) - { - /* If the holder of the mutex has a priority below the priority of - the task attempting to obtain the mutex then it will temporarily - inherit the priority of the task attempting to obtain the mutex. */ - if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) - { - /* Adjust the mutex holder state to account for its new - priority. Only reset the event list item value if the value is - not being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* If the task being modified is in the ready state it will need - to be moved into a new list. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Inherit the priority before being moved into the new list. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* Just inherit the priority. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - } - - traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - BaseType_t xReturn = pdFALSE; - - if( pxMutexHolder != NULL ) - { - /* A task can only have an inherited priority if it holds the mutex. - If the mutex is held by a task then it cannot be given from an - interrupt, and if a mutex is given by the holding task then it must - be the running state task. */ - configASSERT( pxTCB == pxCurrentTCB ); - - configASSERT( pxTCB->uxMutexesHeld ); - ( pxTCB->uxMutexesHeld )--; - - /* Has the holder of the mutex inherited the priority of another - task? */ - if( pxTCB->uxPriority != pxTCB->uxBasePriority ) - { - /* Only disinherit if no other mutexes are held. */ - if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) - { - /* A task can only have an inherited priority if it holds - the mutex. If the mutex is held by a task then it cannot be - given from an interrupt, and if a mutex is given by the - holding task then it must be the running state task. Remove - the holding task from the ready list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Disinherit the priority before adding the task into the - new ready list. */ - traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); - pxTCB->uxPriority = pxTCB->uxBasePriority; - - /* Reset the event list item value. It cannot be in use for - any other purpose if this task is running, and it must be - running to give back the mutex. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - prvAddTaskToReadyList( pxTCB ); - - /* Return true to indicate that a context switch is required. - This is only actually required in the corner case whereby - multiple mutexes were held and the mutexes were given back - in an order different to that in which they were taken. - If a context switch did not occur when the first mutex was - returned, even if a task was waiting on it, then a context - switch should occur when the last mutex is returned whether - a task is waiting on it or not. */ - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskEnterCritical( void ) - { - portDISABLE_INTERRUPTS(); - - if( xSchedulerRunning != pdFALSE ) - { - ( pxCurrentTCB->uxCriticalNesting )++; - - /* This is not the interrupt safe version of the enter critical - function so assert() if it is being called from an interrupt - context. Only API functions that end in "FromISR" can be used in an - interrupt. Only assert if the critical nesting count is 1 to - protect against recursive calls if the assert function also uses a - critical section. */ - if( pxCurrentTCB->uxCriticalNesting == 1 ) - { - portASSERT_IF_IN_ISR(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskExitCritical( void ) - { - if( xSchedulerRunning != pdFALSE ) - { - if( pxCurrentTCB->uxCriticalNesting > 0U ) - { - ( pxCurrentTCB->uxCriticalNesting )--; - - if( pxCurrentTCB->uxCriticalNesting == 0U ) - { - portENABLE_INTERRUPTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) - { - size_t x; - - /* Start by copying the entire string. */ - strcpy( pcBuffer, pcTaskName ); - - /* Pad the end of the string with spaces to ensure columns line up when - printed out. */ - for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) - { - pcBuffer[ x ] = ' '; - } - - /* Terminate. */ - pcBuffer[ x ] = 0x00; - - /* Return the new end of string. */ - return &( pcBuffer[ x ] ); - } - -#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskList( char * pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - char cStatus; - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskList() calls uxTaskGetSystemState(), then formats part of the - * uxTaskGetSystemState() output into a human readable table that - * displays task names, states and stack usage. - * - * vTaskList() has a dependency on the sprintf() C library function that - * might bloat the code size, use a lot of stack, and provide different - * results on different platforms. An alternative, tiny, third party, - * and limited functionality implementation of sprintf() is provided in - * many of the FreeRTOS/Demo sub-directories in a file called - * printf-stdarg.c (note printf-stdarg.c does not provide a full - * snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskList(). - */ - - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. NOTE! if - configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will - equate to NULL. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); - - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - switch( pxTaskStatusArray[ x ].eCurrentState ) - { - case eReady: cStatus = tskREADY_CHAR; - break; - - case eBlocked: cStatus = tskBLOCKED_CHAR; - break; - - case eSuspended: cStatus = tskSUSPENDED_CHAR; - break; - - case eDeleted: cStatus = tskDELETED_CHAR; - break; - - default: /* Should not get here, but it is included - to prevent static checking errors. */ - cStatus = 0x00; - break; - } - - /* Write the task name to the string, padding with spaces so it - can be printed in tabular form more easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - /* Write the rest of the string. */ - sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); - pcWriteBuffer += strlen( pcWriteBuffer ); - } - - /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION - is 0 then vPortFree() will be #defined to nothing. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*----------------------------------------------------------*/ - -#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskGetRunTimeStats( char *pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - uint32_t ulTotalTime, ulStatsAsPercentage; - - #if( configUSE_TRACE_FACILITY != 1 ) - { - #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). - } - #endif - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part - * of the uxTaskGetSystemState() output into a human readable table that - * displays the amount of time each task has spent in the Running state - * in both absolute and percentage terms. - * - * vTaskGetRunTimeStats() has a dependency on the sprintf() C library - * function that might bloat the code size, use a lot of stack, and - * provide different results on different platforms. An alternative, - * tiny, third party, and limited functionality implementation of - * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in - * a file called printf-stdarg.c (note printf-stdarg.c does not provide - * a full snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskGetRunTimeStats(). - */ - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. NOTE! If - configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will - equate to NULL. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); - - /* For percentage calculations. */ - ulTotalTime /= 100UL; - - /* Avoid divide by zero errors. */ - if( ulTotalTime > 0 ) - { - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - /* What percentage of the total run time has the task used? - This will always be rounded down to the nearest integer. - ulTotalRunTimeDiv100 has already been divided by 100. */ - ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; - - /* Write the task name to the string, padding with - spaces so it can be printed in tabular form more - easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - if( ulStatsAsPercentage > 0UL ) - { - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); - } - #endif - } - else - { - /* If the percentage is zero here then the task has - consumed less than 1% of the total run time. */ - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #endif - } - - pcWriteBuffer += strlen( pcWriteBuffer ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION - is 0 then vPortFree() will be #defined to nothing. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*-----------------------------------------------------------*/ - -TickType_t uxTaskResetEventItemValue( void ) -{ -TickType_t uxReturn; - - uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); - - /* Reset the event list item to its normal value - so it can be used with - queues and semaphores. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void *pvTaskIncrementMutexHeldCount( void ) - { - /* If xSemaphoreCreateMutex() is called before any tasks have been created - then pxCurrentTCB will be NULL. */ - if( pxCurrentTCB != NULL ) - { - ( pxCurrentTCB->uxMutexesHeld )++; - } - - return pxCurrentTCB; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) - { - uint32_t ulReturn; - - taskENTER_CRITICAL(); - { - /* Only block if the notification count is not already non-zero. */ - if( pxCurrentTCB->ulNotifiedValue == 0UL ) - { - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); - traceTASK_NOTIFY_TAKE_BLOCK(); - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - traceTASK_NOTIFY_TAKE(); - ulReturn = pxCurrentTCB->ulNotifiedValue; - - if( ulReturn != 0UL ) - { - if( xClearCountOnExit != pdFALSE ) - { - pxCurrentTCB->ulNotifiedValue = 0UL; - } - else - { - pxCurrentTCB->ulNotifiedValue = ulReturn - 1; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - taskEXIT_CRITICAL(); - - return ulReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) - { - BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - /* Only block if a notification is not already pending. */ - if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED ) - { - /* Clear bits in the task's notification value as bits may get - set by the notifying task or interrupt. This can be used to - clear the value to zero. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; - - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); - traceTASK_NOTIFY_WAIT_BLOCK(); - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - traceTASK_NOTIFY_WAIT(); - - if( pulNotificationValue != NULL ) - { - /* Output the current notification value, which may or may not - have changed. */ - *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; - } - - /* If ucNotifyValue is set then either the task never entered the - blocked state (because a notification was already pending) or the - task unblocked because of a notification. Otherwise the task - unblocked because of a timeout. */ - if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION ) - { - /* A notification was not received. */ - xReturn = pdFALSE; - } - else - { - /* A notification was already pending or a notification was - received while the task was waiting. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; - xReturn = pdTRUE; - } - - pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) - { - TCB_t * pxTCB; - BaseType_t xReturn = pdPASS; - uint8_t ucOriginalNotifyState; - - configASSERT( xTaskToNotify ); - pxTCB = ( TCB_t * ) xTaskToNotify; - - taskENTER_CRITICAL(); - { - if( pulPreviousNotificationValue != NULL ) - { - *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; - } - - ucOriginalNotifyState = pxTCB->ucNotifyState; - - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction: - /* The task is being notified without its notify value being - updated. */ - break; - } - - traceTASK_NOTIFY(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - #if( configUSE_TICKLESS_IDLE != 0 ) - { - /* If a task is blocked waiting for a notification then - xNextTaskUnblockTime might be set to the blocked task's time - out time. If the task is unblocked for a reason other than - a timeout xNextTaskUnblockTime is normally left unchanged, - because it will automatically get reset to a new value when - the tick count equals xNextTaskUnblockTime. However if - tickless idling is used it might be more important to enter - sleep mode at the earliest possible time - so reset - xNextTaskUnblockTime here to ensure it is updated at the - earliest possible time. */ - prvResetNextTaskUnblockTime(); - } - #endif - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - uint8_t ucOriginalNotifyState; - BaseType_t xReturn = pdPASS; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( pulPreviousNotificationValue != NULL ) - { - *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; - } - - ucOriginalNotifyState = pxTCB->ucNotifyState; - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction : - /* The task is being notified without its notify value being - updated. */ - break; - } - - traceTASK_NOTIFY_FROM_ISR(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - /* Mark that a yield is pending in case the user is not - using the "xHigherPriorityTaskWoken" parameter to an ISR - safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - uint8_t ucOriginalNotifyState; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - ucOriginalNotifyState = pxTCB->ucNotifyState; - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - /* 'Giving' is equivalent to incrementing a count in a counting - semaphore. */ - ( pxTCB->ulNotifiedValue )++; - - traceTASK_NOTIFY_GIVE_FROM_ISR(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - /* Mark that a yield is pending in case the user is not - using the "xHigherPriorityTaskWoken" parameter in an ISR - safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ - -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - BaseType_t xReturn; - - /* If null is passed in here then it is the calling task that is having - its notification state cleared. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - taskENTER_CRITICAL(); - { - if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED ) - { - pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - - -static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) -{ -TickType_t xTimeToWake; -const TickType_t xConstTickCount = xTickCount; - - #if( INCLUDE_xTaskAbortDelay == 1 ) - { - /* About to enter a delayed list, so ensure the ucDelayAborted flag is - reset to pdFALSE so it can be detected as having been set to pdTRUE - when the task leaves the Blocked state. */ - pxCurrentTCB->ucDelayAborted = pdFALSE; - } - #endif - - /* Remove the task from the ready list before adding it to the blocked list - as the same list item is used for both lists. */ - if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is no need to - check, and the port reset macro can be called directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) ) - { - /* Add the task to the suspended task list instead of a delayed task - list to ensure it is not woken by a timing event. It will block - indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* Calculate the time at which the task should be woken if the event - does not occur. This may overflow but this doesn't matter, the - kernel will manage it correctly. */ - xTimeToWake = xConstTickCount + xTicksToWait; - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); - - if( xTimeToWake < xConstTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow - list. */ - vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* The wake time has not overflowed, so the current block list - is used. */ - vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - - /* If the task entering the blocked state was placed at the - head of the list of blocked tasks then xNextTaskUnblockTime - needs to be updated too. */ - if( xTimeToWake < xNextTaskUnblockTime ) - { - xNextTaskUnblockTime = xTimeToWake; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be woken if the event - does not occur. This may overflow but this doesn't matter, the kernel - will manage it correctly. */ - xTimeToWake = xConstTickCount + xTicksToWait; - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); - - if( xTimeToWake < xConstTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow list. */ - vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* The wake time has not overflowed, so the current block list is used. */ - vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - - /* If the task entering the blocked state was placed at the head of the - list of blocked tasks then xNextTaskUnblockTime needs to be updated - too. */ - if( xTimeToWake < xNextTaskUnblockTime ) - { - xNextTaskUnblockTime = xTimeToWake; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */ - ( void ) xCanBlockIndefinitely; - } - #endif /* INCLUDE_vTaskSuspend */ -} - - -#ifdef FREERTOS_MODULE_TEST - #include "tasks_test_access_functions.h" -#endif - -#if (configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1) - #include "freertos_tasks_c_additions.h" - - #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT - static void freertos_tasks_c_additions_init( void ) - { - FREERTOS_TASKS_C_ADDITIONS_INIT(); - } - #endif -#endif - +/*
+ * FreeRTOS Kernel V10.1.1
+ * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 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 "stack_macros.h"
+
+/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
+because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+for the header files above, but not in this file, in order to generate the
+correct privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
+
+/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
+functions but without including stdio.h here. */
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
+ /* At the bottom of this file are two optional functions that can be used
+ to generate human readable text from the raw data generated by the
+ uxTaskGetSystemState() function. Note the formatting functions are provided
+ for convenience only, and are NOT considered part of the kernel. */
+ #include <stdio.h>
+#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
+
+#if( configUSE_PREEMPTION == 0 )
+ /* If the cooperative scheduler is being used then a yield should not be
+ performed just because a higher priority task has been woken. */
+ #define taskYIELD_IF_USING_PREEMPTION()
+#else
+ #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+#endif
+
+/* Values that can be assigned to the ucNotifyState member of the TCB. */
+#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
+#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
+#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
+
+/*
+ * The value used to fill the stack of a task when the task is created. This
+ * is used purely for checking the high water mark for tasks.
+ */
+#define tskSTACK_FILL_BYTE ( 0xa5U )
+
+/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
+dynamically allocated RAM, in which case when any task is deleted it is known
+that both the task's stack and TCB need to be freed. Sometimes the
+FreeRTOSConfig.h settings only allow a task to be created using statically
+allocated RAM, in which case when any task is deleted it is known that neither
+the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
+settings allow a task to be created using either statically or dynamically
+allocated RAM, in which case a member of the TCB is used to record whether the
+stack and/or TCB were allocated statically or dynamically, so when a task is
+deleted the RAM that was allocated dynamically is freed again and no attempt is
+made to free the RAM that was allocated statically.
+tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
+task to be created using either statically or dynamically allocated RAM. Note
+that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
+a statically allocated stack and a dynamically allocated TCB.
+!!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
+changed then the definition of StaticTask_t must also be updated. */
+#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
+#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
+#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
+
+/* If any of the following are set then task stacks are filled with a known
+value so the high water mark can be determined. If none of the following are
+set then don't fill the stack so there is no unnecessary dependency on memset. */
+#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+ #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
+#else
+ #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
+#endif
+
+/*
+ * Macros used by vListTask to indicate which state a task is in.
+ */
+#define tskRUNNING_CHAR ( 'X' )
+#define tskBLOCKED_CHAR ( 'B' )
+#define tskREADY_CHAR ( 'R' )
+#define tskDELETED_CHAR ( 'D' )
+#define tskSUSPENDED_CHAR ( 'S' )
+
+/*
+ * Some kernel aware debuggers require the data the debugger needs access to be
+ * global, rather than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+ #define static
+#endif
+
+/* The name allocated to the Idle task. This can be overridden by defining
+configIDLE_TASK_NAME in FreeRTOSConfig.h. */
+#ifndef configIDLE_TASK_NAME
+ #define configIDLE_TASK_NAME "IDLE"
+#endif
+
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
+
+ /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
+ performed in a generic way that is not optimised to any particular
+ microcontroller architecture. */
+
+ /* uxTopReadyPriority holds the priority of the highest priority ready
+ state task. */
+ #define taskRECORD_READY_PRIORITY( uxPriority ) \
+ { \
+ if( ( uxPriority ) > uxTopReadyPriority ) \
+ { \
+ uxTopReadyPriority = ( uxPriority ); \
+ } \
+ } /* taskRECORD_READY_PRIORITY */
+
+ /*-----------------------------------------------------------*/
+
+ #define taskSELECT_HIGHEST_PRIORITY_TASK() \
+ { \
+ UBaseType_t uxTopPriority = uxTopReadyPriority; \
+ \
+ /* Find the highest priority queue that contains ready tasks. */ \
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
+ { \
+ configASSERT( uxTopPriority ); \
+ --uxTopPriority; \
+ } \
+ \
+ /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
+ the same priority get an equal share of the processor time. */ \
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
+ uxTopReadyPriority = uxTopPriority; \
+ } /* taskSELECT_HIGHEST_PRIORITY_TASK */
+
+ /*-----------------------------------------------------------*/
+
+ /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
+ they are only required when a port optimised method of task selection is
+ being used. */
+ #define taskRESET_READY_PRIORITY( uxPriority )
+ #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+ /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
+ performed in a way that is tailored to the particular microcontroller
+ architecture being used. */
+
+ /* A port optimised version is provided. Call the port defined macros. */
+ #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+ /*-----------------------------------------------------------*/
+
+ #define taskSELECT_HIGHEST_PRIORITY_TASK() \
+ { \
+ UBaseType_t uxTopPriority; \
+ \
+ /* Find the highest priority list that contains ready tasks. */ \
+ portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
+ configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
+ } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
+
+ /*-----------------------------------------------------------*/
+
+ /* A port optimised version is provided, call it only if the TCB being reset
+ is being referenced from a ready list. If it is referenced from a delayed
+ or suspended list then it won't be in a ready list. */
+ #define taskRESET_READY_PRIORITY( uxPriority ) \
+ { \
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
+ { \
+ portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
+ } \
+ }
+
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
+count overflows. */
+#define taskSWITCH_DELAYED_LISTS() \
+{ \
+ List_t *pxTemp; \
+ \
+ /* The delayed tasks list should be empty when the lists are switched. */ \
+ configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
+ \
+ pxTemp = pxDelayedTaskList; \
+ pxDelayedTaskList = pxOverflowDelayedTaskList; \
+ pxOverflowDelayedTaskList = pxTemp; \
+ xNumOfOverflows++; \
+ prvResetNextTaskUnblockTime(); \
+}
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Place the task represented by pxTCB into the appropriate ready list for
+ * the task. It is inserted at the end of the list.
+ */
+#define prvAddTaskToReadyList( pxTCB ) \
+ traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
+ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
+ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
+ tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
+/*-----------------------------------------------------------*/
+
+/*
+ * Several functions take an TaskHandle_t parameter that can optionally be NULL,
+ * where NULL is used to indicate that the handle of the currently executing
+ * task should be used in place of the parameter. This macro simply checks to
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.
+ */
+#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
+
+/* The item value of the event list item is normally used to hold the priority
+of the task to which it belongs (coded to allow it to be held in reverse
+priority order). However, it is occasionally borrowed for other purposes. It
+is important its value is not updated due to a task priority change while it is
+being used for another purpose. The following bit definition is used to inform
+the scheduler that the value should not be changed - in which case it is the
+responsibility of whichever module is using the value to ensure it gets set back
+to its original value when it is released. */
+#if( configUSE_16_BIT_TICKS == 1 )
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
+#else
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
+#endif
+
+/*
+ * Task control block. A task control block (TCB) is allocated for each task,
+ * and stores task state information, including a pointer to the task's context
+ * (the task's run time environment, including register values)
+ */
+typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
+{
+ volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
+
+ #if ( portUSING_MPU_WRAPPERS == 1 )
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
+ #endif
+
+ ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
+ ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
+ UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
+ StackType_t *pxStack; /*< Points to the start of the stack. */
+ char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+
+ #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
+ StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
+ #endif
+
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
+ #endif
+
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
+ UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
+ #endif
+
+ #if ( configUSE_MUTEXES == 1 )
+ UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
+ UBaseType_t uxMutexesHeld;
+ #endif
+
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ TaskHookFunction_t pxTaskTag;
+ #endif
+
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+ void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
+ #endif
+
+ #if( configGENERATE_RUN_TIME_STATS == 1 )
+ uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
+ #endif
+
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )
+ /* Allocate a Newlib reent structure that is specific to this task.
+ Note Newlib support has been included by popular demand, but is not
+ used by the FreeRTOS maintainers themselves. FreeRTOS is not
+ responsible for resulting newlib operation. User must be familiar with
+ newlib and must provide system-wide implementations of the necessary
+ stubs. Be warned that (at the time of writing) the current newlib design
+ implements a system-wide malloc() that must be provided with locks. */
+ struct _reent xNewLib_reent;
+ #endif
+
+ #if( configUSE_TASK_NOTIFICATIONS == 1 )
+ volatile uint32_t ulNotifiedValue;
+ volatile uint8_t ucNotifyState;
+ #endif
+
+ /* See the comments above the definition of
+ tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
+ #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+ uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
+ #endif
+
+ #if( INCLUDE_xTaskAbortDelay == 1 )
+ uint8_t ucDelayAborted;
+ #endif
+
+ #if( configUSE_POSIX_ERRNO == 1 )
+ int iTaskErrno;
+ #endif
+
+} tskTCB;
+
+/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
+below to enable the use of older kernel aware debuggers. */
+typedef tskTCB TCB_t;
+
+/*lint -save -e956 A manual analysis and inspection has been used to determine
+which static variables must be declared volatile. */
+PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
+
+/* Lists for ready and blocked tasks. --------------------
+xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
+doing so breaks some kernel aware debuggers and debuggers that rely on removing
+the static qualifier. */
+PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
+PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
+PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
+
+#if( INCLUDE_vTaskDelete == 1 )
+
+ PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
+ PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
+
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
+
+#endif
+
+/* Global POSIX errno. Its value is changed upon context switching to match
+the errno of the currently running task. */
+#if ( configUSE_POSIX_ERRNO == 1 )
+ int FreeRTOS_errno = 0;
+#endif
+
+/* Other file private variables. --------------------------------*/
+PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
+PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
+PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
+PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
+PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
+
+/* Context switches are held pending while the scheduler is suspended. Also,
+interrupts must not manipulate the xStateListItem of a TCB, or any of the
+lists the xStateListItem can be referenced from, if the scheduler is suspended.
+If an interrupt needs to unblock a task while the scheduler is suspended then it
+moves the task's event list item into the xPendingReadyList, ready for the
+kernel to move the task from the pending ready list into the real ready list
+when the scheduler is unsuspended. The pending ready list itself can only be
+accessed from a critical section. */
+PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+ /* Do not move these variables to function scope as doing so prevents the
+ code working with debuggers that need to remove the static qualifier. */
+ PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
+ PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
+
+#endif
+
+/*lint -restore */
+
+/*-----------------------------------------------------------*/
+
+/* Callback function prototypes. --------------------------*/
+#if( configCHECK_FOR_STACK_OVERFLOW > 0 )
+
+ extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
+
+#endif
+
+#if( configUSE_TICK_HOOK > 0 )
+
+ extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
+
+#endif
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+ extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
+
+#endif
+
+/* File private functions. --------------------------------*/
+
+/**
+ * Utility task that simply returns pdTRUE if the task referenced by xTask is
+ * currently in the Suspended state, or pdFALSE if the task referenced by xTask
+ * is in any other state.
+ */
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+#endif /* INCLUDE_vTaskSuspend */
+
+/*
+ * Utility to ready all the lists used by the scheduler. This is called
+ * automatically upon the creation of the first task.
+ */
+static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * The idle task, which as all tasks is implemented as a never ending loop.
+ * The idle task is automatically created and added to the ready lists upon
+ * creation of the first user task.
+ *
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+
+/*
+ * Utility to free all memory allocated by the scheduler to hold a TCB,
+ * including the stack pointed to by the TCB.
+ *
+ * This does not free memory allocated by the task itself (i.e. memory
+ * allocated by calls to pvPortMalloc from within the tasks application code).
+ */
+#if ( INCLUDE_vTaskDelete == 1 )
+
+ static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Used only by the idle task. This checks to see if anything has been placed
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up
+ * and its TCB deleted.
+ */
+static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * The currently executing task is entering the Blocked state. Add the task to
+ * either the current or the overflow delayed task list.
+ */
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
+
+/*
+ * Fills an TaskStatus_t structure with information on each task that is
+ * referenced from the pxList list (which may be a ready list, a delayed list,
+ * a suspended list, etc.).
+ *
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
+ * NORMAL APPLICATION CODE.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Searches pxList for a task with name pcNameToQuery - returning a handle to
+ * the task if it is found, or NULL if the task is not found.
+ */
+#if ( INCLUDE_xTaskGetHandle == 1 )
+
+ static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * When a task is created, the stack of the task is filled with a known value.
+ * This function determines the 'high water mark' of the task stack by
+ * determining how much of the stack remains at the original preset value.
+ */
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+ static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Return the amount of time, in ticks, that will pass before the kernel will
+ * next move a task from the Blocked state to the Running state.
+ *
+ * This conditional compilation should use inequality to 0, not equality to 1.
+ * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
+ * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
+ * set to a value other than 1.
+ */
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+ static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Set xNextTaskUnblockTime to the time at which the next Blocked state task
+ * will exit the Blocked state.
+ */
+static void prvResetNextTaskUnblockTime( void );
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
+
+ /*
+ * Helper function used to pad task names with spaces when printing out
+ * human readable tables of task information.
+ */
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Called after a Task_t structure has been allocated either statically or
+ * dynamically to fill in the structure's members.
+ */
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+ const uint32_t ulStackDepth,
+ void * const pvParameters,
+ UBaseType_t uxPriority,
+ TaskHandle_t * const pxCreatedTask,
+ TCB_t *pxNewTCB,
+ const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
+
+/*
+ * Called after a new task has been created and initialised to place the task
+ * under the control of the scheduler.
+ */
+static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
+
+/*
+ * freertos_tasks_c_additions_init() should only be called if the user definable
+ * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
+ * called by the function.
+ */
+#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+
+ static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+ TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
+ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+ const uint32_t ulStackDepth,
+ void * const pvParameters,
+ UBaseType_t uxPriority,
+ StackType_t * const puxStackBuffer,
+ StaticTask_t * const pxTaskBuffer )
+ {
+ TCB_t *pxNewTCB;
+ TaskHandle_t xReturn;
+
+ configASSERT( puxStackBuffer != NULL );
+ configASSERT( pxTaskBuffer != NULL );
+
+ #if( configASSERT_DEFINED == 1 )
+ {
+ /* Sanity check that the size of the structure used to declare a
+ variable of type StaticTask_t equals the size of the real task
+ structure. */
+ volatile size_t xSize = sizeof( StaticTask_t );
+ configASSERT( xSize == sizeof( TCB_t ) );
+ ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
+ }
+ #endif /* configASSERT_DEFINED */
+
+
+ if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
+ {
+ /* The memory used for the task's TCB and stack are passed into this
+ function - use them. */
+ pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
+ pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
+
+ #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+ {
+ /* Tasks can be created statically or dynamically, so note this
+ task was created statically in case the task is later deleted. */
+ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
+ }
+ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+ prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
+ prvAddNewTaskToReadyList( pxNewTCB );
+ }
+ else
+ {
+ xReturn = NULL;
+ }
+
+ return xReturn;
+ }
+
+#endif /* SUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+ BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
+ {
+ TCB_t *pxNewTCB;
+ BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+
+ configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
+ configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
+
+ if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
+ {
+ /* Allocate space for the TCB. Where the memory comes from depends
+ on the implementation of the port malloc function and whether or
+ not static allocation is being used. */
+ pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
+
+ /* Store the stack location in the TCB. */
+ pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
+
+ #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
+ {
+ /* Tasks can be created statically or dynamically, so note this
+ task was created statically in case the task is later deleted. */
+ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
+ }
+ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+ prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
+ pxTaskDefinition->pcName,
+ ( uint32_t ) pxTaskDefinition->usStackDepth,
+ pxTaskDefinition->pvParameters,
+ pxTaskDefinition->uxPriority,
+ pxCreatedTask, pxNewTCB,
+ pxTaskDefinition->xRegions );
+
+ prvAddNewTaskToReadyList( pxNewTCB );
+ xReturn = pdPASS;
+ }
+
+ return xReturn;
+ }
+
+#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+ BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
+ {
+ TCB_t *pxNewTCB;
+ BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+
+ configASSERT( pxTaskDefinition->puxStackBuffer );
+
+ if( pxTaskDefinition->puxStackBuffer != NULL )
+ {
+ /* Allocate space for the TCB. Where the memory comes from depends
+ on the implementation of the port malloc function and whether or
+ not static allocation is being used. */
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
+
+ if( pxNewTCB != NULL )
+ {
+ /* Store the stack location in the TCB. */
+ pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
+
+ #if( configSUPPORT_STATIC_ALLOCATION == 1 )
+ {
+ /* Tasks can be created statically or dynamically, so note
+ this task had a statically allocated stack in case it is
+ later deleted. The TCB was allocated dynamically. */
+ pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
+ }
+ #endif
+
+ prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
+ pxTaskDefinition->pcName,
+ ( uint32_t ) pxTaskDefinition->usStackDepth,
+ pxTaskDefinition->pvParameters,
+ pxTaskDefinition->uxPriority,
+ pxCreatedTask, pxNewTCB,
+ pxTaskDefinition->xRegions );
+
+ prvAddNewTaskToReadyList( pxNewTCB );
+ xReturn = pdPASS;
+ }
+ }
+
+ return xReturn;
+ }
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
+
+#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+ BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
+ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+ const configSTACK_DEPTH_TYPE usStackDepth,
+ void * const pvParameters,
+ UBaseType_t uxPriority,
+ TaskHandle_t * const pxCreatedTask )
+ {
+ TCB_t *pxNewTCB;
+ BaseType_t xReturn;
+
+ /* If the stack grows down then allocate the stack then the TCB so the stack
+ does not grow into the TCB. Likewise if the stack grows up then allocate
+ the TCB then the stack. */
+ #if( portSTACK_GROWTH > 0 )
+ {
+ /* Allocate space for the TCB. Where the memory comes from depends on
+ the implementation of the port malloc function and whether or not static
+ allocation is being used. */
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
+
+ if( pxNewTCB != NULL )
+ {
+ /* Allocate space for the stack used by the task being created.
+ The base of the stack memory stored in the TCB so the task can
+ be deleted later if required. */
+ pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
+ if( pxNewTCB->pxStack == NULL )
+ {
+ /* Could not allocate the stack. Delete the allocated TCB. */
+ vPortFree( pxNewTCB );
+ pxNewTCB = NULL;
+ }
+ }
+ }
+ #else /* portSTACK_GROWTH */
+ {
+ StackType_t *pxStack;
+
+ /* Allocate space for the stack used by the task being created. */
+ pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
+
+ if( pxStack != NULL )
+ {
+ /* Allocate space for the TCB. */
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
+
+ if( pxNewTCB != NULL )
+ {
+ /* Store the stack location in the TCB. */
+ pxNewTCB->pxStack = pxStack;
+ }
+ else
+ {
+ /* The stack cannot be used as the TCB was not created. Free
+ it again. */
+ vPortFree( pxStack );
+ }
+ }
+ else
+ {
+ pxNewTCB = NULL;
+ }
+ }
+ #endif /* portSTACK_GROWTH */
+
+ if( pxNewTCB != NULL )
+ {
+ #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
+ {
+ /* Tasks can be created statically or dynamically, so note this
+ task was created dynamically in case it is later deleted. */
+ pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
+ }
+ #endif /* configSUPPORT_STATIC_ALLOCATION */
+
+ prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
+ prvAddNewTaskToReadyList( pxNewTCB );
+ xReturn = pdPASS;
+ }
+ else
+ {
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+ }
+
+ return xReturn;
+ }
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+ const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+ const uint32_t ulStackDepth,
+ void * const pvParameters,
+ UBaseType_t uxPriority,
+ TaskHandle_t * const pxCreatedTask,
+ TCB_t *pxNewTCB,
+ const MemoryRegion_t * const xRegions )
+{
+StackType_t *pxTopOfStack;
+UBaseType_t x;
+
+ #if( portUSING_MPU_WRAPPERS == 1 )
+ /* Should the task be created in privileged mode? */
+ BaseType_t xRunPrivileged;
+ if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
+ {
+ xRunPrivileged = pdTRUE;
+ }
+ else
+ {
+ xRunPrivileged = pdFALSE;
+ }
+ uxPriority &= ~portPRIVILEGE_BIT;
+ #endif /* portUSING_MPU_WRAPPERS == 1 */
+
+ configASSERT( pcName );
+
+ /* Avoid dependency on memset() if it is not required. */
+ #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
+ {
+ /* Fill the stack with a known value to assist debugging. */
+ ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
+ }
+ #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
+
+ /* Calculate the top of stack address. This depends on whether the stack
+ grows from high memory to low (as per the 80x86) or vice versa.
+ portSTACK_GROWTH is used to make the result positive or negative as required
+ by the port. */
+ #if( portSTACK_GROWTH < 0 )
+ {
+ pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
+ pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
+
+ /* Check the alignment of the calculated top of stack is correct. */
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+
+ #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
+ {
+ /* Also record the stack's high address, which may assist
+ debugging. */
+ pxNewTCB->pxEndOfStack = pxTopOfStack;
+ }
+ #endif /* configRECORD_STACK_HIGH_ADDRESS */
+ }
+ #else /* portSTACK_GROWTH */
+ {
+ pxTopOfStack = pxNewTCB->pxStack;
+
+ /* Check the alignment of the stack buffer is correct. */
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+
+ /* The other extreme of the stack space is required if stack checking is
+ performed. */
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
+ }
+ #endif /* portSTACK_GROWTH */
+
+ /* Store the task name in the TCB. */
+ for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
+ {
+ pxNewTCB->pcTaskName[ x ] = pcName[ x ];
+
+ /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
+ configMAX_TASK_NAME_LEN characters just in case the memory after the
+ string is not accessible (extremely unlikely). */
+ if( pcName[ x ] == ( char ) 0x00 )
+ {
+ break;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ /* Ensure the name string is terminated in the case that the string length
+ was greater or equal to configMAX_TASK_NAME_LEN. */
+ pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
+
+ /* This is used as an array index so must ensure it's not too large. First
+ remove the privilege bit if one is present. */
+ if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
+ {
+ uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ pxNewTCB->uxPriority = uxPriority;
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ pxNewTCB->uxBasePriority = uxPriority;
+ pxNewTCB->uxMutexesHeld = 0;
+ }
+ #endif /* configUSE_MUTEXES */
+
+ vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
+ vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
+
+ /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
+ back to the containing TCB from a generic item in a list. */
+ listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
+
+ /* Event lists are always in priority order. */
+ listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
+
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ {
+ pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
+ }
+ #endif /* portCRITICAL_NESTING_IN_TCB */
+
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ {
+ pxNewTCB->pxTaskTag = NULL;
+ }
+ #endif /* configUSE_APPLICATION_TASK_TAG */
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ pxNewTCB->ulRunTimeCounter = 0UL;
+ }
+ #endif /* configGENERATE_RUN_TIME_STATS */
+
+ #if ( portUSING_MPU_WRAPPERS == 1 )
+ {
+ vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
+ }
+ #else
+ {
+ /* Avoid compiler warning about unreferenced parameter. */
+ ( void ) xRegions;
+ }
+ #endif
+
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+ {
+ for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
+ {
+ pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
+ }
+ }
+ #endif
+
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+ {
+ pxNewTCB->ulNotifiedValue = 0;
+ pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
+ }
+ #endif
+
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )
+ {
+ /* Initialise this task's Newlib reent structure. */
+ _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
+ }
+ #endif
+
+ #if( INCLUDE_xTaskAbortDelay == 1 )
+ {
+ pxNewTCB->ucDelayAborted = pdFALSE;
+ }
+ #endif
+
+ /* Initialize the TCB stack to look as if the task was already running,
+ but had been interrupted by the scheduler. The return address is set
+ to the start of the task function. Once the stack has been initialised
+ the top of stack variable is updated. */
+ #if( portUSING_MPU_WRAPPERS == 1 )
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
+ }
+ #else /* portUSING_MPU_WRAPPERS */
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
+ }
+ #endif /* portUSING_MPU_WRAPPERS */
+
+ if( pxCreatedTask != NULL )
+ {
+ /* Pass the handle out in an anonymous way. The handle can be used to
+ change the created task's priority, delete the created task, etc.*/
+ *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
+{
+ /* Ensure interrupts don't access the task lists while the lists are being
+ updated. */
+ taskENTER_CRITICAL();
+ {
+ uxCurrentNumberOfTasks++;
+ if( pxCurrentTCB == NULL )
+ {
+ /* There are no other tasks, or all the other tasks are in
+ the suspended state - make this the current task. */
+ pxCurrentTCB = pxNewTCB;
+
+ if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
+ {
+ /* This is the first task to be created so do the preliminary
+ initialisation required. We will not recover if this call
+ fails, but we will report the failure. */
+ prvInitialiseTaskLists();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ /* If the scheduler is not already running, make this task the
+ current task if it is the highest priority task to be created
+ so far. */
+ if( xSchedulerRunning == pdFALSE )
+ {
+ if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
+ {
+ pxCurrentTCB = pxNewTCB;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ uxTaskNumber++;
+
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ {
+ /* Add a counter into the TCB for tracing only. */
+ pxNewTCB->uxTCBNumber = uxTaskNumber;
+ }
+ #endif /* configUSE_TRACE_FACILITY */
+ traceTASK_CREATE( pxNewTCB );
+
+ prvAddTaskToReadyList( pxNewTCB );
+
+ portSETUP_TCB( pxNewTCB );
+ }
+ taskEXIT_CRITICAL();
+
+ if( xSchedulerRunning != pdFALSE )
+ {
+ /* If the created task is of a higher priority than the current task
+ then it should run now. */
+ if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
+ {
+ taskYIELD_IF_USING_PREEMPTION();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+ void vTaskDelete( TaskHandle_t xTaskToDelete )
+ {
+ TCB_t *pxTCB;
+
+ taskENTER_CRITICAL();
+ {
+ /* If null is passed in here then it is the calling task that is
+ being deleted. */
+ pxTCB = prvGetTCBFromHandle( xTaskToDelete );
+
+ /* Remove task from the ready list. */
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Is the task waiting on an event also? */
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+ {
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Increment the uxTaskNumber also so kernel aware debuggers can
+ detect that the task lists need re-generating. This is done before
+ portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
+ not return. */
+ uxTaskNumber++;
+
+ if( pxTCB == pxCurrentTCB )
+ {
+ /* A task is deleting itself. This cannot complete within the
+ task itself, as a context switch to another task is required.
+ Place the task in the termination list. The idle task will
+ check the termination list and free up any memory allocated by
+ the scheduler for the TCB and stack of the deleted task. */
+ vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
+
+ /* Increment the ucTasksDeleted variable so the idle task knows
+ there is a task that has been deleted and that it should therefore
+ check the xTasksWaitingTermination list. */
+ ++uxDeletedTasksWaitingCleanUp;
+
+ /* The pre-delete hook is primarily for the Windows simulator,
+ in which Windows specific clean up operations are performed,
+ after which it is not possible to yield away from this task -
+ hence xYieldPending is used to latch that a context switch is
+ required. */
+ portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
+ }
+ else
+ {
+ --uxCurrentNumberOfTasks;
+ prvDeleteTCB( pxTCB );
+
+ /* Reset the next expected unblock time in case it referred to
+ the task that has just been deleted. */
+ prvResetNextTaskUnblockTime();
+ }
+
+ traceTASK_DELETE( pxTCB );
+ }
+ taskEXIT_CRITICAL();
+
+ /* Force a reschedule if it is the currently running task that has just
+ been deleted. */
+ if( xSchedulerRunning != pdFALSE )
+ {
+ if( pxTCB == pxCurrentTCB )
+ {
+ configASSERT( uxSchedulerSuspended == 0 );
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+
+#endif /* INCLUDE_vTaskDelete */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelayUntil == 1 )
+
+ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
+ {
+ TickType_t xTimeToWake;
+ BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
+
+ configASSERT( pxPreviousWakeTime );
+ configASSERT( ( xTimeIncrement > 0U ) );
+ configASSERT( uxSchedulerSuspended == 0 );
+
+ vTaskSuspendAll();
+ {
+ /* Minor optimisation. The tick count cannot change in this
+ block. */
+ const TickType_t xConstTickCount = xTickCount;
+
+ /* Generate the tick time at which the task wants to wake. */
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+
+ if( xConstTickCount < *pxPreviousWakeTime )
+ {
+ /* The tick count has overflowed since this function was
+ lasted called. In this case the only time we should ever
+ actually delay is if the wake time has also overflowed,
+ and the wake time is greater than the tick time. When this
+ is the case it is as if neither time had overflowed. */
+ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
+ {
+ xShouldDelay = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ /* The tick time has not overflowed. In this case we will
+ delay if either the wake time has overflowed, and/or the
+ tick time is less than the wake time. */
+ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
+ {
+ xShouldDelay = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ /* Update the wake time ready for the next call. */
+ *pxPreviousWakeTime = xTimeToWake;
+
+ if( xShouldDelay != pdFALSE )
+ {
+ traceTASK_DELAY_UNTIL( xTimeToWake );
+
+ /* prvAddCurrentTaskToDelayedList() needs the block time, not
+ the time to wake, so subtract the current tick count. */
+ prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if( xAlreadyYielded == pdFALSE )
+ {
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* INCLUDE_vTaskDelayUntil */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelay == 1 )
+
+ void vTaskDelay( const TickType_t xTicksToDelay )
+ {
+ BaseType_t xAlreadyYielded = pdFALSE;
+
+ /* A delay time of zero just forces a reschedule. */
+ if( xTicksToDelay > ( TickType_t ) 0U )
+ {
+ configASSERT( uxSchedulerSuspended == 0 );
+ vTaskSuspendAll();
+ {
+ traceTASK_DELAY();
+
+ /* A task that is removed from the event list while the
+ scheduler is suspended will not get placed in the ready
+ list or removed from the blocked list until the scheduler
+ is resumed.
+
+ This task cannot be in an event list as it is the currently
+ executing task. */
+ prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
+ }
+ xAlreadyYielded = xTaskResumeAll();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if( xAlreadyYielded == pdFALSE )
+ {
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* INCLUDE_vTaskDelay */
+/*-----------------------------------------------------------*/
+
+#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) )
+
+ eTaskState eTaskGetState( TaskHandle_t xTask )
+ {
+ eTaskState eReturn;
+ List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
+ const TCB_t * const pxTCB = xTask;
+
+ configASSERT( pxTCB );
+
+ if( pxTCB == pxCurrentTCB )
+ {
+ /* The task calling this function is querying its own state. */
+ eReturn = eRunning;
+ }
+ else
+ {
+ taskENTER_CRITICAL();
+ {
+ pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
+ pxDelayedList = pxDelayedTaskList;
+ pxOverflowedDelayedList = pxOverflowDelayedTaskList;
+ }
+ taskEXIT_CRITICAL();
+
+ if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
+ {
+ /* The task being queried is referenced from one of the Blocked
+ lists. */
+ eReturn = eBlocked;
+ }
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ else if( pxStateList == &xSuspendedTaskList )
+ {
+ /* The task being queried is referenced from the suspended
+ list. Is it genuinely suspended or is it blocked
+ indefinitely? */
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
+ {
+ #if( configUSE_TASK_NOTIFICATIONS == 1 )
+ {
+ /* The task does not appear on the event list item of
+ and of the RTOS objects, but could still be in the
+ blocked state if it is waiting on its notification
+ rather than waiting on an object. */
+ if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
+ {
+ eReturn = eBlocked;
+ }
+ else
+ {
+ eReturn = eSuspended;
+ }
+ }
+ #else
+ {
+ eReturn = eSuspended;
+ }
+ #endif
+ }
+ else
+ {
+ eReturn = eBlocked;
+ }
+ }
+ #endif
+
+ #if ( INCLUDE_vTaskDelete == 1 )
+ else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
+ {
+ /* The task being queried is referenced from the deleted
+ tasks list, or it is not referenced from any lists at
+ all. */
+ eReturn = eDeleted;
+ }
+ #endif
+
+ else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
+ {
+ /* If the task is not in any other state, it must be in the
+ Ready (including pending ready) state. */
+ eReturn = eReady;
+ }
+ }
+
+ return eReturn;
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
+
+#endif /* INCLUDE_eTaskGetState */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+ UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
+ {
+ TCB_t const *pxTCB;
+ UBaseType_t uxReturn;
+
+ taskENTER_CRITICAL();
+ {
+ /* If null is passed in here then it is the priority of the task
+ that called uxTaskPriorityGet() that is being queried. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+ uxReturn = pxTCB->uxPriority;
+ }
+ taskEXIT_CRITICAL();
+
+ return uxReturn;
+ }
+
+#endif /* INCLUDE_uxTaskPriorityGet */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+ UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
+ {
+ TCB_t const *pxTCB;
+ UBaseType_t uxReturn, uxSavedInterruptState;
+
+ /* RTOS ports that support interrupt nesting have the concept of a
+ maximum system call (or maximum API call) interrupt priority.
+ Interrupts that are above the maximum system call priority are keep
+ permanently enabled, even when the RTOS kernel is in a critical section,
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()
+ is defined in FreeRTOSConfig.h then
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ failure if a FreeRTOS API function is called from an interrupt that has
+ been assigned a priority above the configured maximum system call
+ priority. Only FreeRTOS functions that end in FromISR can be called
+ from interrupts that have been assigned a priority at or (logically)
+ below the maximum system call interrupt priority. FreeRTOS maintains a
+ separate interrupt safe API to ensure interrupt entry is as fast and as
+ simple as possible. More information (albeit Cortex-M specific) is
+ provided on the following link:
+ https://www.freertos.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ /* If null is passed in here then it is the priority of the calling
+ task that is being queried. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+ uxReturn = pxTCB->uxPriority;
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
+
+ return uxReturn;
+ }
+
+#endif /* INCLUDE_uxTaskPriorityGet */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskPrioritySet == 1 )
+
+ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
+ {
+ TCB_t *pxTCB;
+ UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
+ BaseType_t xYieldRequired = pdFALSE;
+
+ configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
+
+ /* Ensure the new priority is valid. */
+ if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
+ {
+ uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ taskENTER_CRITICAL();
+ {
+ /* If null is passed in here then it is the priority of the calling
+ task that is being changed. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+
+ traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ uxCurrentBasePriority = pxTCB->uxBasePriority;
+ }
+ #else
+ {
+ uxCurrentBasePriority = pxTCB->uxPriority;
+ }
+ #endif
+
+ if( uxCurrentBasePriority != uxNewPriority )
+ {
+ /* The priority change may have readied a task of higher
+ priority than the calling task. */
+ if( uxNewPriority > uxCurrentBasePriority )
+ {
+ if( pxTCB != pxCurrentTCB )
+ {
+ /* The priority of a task other than the currently
+ running task is being raised. Is the priority being
+ raised above that of the running task? */
+ if( uxNewPriority >= pxCurrentTCB->uxPriority )
+ {
+ xYieldRequired = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ /* The priority of the running task is being raised,
+ but the running task must already be the highest
+ priority task able to run so no yield is required. */
+ }
+ }
+ else if( pxTCB == pxCurrentTCB )
+ {
+ /* Setting the priority of the running task down means
+ there may now be another task of higher priority that
+ is ready to execute. */
+ xYieldRequired = pdTRUE;
+ }
+ else
+ {
+ /* Setting the priority of any other task down does not
+ require a yield as the running task must be above the
+ new priority of the task being modified. */
+ }
+
+ /* Remember the ready list the task might be referenced from
+ before its uxPriority member is changed so the
+ taskRESET_READY_PRIORITY() macro can function correctly. */
+ uxPriorityUsedOnEntry = pxTCB->uxPriority;
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ /* Only change the priority being used if the task is not
+ currently using an inherited priority. */
+ if( pxTCB->uxBasePriority == pxTCB->uxPriority )
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* The base priority gets set whatever. */
+ pxTCB->uxBasePriority = uxNewPriority;
+ }
+ #else
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+ #endif
+
+ /* Only reset the event list item value if the value is not
+ being used for anything else. */
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+ {
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* If the task is in the blocked or suspended list we need do
+ nothing more than change its priority variable. However, if
+ the task is in a ready list it needs to be removed and placed
+ in the list appropriate to its new priority. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
+ {
+ /* The task is currently in its ready list - remove before
+ adding it to it's new ready list. As we are in a critical
+ section we can do this even if the scheduler is suspended. */
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ /* It is known that the task is in its ready list so
+ there is no need to check again and the port level
+ reset macro can be called directly. */
+ portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ prvAddTaskToReadyList( pxTCB );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ if( xYieldRequired != pdFALSE )
+ {
+ taskYIELD_IF_USING_PREEMPTION();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Remove compiler warning about unused variables when the port
+ optimised task selection is not being used. */
+ ( void ) uxPriorityUsedOnEntry;
+ }
+ }
+ taskEXIT_CRITICAL();
+ }
+
+#endif /* INCLUDE_vTaskPrioritySet */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ void vTaskSuspend( TaskHandle_t xTaskToSuspend )
+ {
+ TCB_t *pxTCB;
+
+ taskENTER_CRITICAL();
+ {
+ /* If null is passed in here then it is the running task that is
+ being suspended. */
+ pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
+
+ traceTASK_SUSPEND( pxTCB );
+
+ /* Remove task from the ready/delayed list and place in the
+ suspended list. */
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Is the task waiting on an event also? */
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+ {
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
+
+ #if( configUSE_TASK_NOTIFICATIONS == 1 )
+ {
+ if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
+ {
+ /* The task was blocked to wait for a notification, but is
+ now suspended, so no notification was received. */
+ pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
+ }
+ }
+ #endif
+ }
+ taskEXIT_CRITICAL();
+
+ if( xSchedulerRunning != pdFALSE )
+ {
+ /* Reset the next expected unblock time in case it referred to the
+ task that is now in the Suspended state. */
+ taskENTER_CRITICAL();
+ {
+ prvResetNextTaskUnblockTime();
+ }
+ taskEXIT_CRITICAL();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ if( pxTCB == pxCurrentTCB )
+ {
+ if( xSchedulerRunning != pdFALSE )
+ {
+ /* The current task has just been suspended. */
+ configASSERT( uxSchedulerSuspended == 0 );
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ /* The scheduler is not running, but the task that was pointed
+ to by pxCurrentTCB has just been suspended and pxCurrentTCB
+ must be adjusted to point to a different task. */
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
+ {
+ /* No other tasks are ready, so set pxCurrentTCB back to
+ NULL so when the next task is created pxCurrentTCB will
+ be set to point to it no matter what its relative priority
+ is. */
+ pxCurrentTCB = NULL;
+ }
+ else
+ {
+ vTaskSwitchContext();
+ }
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* INCLUDE_vTaskSuspend */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
+ {
+ BaseType_t xReturn = pdFALSE;
+ const TCB_t * const pxTCB = xTask;
+
+ /* Accesses xPendingReadyList so must be called from a critical
+ section. */
+
+ /* It does not make sense to check if the calling task is suspended. */
+ configASSERT( xTask );
+
+ /* Is the task being resumed actually in the suspended list? */
+ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
+ {
+ /* Has the task already been resumed from within an ISR? */
+ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
+ {
+ /* Is it in the suspended list because it is in the Suspended
+ state, or because is is blocked with no timeout? */
+ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
+ {
+ xReturn = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ return xReturn;
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
+
+#endif /* INCLUDE_vTaskSuspend */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ void vTaskResume( TaskHandle_t xTaskToResume )
+ {
+ TCB_t * const pxTCB = xTaskToResume;
+
+ /* It does not make sense to resume the calling task. */
+ configASSERT( xTaskToResume );
+
+ /* The parameter cannot be NULL as it is impossible to resume the
+ currently executing task. */
+ if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
+ {
+ taskENTER_CRITICAL();
+ {
+ if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
+ {
+ traceTASK_RESUME( pxTCB );
+
+ /* The ready list can be accessed even if the scheduler is
+ suspended because this is inside a critical section. */
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+
+ /* A higher priority task may have just been resumed. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ /* This yield may not cause the task just resumed to run,
+ but will leave the lists in the correct state for the
+ next yield. */
+ taskYIELD_IF_USING_PREEMPTION();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* INCLUDE_vTaskSuspend */
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
+ {
+ BaseType_t xYieldRequired = pdFALSE;
+ TCB_t * const pxTCB = xTaskToResume;
+ UBaseType_t uxSavedInterruptStatus;
+
+ configASSERT( xTaskToResume );
+
+ /* RTOS ports that support interrupt nesting have the concept of a
+ maximum system call (or maximum API call) interrupt priority.
+ Interrupts that are above the maximum system call priority are keep
+ permanently enabled, even when the RTOS kernel is in a critical section,
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()
+ is defined in FreeRTOSConfig.h then
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ failure if a FreeRTOS API function is called from an interrupt that has
+ been assigned a priority above the configured maximum system call
+ priority. Only FreeRTOS functions that end in FromISR can be called
+ from interrupts that have been assigned a priority at or (logically)
+ below the maximum system call interrupt priority. FreeRTOS maintains a
+ separate interrupt safe API to ensure interrupt entry is as fast and as
+ simple as possible. More information (albeit Cortex-M specific) is
+ provided on the following link:
+ https://www.freertos.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
+ {
+ traceTASK_RESUME_FROM_ISR( pxTCB );
+
+ /* Check the ready lists can be accessed. */
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ /* Ready lists can be accessed so move the task from the
+ suspended list to the ready list directly. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ xYieldRequired = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+ }
+ else
+ {
+ /* The delayed or ready lists cannot be accessed so the task
+ is held in the pending ready list until the scheduler is
+ unsuspended. */
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+ return xYieldRequired;
+ }
+
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+void vTaskStartScheduler( void )
+{
+BaseType_t xReturn;
+
+ /* Add the idle task at the lowest priority. */
+ #if( configSUPPORT_STATIC_ALLOCATION == 1 )
+ {
+ StaticTask_t *pxIdleTaskTCBBuffer = NULL;
+ StackType_t *pxIdleTaskStackBuffer = NULL;
+ uint32_t ulIdleTaskStackSize;
+
+ /* The Idle task is created using user provided RAM - obtain the
+ address of the RAM then create the idle task. */
+ vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
+ xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
+ configIDLE_TASK_NAME,
+ ulIdleTaskStackSize,
+ ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
+ portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
+ pxIdleTaskStackBuffer,
+ pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+
+ if( xIdleTaskHandle != NULL )
+ {
+ xReturn = pdPASS;
+ }
+ else
+ {
+ xReturn = pdFAIL;
+ }
+ }
+ #else
+ {
+ /* The Idle task is being created using dynamically allocated RAM. */
+ xReturn = xTaskCreate( prvIdleTask,
+ configIDLE_TASK_NAME,
+ configMINIMAL_STACK_SIZE,
+ ( void * ) NULL,
+ portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
+ &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+ }
+ #endif /* configSUPPORT_STATIC_ALLOCATION */
+
+ #if ( configUSE_TIMERS == 1 )
+ {
+ if( xReturn == pdPASS )
+ {
+ xReturn = xTimerCreateTimerTask();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_TIMERS */
+
+ if( xReturn == pdPASS )
+ {
+ /* freertos_tasks_c_additions_init() should only be called if the user
+ definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
+ the only macro called by the function. */
+ #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+ {
+ freertos_tasks_c_additions_init();
+ }
+ #endif
+
+ /* Interrupts are turned off here, to ensure a tick does not occur
+ before or during the call to xPortStartScheduler(). The stacks of
+ the created tasks contain a status word with interrupts switched on
+ so interrupts will automatically get re-enabled when the first task
+ starts to run. */
+ portDISABLE_INTERRUPTS();
+
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )
+ {
+ /* Switch Newlib's _impure_ptr variable to point to the _reent
+ structure specific to the task that will run first. */
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+ }
+ #endif /* configUSE_NEWLIB_REENTRANT */
+
+ xNextTaskUnblockTime = portMAX_DELAY;
+ xSchedulerRunning = pdTRUE;
+ xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
+
+ /* If configGENERATE_RUN_TIME_STATS is defined then the following
+ macro must be defined to configure the timer/counter used to generate
+ the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
+ is set to 0 and the following line fails to build then ensure you do not
+ have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
+ FreeRTOSConfig.h file. */
+ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+
+ traceTASK_SWITCHED_IN();
+
+ /* Setting up the timer tick is hardware specific and thus in the
+ portable interface. */
+ if( xPortStartScheduler() != pdFALSE )
+ {
+ /* Should not reach here as if the scheduler is running the
+ function will not return. */
+ }
+ else
+ {
+ /* Should only reach here if a task calls xTaskEndScheduler(). */
+ }
+ }
+ else
+ {
+ /* This line will only be reached if the kernel could not be started,
+ because there was not enough FreeRTOS heap to create the idle task
+ or the timer task. */
+ configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
+ }
+
+ /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
+ meaning xIdleTaskHandle is not used anywhere else. */
+ ( void ) xIdleTaskHandle;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskEndScheduler( void )
+{
+ /* Stop the scheduler interrupts and call the portable scheduler end
+ routine so the original ISRs can be restored if necessary. The port
+ layer must ensure interrupts enable bit is left in the correct state. */
+ portDISABLE_INTERRUPTS();
+ xSchedulerRunning = pdFALSE;
+ vPortEndScheduler();
+}
+/*----------------------------------------------------------*/
+
+void vTaskSuspendAll( void )
+{
+ /* A critical section is not required as the variable is of type
+ BaseType_t. Please read Richard Barry's reply in the following link to a
+ post in the FreeRTOS support forum before reporting this as a bug! -
+ http://goo.gl/wu4acr */
+ ++uxSchedulerSuspended;
+}
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+ static TickType_t prvGetExpectedIdleTime( void )
+ {
+ TickType_t xReturn;
+ UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
+
+ /* uxHigherPriorityReadyTasks takes care of the case where
+ configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
+ task that are in the Ready state, even though the idle task is
+ running. */
+ #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
+ {
+ if( uxTopReadyPriority > tskIDLE_PRIORITY )
+ {
+ uxHigherPriorityReadyTasks = pdTRUE;
+ }
+ }
+ #else
+ {
+ const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
+
+ /* When port optimised task selection is used the uxTopReadyPriority
+ variable is used as a bit map. If bits other than the least
+ significant bit are set then there are tasks that have a priority
+ above the idle priority that are in the Ready state. This takes
+ care of the case where the co-operative scheduler is in use. */
+ if( uxTopReadyPriority > uxLeastSignificantBit )
+ {
+ uxHigherPriorityReadyTasks = pdTRUE;
+ }
+ }
+ #endif
+
+ if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
+ {
+ xReturn = 0;
+ }
+ else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
+ {
+ /* There are other idle priority tasks in the ready state. If
+ time slicing is used then the very next tick interrupt must be
+ processed. */
+ xReturn = 0;
+ }
+ else if( uxHigherPriorityReadyTasks != pdFALSE )
+ {
+ /* There are tasks in the Ready state that have a priority above the
+ idle priority. This path can only be reached if
+ configUSE_PREEMPTION is 0. */
+ xReturn = 0;
+ }
+ else
+ {
+ xReturn = xNextTaskUnblockTime - xTickCount;
+ }
+
+ return xReturn;
+ }
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
+
+BaseType_t xTaskResumeAll( void )
+{
+TCB_t *pxTCB = NULL;
+BaseType_t xAlreadyYielded = pdFALSE;
+
+ /* If uxSchedulerSuspended is zero then this function does not match a
+ previous call to vTaskSuspendAll(). */
+ configASSERT( uxSchedulerSuspended );
+
+ /* It is possible that an ISR caused a task to be removed from an event
+ list while the scheduler was suspended. If this was the case then the
+ removed task will have been added to the xPendingReadyList. Once the
+ scheduler has been resumed it is safe to move all the pending ready
+ tasks from this list into their appropriate ready list. */
+ taskENTER_CRITICAL();
+ {
+ --uxSchedulerSuspended;
+
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
+ {
+ /* Move any readied tasks from the pending list into the
+ appropriate ready list. */
+ while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
+ {
+ pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+
+ /* If the moved task has a priority higher than the current
+ task then a yield must be performed. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ if( pxTCB != NULL )
+ {
+ /* A task was unblocked while the scheduler was suspended,
+ which may have prevented the next unblock time from being
+ re-calculated, in which case re-calculate it now. Mainly
+ important for low power tickless implementations, where
+ this can prevent an unnecessary exit from low power
+ state. */
+ prvResetNextTaskUnblockTime();
+ }
+
+ /* If any ticks occurred while the scheduler was suspended then
+ they should be processed now. This ensures the tick count does
+ not slip, and that any delayed tasks are resumed at the correct
+ time. */
+ {
+ UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
+
+ if( uxPendedCounts > ( UBaseType_t ) 0U )
+ {
+ do
+ {
+ if( xTaskIncrementTick() != pdFALSE )
+ {
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ --uxPendedCounts;
+ } while( uxPendedCounts > ( UBaseType_t ) 0U );
+
+ uxPendedTicks = 0;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ if( xYieldPending != pdFALSE )
+ {
+ #if( configUSE_PREEMPTION != 0 )
+ {
+ xAlreadyYielded = pdTRUE;
+ }
+ #endif
+ taskYIELD_IF_USING_PREEMPTION();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ return xAlreadyYielded;
+}
+/*-----------------------------------------------------------*/
+
+TickType_t xTaskGetTickCount( void )
+{
+TickType_t xTicks;
+
+ /* Critical section required if running on a 16 bit processor. */
+ portTICK_TYPE_ENTER_CRITICAL();
+ {
+ xTicks = xTickCount;
+ }
+ portTICK_TYPE_EXIT_CRITICAL();
+
+ return xTicks;
+}
+/*-----------------------------------------------------------*/
+
+TickType_t xTaskGetTickCountFromISR( void )
+{
+TickType_t xReturn;
+UBaseType_t uxSavedInterruptStatus;
+
+ /* RTOS ports that support interrupt nesting have the concept of a maximum
+ system call (or maximum API call) interrupt priority. Interrupts that are
+ above the maximum system call priority are kept permanently enabled, even
+ when the RTOS kernel is in a critical section, but cannot make any calls to
+ FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
+ then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ failure if a FreeRTOS API function is called from an interrupt that has been
+ assigned a priority above the configured maximum system call priority.
+ Only FreeRTOS functions that end in FromISR can be called from interrupts
+ that have been assigned a priority at or (logically) below the maximum
+ system call interrupt priority. FreeRTOS maintains a separate interrupt
+ safe API to ensure interrupt entry is as fast and as simple as possible.
+ More information (albeit Cortex-M specific) is provided on the following
+ link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
+ {
+ xReturn = xTickCount;
+ }
+ portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+UBaseType_t uxTaskGetNumberOfTasks( void )
+{
+ /* A critical section is not required because the variables are of type
+ BaseType_t. */
+ return uxCurrentNumberOfTasks;
+}
+/*-----------------------------------------------------------*/
+
+char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+{
+TCB_t *pxTCB;
+
+ /* If null is passed in here then the name of the calling task is being
+ queried. */
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+ configASSERT( pxTCB );
+ return &( pxTCB->pcTaskName[ 0 ] );
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetHandle == 1 )
+
+ static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
+ {
+ TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
+ UBaseType_t x;
+ char cNextChar;
+ BaseType_t xBreakLoop;
+
+ /* This function is called with the scheduler suspended. */
+
+ if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+
+ do
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+
+ /* Check each character in the name looking for a match or
+ mismatch. */
+ xBreakLoop = pdFALSE;
+ for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
+ {
+ cNextChar = pxNextTCB->pcTaskName[ x ];
+
+ if( cNextChar != pcNameToQuery[ x ] )
+ {
+ /* Characters didn't match. */
+ xBreakLoop = pdTRUE;
+ }
+ else if( cNextChar == ( char ) 0x00 )
+ {
+ /* Both strings terminated, a match must have been
+ found. */
+ pxReturn = pxNextTCB;
+ xBreakLoop = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ if( xBreakLoop != pdFALSE )
+ {
+ break;
+ }
+ }
+
+ if( pxReturn != NULL )
+ {
+ /* The handle has been found. */
+ break;
+ }
+
+ } while( pxNextTCB != pxFirstTCB );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ return pxReturn;
+ }
+
+#endif /* INCLUDE_xTaskGetHandle */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetHandle == 1 )
+
+ TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+ {
+ UBaseType_t uxQueue = configMAX_PRIORITIES;
+ TCB_t* pxTCB;
+
+ /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
+ configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
+
+ vTaskSuspendAll();
+ {
+ /* Search the ready lists. */
+ do
+ {
+ uxQueue--;
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
+
+ if( pxTCB != NULL )
+ {
+ /* Found the handle. */
+ break;
+ }
+
+ } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
+ /* Search the delayed lists. */
+ if( pxTCB == NULL )
+ {
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
+ }
+
+ if( pxTCB == NULL )
+ {
+ pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
+ }
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( pxTCB == NULL )
+ {
+ /* Search the suspended list. */
+ pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
+ }
+ }
+ #endif
+
+ #if( INCLUDE_vTaskDelete == 1 )
+ {
+ if( pxTCB == NULL )
+ {
+ /* Search the deleted list. */
+ pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
+ }
+ }
+ #endif
+ }
+ ( void ) xTaskResumeAll();
+
+ return pxTCB;
+ }
+
+#endif /* INCLUDE_xTaskGetHandle */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
+ {
+ UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
+
+ vTaskSuspendAll();
+ {
+ /* Is there a space in the array for each task in the system? */
+ if( uxArraySize >= uxCurrentNumberOfTasks )
+ {
+ /* Fill in an TaskStatus_t structure with information on each
+ task in the Ready state. */
+ do
+ {
+ uxQueue--;
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
+
+ } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
+ /* Fill in an TaskStatus_t structure with information on each
+ task in the Blocked state. */
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
+
+ #if( INCLUDE_vTaskDelete == 1 )
+ {
+ /* Fill in an TaskStatus_t structure with information on
+ each task that has been deleted but not yet cleaned up. */
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
+ }
+ #endif
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ /* Fill in an TaskStatus_t structure with information on
+ each task in the Suspended state. */
+ uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
+ }
+ #endif
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1)
+ {
+ if( pulTotalRunTime != NULL )
+ {
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
+ #else
+ *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+ #endif
+ }
+ }
+ #else
+ {
+ if( pulTotalRunTime != NULL )
+ {
+ *pulTotalRunTime = 0;
+ }
+ }
+ #endif
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ ( void ) xTaskResumeAll();
+
+ return uxTask;
+ }
+
+#endif /* configUSE_TRACE_FACILITY */
+/*----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+
+ TaskHandle_t xTaskGetIdleTaskHandle( void )
+ {
+ /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
+ started, then xIdleTaskHandle will be NULL. */
+ configASSERT( ( xIdleTaskHandle != NULL ) );
+ return xIdleTaskHandle;
+ }
+
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */
+/*----------------------------------------------------------*/
+
+/* This conditional compilation should use inequality to 0, not equality to 1.
+This is to ensure vTaskStepTick() is available when user defined low power mode
+implementations require configUSE_TICKLESS_IDLE to be set to a value other than
+1. */
+#if ( configUSE_TICKLESS_IDLE != 0 )
+
+ void vTaskStepTick( const TickType_t xTicksToJump )
+ {
+ /* Correct the tick count value after a period during which the tick
+ was suppressed. Note this does *not* call the tick hook function for
+ each stepped tick. */
+ configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
+ xTickCount += xTicksToJump;
+ traceINCREASE_TICK_COUNT( xTicksToJump );
+ }
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskAbortDelay == 1 )
+
+ BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
+ {
+ TCB_t *pxTCB = xTask;
+ BaseType_t xReturn;
+
+ configASSERT( pxTCB );
+
+ vTaskSuspendAll();
+ {
+ /* A task can only be prematurely removed from the Blocked state if
+ it is actually in the Blocked state. */
+ if( eTaskGetState( xTask ) == eBlocked )
+ {
+ xReturn = pdPASS;
+
+ /* Remove the reference to the task from the blocked list. An
+ interrupt won't touch the xStateListItem because the
+ scheduler is suspended. */
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+
+ /* Is the task waiting on an event also? If so remove it from
+ the event list too. Interrupts can touch the event list item,
+ even though the scheduler is suspended, so a critical section
+ is used. */
+ taskENTER_CRITICAL();
+ {
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+ {
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+ pxTCB->ucDelayAborted = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ /* Place the unblocked task into the appropriate ready list. */
+ prvAddTaskToReadyList( pxTCB );
+
+ /* A task being unblocked cannot cause an immediate context
+ switch if preemption is turned off. */
+ #if ( configUSE_PREEMPTION == 1 )
+ {
+ /* Preemption is on, but a context switch should only be
+ performed if the unblocked task has a priority that is
+ equal to or higher than the currently executing task. */
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* Pend the yield to be performed when the scheduler
+ is unsuspended. */
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_PREEMPTION */
+ }
+ else
+ {
+ xReturn = pdFAIL;
+ }
+ }
+ ( void ) xTaskResumeAll();
+
+ return xReturn;
+ }
+
+#endif /* INCLUDE_xTaskAbortDelay */
+/*----------------------------------------------------------*/
+
+BaseType_t xTaskIncrementTick( void )
+{
+TCB_t * pxTCB;
+TickType_t xItemValue;
+BaseType_t xSwitchRequired = pdFALSE;
+
+ /* Called by the portable layer each time a tick interrupt occurs.
+ Increments the tick then checks to see if the new tick value will cause any
+ tasks to be unblocked. */
+ traceTASK_INCREMENT_TICK( xTickCount );
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ /* Minor optimisation. The tick count cannot change in this
+ block. */
+ const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
+
+ /* Increment the RTOS tick, switching the delayed and overflowed
+ delayed lists if it wraps to 0. */
+ xTickCount = xConstTickCount;
+
+ if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
+ {
+ taskSWITCH_DELAYED_LISTS();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* See if this tick has made a timeout expire. Tasks are stored in
+ the queue in the order of their wake time - meaning once one task
+ has been found whose block time has not expired there is no need to
+ look any further down the list. */
+ if( xConstTickCount >= xNextTaskUnblockTime )
+ {
+ for( ;; )
+ {
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+ {
+ /* The delayed list is empty. Set xNextTaskUnblockTime
+ to the maximum possible value so it is extremely
+ unlikely that the
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass
+ next time through. */
+ xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ break;
+ }
+ else
+ {
+ /* The delayed list is not empty, get the value of the
+ item at the head of the delayed list. This is the time
+ at which the task at the head of the delayed list must
+ be removed from the Blocked state. */
+ pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
+
+ if( xConstTickCount < xItemValue )
+ {
+ /* It is not time to unblock this item yet, but the
+ item value is the time at which the task at the head
+ of the blocked list must be removed from the Blocked
+ state - so record the item value in
+ xNextTaskUnblockTime. */
+ xNextTaskUnblockTime = xItemValue;
+ break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* It is time to remove the item from the Blocked state. */
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+
+ /* Is the task waiting on an event also? If so remove
+ it from the event list. */
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+ {
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Place the unblocked task into the appropriate ready
+ list. */
+ prvAddTaskToReadyList( pxTCB );
+
+ /* A task being unblocked cannot cause an immediate
+ context switch if preemption is turned off. */
+ #if ( configUSE_PREEMPTION == 1 )
+ {
+ /* Preemption is on, but a context switch should
+ only be performed if the unblocked task has a
+ priority that is equal to or higher than the
+ currently executing task. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ xSwitchRequired = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_PREEMPTION */
+ }
+ }
+ }
+
+ /* Tasks of equal priority to the currently running task will share
+ processing time (time slice) if preemption is on, and the application
+ writer has not explicitly turned time slicing off. */
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
+ {
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
+ {
+ xSwitchRequired = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
+
+ #if ( configUSE_TICK_HOOK == 1 )
+ {
+ /* Guard against the tick hook being called when the pended tick
+ count is being unwound (when the scheduler is being unlocked). */
+ if( uxPendedTicks == ( UBaseType_t ) 0U )
+ {
+ vApplicationTickHook();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_TICK_HOOK */
+ }
+ else
+ {
+ ++uxPendedTicks;
+
+ /* The tick hook gets called at regular intervals, even if the
+ scheduler is locked. */
+ #if ( configUSE_TICK_HOOK == 1 )
+ {
+ vApplicationTickHook();
+ }
+ #endif
+ }
+
+ #if ( configUSE_PREEMPTION == 1 )
+ {
+ if( xYieldPending != pdFALSE )
+ {
+ xSwitchRequired = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_PREEMPTION */
+
+ return xSwitchRequired;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
+ {
+ TCB_t *xTCB;
+
+ /* If xTask is NULL then it is the task hook of the calling task that is
+ getting set. */
+ if( xTask == NULL )
+ {
+ xTCB = ( TCB_t * ) pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ taskENTER_CRITICAL();
+ {
+ xTCB->pxTaskTag = pxHookFunction;
+ }
+ taskEXIT_CRITICAL();
+ }
+
+#endif /* configUSE_APPLICATION_TASK_TAG */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
+ {
+ TCB_t *xTCB;
+ TaskHookFunction_t xReturn;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if( xTask == NULL )
+ {
+ xTCB = ( TCB_t * ) pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ taskENTER_CRITICAL();
+ {
+ xReturn = xTCB->pxTaskTag;
+ }
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+ }
+
+#endif /* configUSE_APPLICATION_TASK_TAG */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
+ {
+ TCB_t *xTCB;
+ BaseType_t xReturn;
+
+ /* If xTask is NULL then we are calling our own task hook. */
+ if( xTask == NULL )
+ {
+ xTCB = pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = xTask;
+ }
+
+ if( xTCB->pxTaskTag != NULL )
+ {
+ xReturn = xTCB->pxTaskTag( pvParameter );
+ }
+ else
+ {
+ xReturn = pdFAIL;
+ }
+
+ return xReturn;
+ }
+
+#endif /* configUSE_APPLICATION_TASK_TAG */
+/*-----------------------------------------------------------*/
+
+void vTaskSwitchContext( void )
+{
+ if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
+ {
+ /* The scheduler is currently suspended - do not allow a context
+ switch. */
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ xYieldPending = pdFALSE;
+ traceTASK_SWITCHED_OUT();
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
+ #else
+ ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+ #endif
+
+ /* Add the amount of time the task has been running to the
+ accumulated time so far. The time the task started running was
+ stored in ulTaskSwitchedInTime. Note that there is no overflow
+ protection here so count values are only valid until the timer
+ overflows. The guard against negative values is to protect
+ against suspect run time stat counter implementations - which
+ are provided by the application, not the kernel. */
+ if( ulTotalRunTime > ulTaskSwitchedInTime )
+ {
+ pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ ulTaskSwitchedInTime = ulTotalRunTime;
+ }
+ #endif /* configGENERATE_RUN_TIME_STATS */
+
+ /* Check for stack overflow, if configured. */
+ taskCHECK_FOR_STACK_OVERFLOW();
+
+ /* Before the currently running task is switched out, save its errno. */
+ #if( configUSE_POSIX_ERRNO == 1 )
+ {
+ pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
+ }
+ #endif
+
+ /* Select a new task to run using either the generic C or port
+ optimised asm code. */
+ taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ traceTASK_SWITCHED_IN();
+
+ /* After the new task is switched in, update the global errno. */
+ #if( configUSE_POSIX_ERRNO == 1 )
+ {
+ FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
+ }
+ #endif
+
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )
+ {
+ /* Switch Newlib's _impure_ptr variable to point to the _reent
+ structure specific to this task. */
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+ }
+ #endif /* configUSE_NEWLIB_REENTRANT */
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
+{
+ configASSERT( pxEventList );
+
+ /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
+
+ /* Place the event list item of the TCB in the appropriate event list.
+ This is placed in the list in priority order so the highest priority task
+ is the first to be woken by the event. The queue that contains the event
+ list is locked, preventing simultaneous access from interrupts. */
+ vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
+{
+ configASSERT( pxEventList );
+
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
+ the event groups implementation. */
+ configASSERT( uxSchedulerSuspended != 0 );
+
+ /* Store the item value in the event list item. It is safe to access the
+ event list item here as interrupts won't access the event list item of a
+ task that is not in the Blocked state. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
+
+ /* Place the event list item of the TCB at the end of the appropriate event
+ list. It is safe to access the event list here because it is part of an
+ event group implementation - and interrupts don't access event groups
+ directly (instead they access them indirectly by pending function calls to
+ the task level). */
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TIMERS == 1 )
+
+ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
+ {
+ configASSERT( pxEventList );
+
+ /* This function should not be called by application code hence the
+ 'Restricted' in its name. It is not part of the public API. It is
+ designed for use by kernel code, and has special calling requirements -
+ it should be called with the scheduler suspended. */
+
+
+ /* Place the event list item of the TCB in the appropriate event list.
+ In this case it is assume that this is the only task that is going to
+ be waiting on this event list, so the faster vListInsertEnd() function
+ can be used in place of vListInsert. */
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+
+ /* If the task should block indefinitely then set the block time to a
+ value that will be recognised as an indefinite delay inside the
+ prvAddCurrentTaskToDelayedList() function. */
+ if( xWaitIndefinitely != pdFALSE )
+ {
+ xTicksToWait = portMAX_DELAY;
+ }
+
+ traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
+ prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
+ }
+
+#endif /* configUSE_TIMERS */
+/*-----------------------------------------------------------*/
+
+BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
+{
+TCB_t *pxUnblockedTCB;
+BaseType_t xReturn;
+
+ /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
+ called from a critical section within an ISR. */
+
+ /* The event list is sorted in priority order, so the first in the list can
+ be removed as it is known to be the highest priority. Remove the TCB from
+ the delayed list, and add it to the ready list.
+
+ If an event is for a queue that is locked then this function will never
+ get called - the lock count on the queue will get modified instead. This
+ means exclusive access to the event list is guaranteed here.
+
+ This function assumes that a check has already been made to ensure that
+ pxEventList is not empty. */
+ pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ configASSERT( pxUnblockedTCB );
+ ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
+
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxUnblockedTCB );
+ }
+ else
+ {
+ /* The delayed and ready lists cannot be accessed, so hold this task
+ pending until the scheduler is resumed. */
+ vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+ }
+
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* Return true if the task removed from the event list has a higher
+ priority than the calling task. This allows the calling task to know if
+ it should force a context switch now. */
+ xReturn = pdTRUE;
+
+ /* Mark that a yield is pending in case the user is not using the
+ "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ xReturn = pdFALSE;
+ }
+
+ #if( configUSE_TICKLESS_IDLE != 0 )
+ {
+ /* If a task is blocked on a kernel object then xNextTaskUnblockTime
+ might be set to the blocked task's time out time. If the task is
+ unblocked for a reason other than a timeout xNextTaskUnblockTime is
+ normally left unchanged, because it is automatically reset to a new
+ value when the tick count equals xNextTaskUnblockTime. However if
+ tickless idling is used it might be more important to enter sleep mode
+ at the earliest possible time - so reset xNextTaskUnblockTime here to
+ ensure it is updated at the earliest possible time. */
+ prvResetNextTaskUnblockTime();
+ }
+ #endif
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
+{
+TCB_t *pxUnblockedTCB;
+
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
+ the event flags implementation. */
+ configASSERT( uxSchedulerSuspended != pdFALSE );
+
+ /* Store the new item value in the event list. */
+ listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
+
+ /* Remove the event list form the event flag. Interrupts do not access
+ event flags. */
+ pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ configASSERT( pxUnblockedTCB );
+ ( void ) uxListRemove( pxEventListItem );
+
+ /* Remove the task from the delayed list and add it to the ready list. The
+ scheduler is suspended so interrupts will not be accessing the ready
+ lists. */
+ ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxUnblockedTCB );
+
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* The unblocked task has a priority above that of the calling task, so
+ a context switch is required. This function is called with the
+ scheduler suspended so xYieldPending is set so the context switch
+ occurs immediately that the scheduler is resumed (unsuspended). */
+ xYieldPending = pdTRUE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
+{
+ configASSERT( pxTimeOut );
+ taskENTER_CRITICAL();
+ {
+ pxTimeOut->xOverflowCount = xNumOfOverflows;
+ pxTimeOut->xTimeOnEntering = xTickCount;
+ }
+ taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
+{
+ /* For internal use only as it does not use a critical section. */
+ pxTimeOut->xOverflowCount = xNumOfOverflows;
+ pxTimeOut->xTimeOnEntering = xTickCount;
+}
+/*-----------------------------------------------------------*/
+
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
+{
+BaseType_t xReturn;
+
+ configASSERT( pxTimeOut );
+ configASSERT( pxTicksToWait );
+
+ taskENTER_CRITICAL();
+ {
+ /* Minor optimisation. The tick count cannot change in this block. */
+ const TickType_t xConstTickCount = xTickCount;
+ const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
+
+ #if( INCLUDE_xTaskAbortDelay == 1 )
+ if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
+ {
+ /* The delay was aborted, which is not the same as a time out,
+ but has the same result. */
+ pxCurrentTCB->ucDelayAborted = pdFALSE;
+ xReturn = pdTRUE;
+ }
+ else
+ #endif
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ if( *pxTicksToWait == portMAX_DELAY )
+ {
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time
+ specified is the maximum block time then the task should block
+ indefinitely, and therefore never time out. */
+ xReturn = pdFALSE;
+ }
+ else
+ #endif
+
+ if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
+ {
+ /* The tick count is greater than the time at which
+ vTaskSetTimeout() was called, but has also overflowed since
+ vTaskSetTimeOut() was called. It must have wrapped all the way
+ around and gone past again. This passed since vTaskSetTimeout()
+ was called. */
+ xReturn = pdTRUE;
+ }
+ else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
+ {
+ /* Not a genuine timeout. Adjust parameters for time remaining. */
+ *pxTicksToWait -= xElapsedTime;
+ vTaskInternalSetTimeOutState( pxTimeOut );
+ xReturn = pdFALSE;
+ }
+ else
+ {
+ *pxTicksToWait = 0;
+ xReturn = pdTRUE;
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskMissedYield( void )
+{
+ xYieldPending = pdTRUE;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
+ {
+ UBaseType_t uxReturn;
+ TCB_t const *pxTCB;
+
+ if( xTask != NULL )
+ {
+ pxTCB = xTask;
+ uxReturn = pxTCB->uxTaskNumber;
+ }
+ else
+ {
+ uxReturn = 0U;
+ }
+
+ return uxReturn;
+ }
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
+ {
+ TCB_t * pxTCB;
+
+ if( xTask != NULL )
+ {
+ pxTCB = xTask;
+ pxTCB->uxTaskNumber = uxHandle;
+ }
+ }
+
+#endif /* configUSE_TRACE_FACILITY */
+
+/*
+ * -----------------------------------------------------------
+ * The Idle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION( prvIdleTask, pvParameters )
+{
+ /* Stop warnings. */
+ ( void ) pvParameters;
+
+ /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
+ SCHEDULER IS STARTED. **/
+
+ /* In case a task that has a secure context deletes itself, in which case
+ the idle task is responsible for deleting the task's secure context, if
+ any. */
+ portTASK_CALLS_SECURE_FUNCTIONS();
+
+ for( ;; )
+ {
+ /* See if any tasks have deleted themselves - if so then the idle task
+ is responsible for freeing the deleted task's TCB and stack. */
+ prvCheckTasksWaitingTermination();
+
+ #if ( configUSE_PREEMPTION == 0 )
+ {
+ /* If we are not using preemption we keep forcing a task switch to
+ see if any other task has become available. If we are using
+ preemption we don't need to do this as any task becoming available
+ will automatically get the processor anyway. */
+ taskYIELD();
+ }
+ #endif /* configUSE_PREEMPTION */
+
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+ {
+ /* When using preemption tasks of equal priority will be
+ timesliced. If a task that is sharing the idle priority is ready
+ to run then the idle task should yield before the end of the
+ timeslice.
+
+ A critical region is not required here as we are just reading from
+ the list, and an occasional incorrect value will not matter. If
+ the ready list at the idle priority contains more than one task
+ then a task other than the idle task is ready to execute. */
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
+ {
+ taskYIELD();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
+
+ #if ( configUSE_IDLE_HOOK == 1 )
+ {
+ extern void vApplicationIdleHook( void );
+
+ /* Call the user defined function from within the idle task. This
+ allows the application designer to add background functionality
+ without the overhead of a separate task.
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
+ CALL A FUNCTION THAT MIGHT BLOCK. */
+ vApplicationIdleHook();
+ }
+ #endif /* configUSE_IDLE_HOOK */
+
+ /* This conditional compilation should use inequality to 0, not equality
+ to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
+ user defined low power mode implementations require
+ configUSE_TICKLESS_IDLE to be set to a value other than 1. */
+ #if ( configUSE_TICKLESS_IDLE != 0 )
+ {
+ TickType_t xExpectedIdleTime;
+
+ /* It is not desirable to suspend then resume the scheduler on
+ each iteration of the idle task. Therefore, a preliminary
+ test of the expected idle time is performed without the
+ scheduler suspended. The result here is not necessarily
+ valid. */
+ xExpectedIdleTime = prvGetExpectedIdleTime();
+
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+ {
+ vTaskSuspendAll();
+ {
+ /* Now the scheduler is suspended, the expected idle
+ time can be sampled again, and this time its value can
+ be used. */
+ configASSERT( xNextTaskUnblockTime >= xTickCount );
+ xExpectedIdleTime = prvGetExpectedIdleTime();
+
+ /* Define the following macro to set xExpectedIdleTime to 0
+ if the application does not want
+ portSUPPRESS_TICKS_AND_SLEEP() to be called. */
+ configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
+
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+ {
+ traceLOW_POWER_IDLE_BEGIN();
+ portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+ traceLOW_POWER_IDLE_END();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ ( void ) xTaskResumeAll();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configUSE_TICKLESS_IDLE */
+ }
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TICKLESS_IDLE != 0 )
+
+ eSleepModeStatus eTaskConfirmSleepModeStatus( void )
+ {
+ /* The idle task exists in addition to the application tasks. */
+ const UBaseType_t uxNonApplicationTasks = 1;
+ eSleepModeStatus eReturn = eStandardSleep;
+
+ if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+ {
+ /* A task was made ready while the scheduler was suspended. */
+ eReturn = eAbortSleep;
+ }
+ else if( xYieldPending != pdFALSE )
+ {
+ /* A yield was pended while the scheduler was suspended. */
+ eReturn = eAbortSleep;
+ }
+ else
+ {
+ /* If all the tasks are in the suspended list (which might mean they
+ have an infinite block time rather than actually being suspended)
+ then it is safe to turn all clocks off and just wait for external
+ interrupts. */
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
+ {
+ eReturn = eNoTasksWaitingTimeout;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ return eReturn;
+ }
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
+
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+ void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
+ {
+ TCB_t *pxTCB;
+
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
+ {
+ pxTCB = prvGetTCBFromHandle( xTaskToSet );
+ pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
+ }
+ }
+
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
+/*-----------------------------------------------------------*/
+
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+ void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
+ {
+ void *pvReturn = NULL;
+ TCB_t *pxTCB;
+
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
+ {
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+ pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
+ }
+ else
+ {
+ pvReturn = NULL;
+ }
+
+ return pvReturn;
+ }
+
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+ void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
+ {
+ TCB_t *pxTCB;
+
+ /* If null is passed in here then we are modifying the MPU settings of
+ the calling task. */
+ pxTCB = prvGetTCBFromHandle( xTaskToModify );
+
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
+ }
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
+
+static void prvInitialiseTaskLists( void )
+{
+UBaseType_t uxPriority;
+
+ for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
+ {
+ vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
+ }
+
+ vListInitialise( &xDelayedTaskList1 );
+ vListInitialise( &xDelayedTaskList2 );
+ vListInitialise( &xPendingReadyList );
+
+ #if ( INCLUDE_vTaskDelete == 1 )
+ {
+ vListInitialise( &xTasksWaitingTermination );
+ }
+ #endif /* INCLUDE_vTaskDelete */
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ vListInitialise( &xSuspendedTaskList );
+ }
+ #endif /* INCLUDE_vTaskSuspend */
+
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+ using list2. */
+ pxDelayedTaskList = &xDelayedTaskList1;
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTasksWaitingTermination( void )
+{
+
+ /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
+
+ #if ( INCLUDE_vTaskDelete == 1 )
+ {
+ TCB_t *pxTCB;
+
+ /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
+ being called too often in the idle task. */
+ while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
+ {
+ taskENTER_CRITICAL();
+ {
+ pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ --uxCurrentNumberOfTasks;
+ --uxDeletedTasksWaitingCleanUp;
+ }
+ taskEXIT_CRITICAL();
+
+ prvDeleteTCB( pxTCB );
+ }
+ }
+ #endif /* INCLUDE_vTaskDelete */
+}
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TRACE_FACILITY == 1 )
+
+ void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
+ {
+ TCB_t *pxTCB;
+
+ /* xTask is NULL then get the state of the calling task. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+
+ pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
+ pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
+ pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
+ pxTaskStatus->pxStackBase = pxTCB->pxStack;
+ pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
+ }
+ #else
+ {
+ pxTaskStatus->uxBasePriority = 0;
+ }
+ #endif
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
+ }
+ #else
+ {
+ pxTaskStatus->ulRunTimeCounter = 0;
+ }
+ #endif
+
+ /* Obtaining the task state is a little fiddly, so is only done if the
+ value of eState passed into this function is eInvalid - otherwise the
+ state is just set to whatever is passed in. */
+ if( eState != eInvalid )
+ {
+ if( pxTCB == pxCurrentTCB )
+ {
+ pxTaskStatus->eCurrentState = eRunning;
+ }
+ else
+ {
+ pxTaskStatus->eCurrentState = eState;
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ /* If the task is in the suspended list then there is a
+ chance it is actually just blocked indefinitely - so really
+ it should be reported as being in the Blocked state. */
+ if( eState == eSuspended )
+ {
+ vTaskSuspendAll();
+ {
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+ {
+ pxTaskStatus->eCurrentState = eBlocked;
+ }
+ }
+ ( void ) xTaskResumeAll();
+ }
+ }
+ #endif /* INCLUDE_vTaskSuspend */
+ }
+ }
+ else
+ {
+ pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
+ }
+
+ /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
+ parameter is provided to allow it to be skipped. */
+ if( xGetFreeStackSpace != pdFALSE )
+ {
+ #if ( portSTACK_GROWTH > 0 )
+ {
+ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
+ }
+ #else
+ {
+ pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
+ }
+ #endif
+ }
+ else
+ {
+ pxTaskStatus->usStackHighWaterMark = 0;
+ }
+ }
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
+ {
+ configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
+ UBaseType_t uxTask = 0;
+
+ if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+
+ /* Populate an TaskStatus_t structure within the
+ pxTaskStatusArray array for each task that is referenced from
+ pxList. See the definition of TaskStatus_t in task.h for the
+ meaning of each TaskStatus_t structure member. */
+ do
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
+ uxTask++;
+ } while( pxNextTCB != pxFirstTCB );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ return uxTask;
+ }
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+ static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
+ {
+ uint32_t ulCount = 0U;
+
+ while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
+ {
+ pucStackByte -= portSTACK_GROWTH;
+ ulCount++;
+ }
+
+ ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
+
+ return ( configSTACK_DEPTH_TYPE ) ulCount;
+ }
+
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
+ {
+ TCB_t *pxTCB;
+ uint8_t *pucEndOfStack;
+ UBaseType_t uxReturn;
+
+ pxTCB = prvGetTCBFromHandle( xTask );
+
+ #if portSTACK_GROWTH < 0
+ {
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
+ }
+ #else
+ {
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
+ }
+ #endif
+
+ uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
+
+ return uxReturn;
+ }
+
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+ static void prvDeleteTCB( TCB_t *pxTCB )
+ {
+ /* This call is required specifically for the TriCore port. It must be
+ above the vPortFree() calls. The call is also used by ports/demos that
+ want to allocate and clean RAM statically. */
+ portCLEAN_UP_TCB( pxTCB );
+
+ /* Free up the memory allocated by the scheduler for the task. It is up
+ to the task to free any memory allocated at the application level. */
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )
+ {
+ _reclaim_reent( &( pxTCB->xNewLib_reent ) );
+ }
+ #endif /* configUSE_NEWLIB_REENTRANT */
+
+ #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
+ {
+ /* The task can only have been allocated dynamically - free both
+ the stack and TCB. */
+ vPortFree( pxTCB->pxStack );
+ vPortFree( pxTCB );
+ }
+ #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+ {
+ /* The task could have been allocated statically or dynamically, so
+ check what was statically allocated before trying to free the
+ memory. */
+ if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
+ {
+ /* Both the stack and TCB were allocated dynamically, so both
+ must be freed. */
+ vPortFree( pxTCB->pxStack );
+ vPortFree( pxTCB );
+ }
+ else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
+ {
+ /* Only the stack was statically allocated, so the TCB is the
+ only memory that must be freed. */
+ vPortFree( pxTCB );
+ }
+ else
+ {
+ /* Neither the stack nor the TCB were allocated dynamically, so
+ nothing needs to be freed. */
+ configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+ }
+
+#endif /* INCLUDE_vTaskDelete */
+/*-----------------------------------------------------------*/
+
+static void prvResetNextTaskUnblockTime( void )
+{
+TCB_t *pxTCB;
+
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+ {
+ /* The new current delayed list is empty. Set xNextTaskUnblockTime to
+ the maximum possible value so it is extremely unlikely that the
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass until
+ there is an item in the delayed list. */
+ xNextTaskUnblockTime = portMAX_DELAY;
+ }
+ else
+ {
+ /* The new current delayed list is not empty, get the value of
+ the item at the head of the delayed list. This is the time at
+ which the task at the head of the delayed list should be removed
+ from the Blocked state. */
+ ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+ xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
+ }
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+
+ TaskHandle_t xTaskGetCurrentTaskHandle( void )
+ {
+ TaskHandle_t xReturn;
+
+ /* A critical section is not required as this is not called from
+ an interrupt and the current TCB will always be the same for any
+ individual execution thread. */
+ xReturn = pxCurrentTCB;
+
+ return xReturn;
+ }
+
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+
+ BaseType_t xTaskGetSchedulerState( void )
+ {
+ BaseType_t xReturn;
+
+ if( xSchedulerRunning == pdFALSE )
+ {
+ xReturn = taskSCHEDULER_NOT_STARTED;
+ }
+ else
+ {
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ xReturn = taskSCHEDULER_RUNNING;
+ }
+ else
+ {
+ xReturn = taskSCHEDULER_SUSPENDED;
+ }
+ }
+
+ return xReturn;
+ }
+
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
+ {
+ TCB_t * const pxMutexHolderTCB = pxMutexHolder;
+ BaseType_t xReturn = pdFALSE;
+
+ /* If the mutex was given back by an interrupt while the queue was
+ locked then the mutex holder might now be NULL. _RB_ Is this still
+ needed as interrupts can no longer use mutexes? */
+ if( pxMutexHolder != NULL )
+ {
+ /* If the holder of the mutex has a priority below the priority of
+ the task attempting to obtain the mutex then it will temporarily
+ inherit the priority of the task attempting to obtain the mutex. */
+ if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
+ {
+ /* Adjust the mutex holder state to account for its new
+ priority. Only reset the event list item value if the value is
+ not being used for anything else. */
+ if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+ {
+ listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* If the task being modified is in the ready state it will need
+ to be moved into a new list. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
+ {
+ if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Inherit the priority before being moved into the new list. */
+ pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
+ prvAddTaskToReadyList( pxMutexHolderTCB );
+ }
+ else
+ {
+ /* Just inherit the priority. */
+ pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
+ }
+
+ traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
+
+ /* Inheritance occurred. */
+ xReturn = pdTRUE;
+ }
+ else
+ {
+ if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
+ {
+ /* The base priority of the mutex holder is lower than the
+ priority of the task attempting to take the mutex, but the
+ current priority of the mutex holder is not lower than the
+ priority of the task attempting to take the mutex.
+ Therefore the mutex holder must have already inherited a
+ priority, but inheritance would have occurred if that had
+ not been the case. */
+ xReturn = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ return xReturn;
+ }
+
+#endif /* configUSE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
+ {
+ TCB_t * const pxTCB = pxMutexHolder;
+ BaseType_t xReturn = pdFALSE;
+
+ if( pxMutexHolder != NULL )
+ {
+ /* A task can only have an inherited priority if it holds the mutex.
+ If the mutex is held by a task then it cannot be given from an
+ interrupt, and if a mutex is given by the holding task then it must
+ be the running state task. */
+ configASSERT( pxTCB == pxCurrentTCB );
+ configASSERT( pxTCB->uxMutexesHeld );
+ ( pxTCB->uxMutexesHeld )--;
+
+ /* Has the holder of the mutex inherited the priority of another
+ task? */
+ if( pxTCB->uxPriority != pxTCB->uxBasePriority )
+ {
+ /* Only disinherit if no other mutexes are held. */
+ if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
+ {
+ /* A task can only have an inherited priority if it holds
+ the mutex. If the mutex is held by a task then it cannot be
+ given from an interrupt, and if a mutex is given by the
+ holding task then it must be the running state task. Remove
+ the holding task from the ready list. */
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Disinherit the priority before adding the task into the
+ new ready list. */
+ traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
+ pxTCB->uxPriority = pxTCB->uxBasePriority;
+
+ /* Reset the event list item value. It cannot be in use for
+ any other purpose if this task is running, and it must be
+ running to give back the mutex. */
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ prvAddTaskToReadyList( pxTCB );
+
+ /* Return true to indicate that a context switch is required.
+ This is only actually required in the corner case whereby
+ multiple mutexes were held and the mutexes were given back
+ in an order different to that in which they were taken.
+ If a context switch did not occur when the first mutex was
+ returned, even if a task was waiting on it, then a context
+ switch should occur when the last mutex is returned whether
+ a task is waiting on it or not. */
+ xReturn = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ return xReturn;
+ }
+
+#endif /* configUSE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
+ {
+ TCB_t * const pxTCB = pxMutexHolder;
+ UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
+ const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
+
+ if( pxMutexHolder != NULL )
+ {
+ /* If pxMutexHolder is not NULL then the holder must hold at least
+ one mutex. */
+ configASSERT( pxTCB->uxMutexesHeld );
+
+ /* Determine the priority to which the priority of the task that
+ holds the mutex should be set. This will be the greater of the
+ holding task's base priority and the priority of the highest
+ priority task that is waiting to obtain the mutex. */
+ if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
+ {
+ uxPriorityToUse = uxHighestPriorityWaitingTask;
+ }
+ else
+ {
+ uxPriorityToUse = pxTCB->uxBasePriority;
+ }
+
+ /* Does the priority need to change? */
+ if( pxTCB->uxPriority != uxPriorityToUse )
+ {
+ /* Only disinherit if no other mutexes are held. This is a
+ simplification in the priority inheritance implementation. If
+ the task that holds the mutex is also holding other mutexes then
+ the other mutexes may have caused the priority inheritance. */
+ if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
+ {
+ /* If a task has timed out because it already holds the
+ mutex it was trying to obtain then it cannot of inherited
+ its own priority. */
+ configASSERT( pxTCB != pxCurrentTCB );
+
+ /* Disinherit the priority, remembering the previous
+ priority to facilitate determining the subject task's
+ state. */
+ traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
+ uxPriorityUsedOnEntry = pxTCB->uxPriority;
+ pxTCB->uxPriority = uxPriorityToUse;
+
+ /* Only reset the event list item value if the value is not
+ being used for anything else. */
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+ {
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* If the running task is not the task that holds the mutex
+ then the task that holds the mutex could be in either the
+ Ready, Blocked or Suspended states. Only remove the task
+ from its current state list if it is in the Ready state as
+ the task's priority is going to change and there is one
+ Ready list per priority. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
+ {
+ if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ prvAddTaskToReadyList( pxTCB );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* configUSE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+ void vTaskEnterCritical( void )
+ {
+ portDISABLE_INTERRUPTS();
+
+ if( xSchedulerRunning != pdFALSE )
+ {
+ ( pxCurrentTCB->uxCriticalNesting )++;
+
+ /* This is not the interrupt safe version of the enter critical
+ function so assert() if it is being called from an interrupt
+ context. Only API functions that end in "FromISR" can be used in an
+ interrupt. Only assert if the critical nesting count is 1 to
+ protect against recursive calls if the assert function also uses a
+ critical section. */
+ if( pxCurrentTCB->uxCriticalNesting == 1 )
+ {
+ portASSERT_IF_IN_ISR();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* portCRITICAL_NESTING_IN_TCB */
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+ void vTaskExitCritical( void )
+ {
+ if( xSchedulerRunning != pdFALSE )
+ {
+ if( pxCurrentTCB->uxCriticalNesting > 0U )
+ {
+ ( pxCurrentTCB->uxCriticalNesting )--;
+
+ if( pxCurrentTCB->uxCriticalNesting == 0U )
+ {
+ portENABLE_INTERRUPTS();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* portCRITICAL_NESTING_IN_TCB */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
+
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
+ {
+ size_t x;
+
+ /* Start by copying the entire string. */
+ strcpy( pcBuffer, pcTaskName );
+
+ /* Pad the end of the string with spaces to ensure columns line up when
+ printed out. */
+ for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
+ {
+ pcBuffer[ x ] = ' ';
+ }
+
+ /* Terminate. */
+ pcBuffer[ x ] = ( char ) 0x00;
+
+ /* Return the new end of string. */
+ return &( pcBuffer[ x ] );
+ }
+
+#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+ void vTaskList( char * pcWriteBuffer )
+ {
+ TaskStatus_t *pxTaskStatusArray;
+ UBaseType_t uxArraySize, x;
+ char cStatus;
+
+ /*
+ * PLEASE NOTE:
+ *
+ * This function is provided for convenience only, and is used by many
+ * of the demo applications. Do not consider it to be part of the
+ * scheduler.
+ *
+ * vTaskList() calls uxTaskGetSystemState(), then formats part of the
+ * uxTaskGetSystemState() output into a human readable table that
+ * displays task names, states 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 = ( char ) 0x00;
+
+ /* Take a snapshot of the number of tasks in case it changes while this
+ function is executing. */
+ uxArraySize = uxCurrentNumberOfTasks;
+
+ /* Allocate an array index for each task. NOTE! if
+ configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
+ equate to NULL. */
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
+
+ if( pxTaskStatusArray != NULL )
+ {
+ /* Generate the (binary) data. */
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
+
+ /* Create a human readable table from the binary data. */
+ for( x = 0; x < uxArraySize; x++ )
+ {
+ switch( pxTaskStatusArray[ x ].eCurrentState )
+ {
+ case eRunning: cStatus = tskRUNNING_CHAR;
+ break;
+
+ case eReady: cStatus = tskREADY_CHAR;
+ break;
+
+ case eBlocked: cStatus = tskBLOCKED_CHAR;
+ break;
+
+ case eSuspended: cStatus = tskSUSPENDED_CHAR;
+ break;
+
+ case eDeleted: cStatus = tskDELETED_CHAR;
+ break;
+
+ case eInvalid: /* Fall through. */
+ default: /* Should not get here, but it is included
+ to prevent static checking errors. */
+ cStatus = ( char ) 0x00;
+ break;
+ }
+
+ /* Write the task name to the string, padding with spaces so it
+ can be printed in tabular form more easily. */
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
+
+ /* Write the rest of the string. */
+ sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+ pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
+ }
+
+ /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
+ is 0 then vPortFree() will be #defined to nothing. */
+ vPortFree( pxTaskStatusArray );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*----------------------------------------------------------*/
+
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+ void vTaskGetRunTimeStats( char *pcWriteBuffer )
+ {
+ TaskStatus_t *pxTaskStatusArray;
+ UBaseType_t uxArraySize, x;
+ uint32_t ulTotalTime, ulStatsAsPercentage;
+
+ #if( configUSE_TRACE_FACILITY != 1 )
+ {
+ #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
+ }
+ #endif
+
+ /*
+ * PLEASE NOTE:
+ *
+ * This function is provided for convenience only, and is used by many
+ * of the demo applications. Do not consider it to be part of the
+ * scheduler.
+ *
+ * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
+ * of the uxTaskGetSystemState() output into a human readable table that
+ * displays the amount of time each task has spent in the Running state
+ * in both absolute and percentage terms.
+ *
+ * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
+ * function that might bloat the code size, use a lot of stack, and
+ * provide different results on different platforms. An alternative,
+ * tiny, third party, and limited functionality implementation of
+ * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
+ * a file called printf-stdarg.c (note printf-stdarg.c does not provide
+ * a full snprintf() implementation!).
+ *
+ * It is recommended that production systems call uxTaskGetSystemState()
+ * directly to get access to raw stats data, rather than indirectly
+ * through a call to vTaskGetRunTimeStats().
+ */
+
+ /* Make sure the write buffer does not contain a string. */
+ *pcWriteBuffer = ( char ) 0x00;
+
+ /* Take a snapshot of the number of tasks in case it changes while this
+ function is executing. */
+ uxArraySize = uxCurrentNumberOfTasks;
+
+ /* Allocate an array index for each task. NOTE! If
+ configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
+ equate to NULL. */
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
+
+ if( pxTaskStatusArray != NULL )
+ {
+ /* Generate the (binary) data. */
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
+
+ /* For percentage calculations. */
+ ulTotalTime /= 100UL;
+
+ /* Avoid divide by zero errors. */
+ if( ulTotalTime > 0UL )
+ {
+ /* Create a human readable table from the binary data. */
+ for( x = 0; x < uxArraySize; x++ )
+ {
+ /* What percentage of the total run time has the task used?
+ This will always be rounded down to the nearest integer.
+ ulTotalRunTimeDiv100 has already been divided by 100. */
+ ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
+
+ /* Write the task name to the string, padding with
+ spaces so it can be printed in tabular form more
+ easily. */
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
+
+ if( ulStatsAsPercentage > 0UL )
+ {
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+ {
+ sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+ }
+ #else
+ {
+ /* sizeof( int ) == sizeof( long ) so a smaller
+ printf() library can be used. */
+ sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+ }
+ #endif
+ }
+ else
+ {
+ /* If the percentage is zero here then the task has
+ consumed less than 1% of the total run time. */
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+ {
+ sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
+ }
+ #else
+ {
+ /* sizeof( int ) == sizeof( long ) so a smaller
+ printf() library can be used. */
+ sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+ }
+ #endif
+ }
+
+ pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
+ is 0 then vPortFree() will be #defined to nothing. */
+ vPortFree( pxTaskStatusArray );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+TickType_t uxTaskResetEventItemValue( void )
+{
+TickType_t uxReturn;
+
+ uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
+
+ /* Reset the event list item to its normal value - so it can be used with
+ queues and semaphores. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
+ return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ TaskHandle_t pvTaskIncrementMutexHeldCount( void )
+ {
+ /* If xSemaphoreCreateMutex() is called before any tasks have been created
+ then pxCurrentTCB will be NULL. */
+ if( pxCurrentTCB != NULL )
+ {
+ ( pxCurrentTCB->uxMutexesHeld )++;
+ }
+
+ return pxCurrentTCB;
+ }
+
+#endif /* configUSE_MUTEXES */
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
+ {
+ uint32_t ulReturn;
+
+ taskENTER_CRITICAL();
+ {
+ /* Only block if the notification count is not already non-zero. */
+ if( pxCurrentTCB->ulNotifiedValue == 0UL )
+ {
+ /* Mark this task as waiting for a notification. */
+ pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
+
+ if( xTicksToWait > ( TickType_t ) 0 )
+ {
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+ traceTASK_NOTIFY_TAKE_BLOCK();
+
+ /* All ports are written to allow a yield in a critical
+ section (some will yield immediately, others wait until the
+ critical section exits) - but it is not something that
+ application code should ever do. */
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ taskENTER_CRITICAL();
+ {
+ traceTASK_NOTIFY_TAKE();
+ ulReturn = pxCurrentTCB->ulNotifiedValue;
+
+ if( ulReturn != 0UL )
+ {
+ if( xClearCountOnExit != pdFALSE )
+ {
+ pxCurrentTCB->ulNotifiedValue = 0UL;
+ }
+ else
+ {
+ pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
+ }
+ taskEXIT_CRITICAL();
+
+ return ulReturn;
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
+ {
+ BaseType_t xReturn;
+
+ taskENTER_CRITICAL();
+ {
+ /* Only block if a notification is not already pending. */
+ if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
+ {
+ /* Clear bits in the task's notification value as bits may get
+ set by the notifying task or interrupt. This can be used to
+ clear the value to zero. */
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
+
+ /* Mark this task as waiting for a notification. */
+ pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
+
+ if( xTicksToWait > ( TickType_t ) 0 )
+ {
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+ traceTASK_NOTIFY_WAIT_BLOCK();
+
+ /* All ports are written to allow a yield in a critical
+ section (some will yield immediately, others wait until the
+ critical section exits) - but it is not something that
+ application code should ever do. */
+ portYIELD_WITHIN_API();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ taskENTER_CRITICAL();
+ {
+ traceTASK_NOTIFY_WAIT();
+
+ if( pulNotificationValue != NULL )
+ {
+ /* Output the current notification value, which may or may not
+ have changed. */
+ *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
+ }
+
+ /* If ucNotifyValue is set then either the task never entered the
+ blocked state (because a notification was already pending) or the
+ task unblocked because of a notification. Otherwise the task
+ unblocked because of a timeout. */
+ if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
+ {
+ /* A notification was not received. */
+ xReturn = pdFALSE;
+ }
+ else
+ {
+ /* A notification was already pending or a notification was
+ received while the task was waiting. */
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
+ xReturn = pdTRUE;
+ }
+
+ pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
+ }
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
+ {
+ TCB_t * pxTCB;
+ BaseType_t xReturn = pdPASS;
+ uint8_t ucOriginalNotifyState;
+
+ configASSERT( xTaskToNotify );
+ pxTCB = xTaskToNotify;
+
+ taskENTER_CRITICAL();
+ {
+ if( pulPreviousNotificationValue != NULL )
+ {
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
+ }
+
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
+
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+
+ switch( eAction )
+ {
+ case eSetBits :
+ pxTCB->ulNotifiedValue |= ulValue;
+ break;
+
+ case eIncrement :
+ ( pxTCB->ulNotifiedValue )++;
+ break;
+
+ case eSetValueWithOverwrite :
+ pxTCB->ulNotifiedValue = ulValue;
+ break;
+
+ case eSetValueWithoutOverwrite :
+ if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
+ {
+ pxTCB->ulNotifiedValue = ulValue;
+ }
+ else
+ {
+ /* The value could not be written to the task. */
+ xReturn = pdFAIL;
+ }
+ break;
+
+ case eNoAction:
+ /* The task is being notified without its notify value being
+ updated. */
+ break;
+
+ default:
+ /* Should not get here if all enums are handled.
+ Artificially force an assert by testing a value the
+ compiler can't assume is const. */
+ configASSERT( pxTCB->ulNotifiedValue == ~0UL );
+
+ break;
+ }
+
+ traceTASK_NOTIFY();
+
+ /* If the task is in the blocked state specifically to wait for a
+ notification then unblock it now. */
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+ {
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+
+ /* The task should not have been on an event list. */
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+
+ #if( configUSE_TICKLESS_IDLE != 0 )
+ {
+ /* If a task is blocked waiting for a notification then
+ xNextTaskUnblockTime might be set to the blocked task's time
+ out time. If the task is unblocked for a reason other than
+ a timeout xNextTaskUnblockTime is normally left unchanged,
+ because it will automatically get reset to a new value when
+ the tick count equals xNextTaskUnblockTime. However if
+ tickless idling is used it might be more important to enter
+ sleep mode at the earliest possible time - so reset
+ xNextTaskUnblockTime here to ensure it is updated at the
+ earliest possible time. */
+ prvResetNextTaskUnblockTime();
+ }
+ #endif
+
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* The notified task has a priority above the currently
+ executing task so a yield is required. */
+ taskYIELD_IF_USING_PREEMPTION();
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
+ {
+ TCB_t * pxTCB;
+ uint8_t ucOriginalNotifyState;
+ BaseType_t xReturn = pdPASS;
+ UBaseType_t uxSavedInterruptStatus;
+
+ configASSERT( xTaskToNotify );
+
+ /* RTOS ports that support interrupt nesting have the concept of a
+ maximum system call (or maximum API call) interrupt priority.
+ Interrupts that are above the maximum system call priority are keep
+ permanently enabled, even when the RTOS kernel is in a critical section,
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()
+ is defined in FreeRTOSConfig.h then
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ failure if a FreeRTOS API function is called from an interrupt that has
+ been assigned a priority above the configured maximum system call
+ priority. Only FreeRTOS functions that end in FromISR can be called
+ from interrupts that have been assigned a priority at or (logically)
+ below the maximum system call interrupt priority. FreeRTOS maintains a
+ separate interrupt safe API to ensure interrupt entry is as fast and as
+ simple as possible. More information (albeit Cortex-M specific) is
+ provided on the following link:
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ pxTCB = xTaskToNotify;
+
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ if( pulPreviousNotificationValue != NULL )
+ {
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
+ }
+
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+
+ switch( eAction )
+ {
+ case eSetBits :
+ pxTCB->ulNotifiedValue |= ulValue;
+ break;
+
+ case eIncrement :
+ ( pxTCB->ulNotifiedValue )++;
+ break;
+
+ case eSetValueWithOverwrite :
+ pxTCB->ulNotifiedValue = ulValue;
+ break;
+
+ case eSetValueWithoutOverwrite :
+ if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
+ {
+ pxTCB->ulNotifiedValue = ulValue;
+ }
+ else
+ {
+ /* The value could not be written to the task. */
+ xReturn = pdFAIL;
+ }
+ break;
+
+ case eNoAction :
+ /* The task is being notified without its notify value being
+ updated. */
+ break;
+
+ default:
+ /* Should not get here if all enums are handled.
+ Artificially force an assert by testing a value the
+ compiler can't assume is const. */
+ configASSERT( pxTCB->ulNotifiedValue == ~0UL );
+ break;
+ }
+
+ traceTASK_NOTIFY_FROM_ISR();
+
+ /* If the task is in the blocked state specifically to wait for a
+ notification then unblock it now. */
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+ {
+ /* The task should not have been on an event list. */
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+ }
+ else
+ {
+ /* The delayed and ready lists cannot be accessed, so hold
+ this task pending until the scheduler is resumed. */
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+ }
+
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* The notified task has a priority above the currently
+ executing task so a yield is required. */
+ if( pxHigherPriorityTaskWoken != NULL )
+ {
+ *pxHigherPriorityTaskWoken = pdTRUE;
+ }
+
+ /* Mark that a yield is pending in case the user is not
+ using the "xHigherPriorityTaskWoken" parameter to an ISR
+ safe FreeRTOS function. */
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+ return xReturn;
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
+ {
+ TCB_t * pxTCB;
+ uint8_t ucOriginalNotifyState;
+ UBaseType_t uxSavedInterruptStatus;
+
+ configASSERT( xTaskToNotify );
+
+ /* RTOS ports that support interrupt nesting have the concept of a
+ maximum system call (or maximum API call) interrupt priority.
+ Interrupts that are above the maximum system call priority are keep
+ permanently enabled, even when the RTOS kernel is in a critical section,
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()
+ is defined in FreeRTOSConfig.h then
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ failure if a FreeRTOS API function is called from an interrupt that has
+ been assigned a priority above the configured maximum system call
+ priority. Only FreeRTOS functions that end in FromISR can be called
+ from interrupts that have been assigned a priority at or (logically)
+ below the maximum system call interrupt priority. FreeRTOS maintains a
+ separate interrupt safe API to ensure interrupt entry is as fast and as
+ simple as possible. More information (albeit Cortex-M specific) is
+ provided on the following link:
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ pxTCB = xTaskToNotify;
+
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+
+ /* 'Giving' is equivalent to incrementing a count in a counting
+ semaphore. */
+ ( pxTCB->ulNotifiedValue )++;
+
+ traceTASK_NOTIFY_GIVE_FROM_ISR();
+
+ /* If the task is in the blocked state specifically to wait for a
+ notification then unblock it now. */
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+ {
+ /* The task should not have been on an event list. */
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
+ {
+ ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+ prvAddTaskToReadyList( pxTCB );
+ }
+ else
+ {
+ /* The delayed and ready lists cannot be accessed, so hold
+ this task pending until the scheduler is resumed. */
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+ }
+
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+ {
+ /* The notified task has a priority above the currently
+ executing task so a yield is required. */
+ if( pxHigherPriorityTaskWoken != NULL )
+ {
+ *pxHigherPriorityTaskWoken = pdTRUE;
+ }
+
+ /* Mark that a yield is pending in case the user is not
+ using the "xHigherPriorityTaskWoken" parameter in an ISR
+ safe FreeRTOS function. */
+ xYieldPending = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+
+/*-----------------------------------------------------------*/
+
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+ BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
+ {
+ TCB_t *pxTCB;
+ BaseType_t xReturn;
+
+ /* If null is passed in here then it is the calling task that is having
+ its notification state cleared. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+
+ taskENTER_CRITICAL();
+ {
+ if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
+ {
+ pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
+ xReturn = pdPASS;
+ }
+ else
+ {
+ xReturn = pdFAIL;
+ }
+ }
+ taskEXIT_CRITICAL();
+
+ return xReturn;
+ }
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
+
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
+{
+TickType_t xTimeToWake;
+const TickType_t xConstTickCount = xTickCount;
+
+ #if( INCLUDE_xTaskAbortDelay == 1 )
+ {
+ /* About to enter a delayed list, so ensure the ucDelayAborted flag is
+ reset to pdFALSE so it can be detected as having been set to pdTRUE
+ when the task leaves the Blocked state. */
+ pxCurrentTCB->ucDelayAborted = pdFALSE;
+ }
+ #endif
+
+ /* Remove the task from the ready list before adding it to the blocked list
+ as the same list item is used for both lists. */
+ if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ /* The current task must be in a ready list, so there is no need to
+ check, and the port reset macro can be called directly. */
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
+ {
+ /* Add the task to the suspended task list instead of a delayed task
+ list to ensure it is not woken by a timing event. It will block
+ indefinitely. */
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
+ }
+ else
+ {
+ /* Calculate the time at which the task should be woken if the event
+ does not occur. This may overflow but this doesn't matter, the
+ kernel will manage it correctly. */
+ xTimeToWake = xConstTickCount + xTicksToWait;
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
+
+ if( xTimeToWake < xConstTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow
+ list. */
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so the current block list
+ is used. */
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+
+ /* If the task entering the blocked state was placed at the
+ head of the list of blocked tasks then xNextTaskUnblockTime
+ needs to be updated too. */
+ if( xTimeToWake < xNextTaskUnblockTime )
+ {
+ xNextTaskUnblockTime = xTimeToWake;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ }
+ #else /* INCLUDE_vTaskSuspend */
+ {
+ /* Calculate the time at which the task should be woken if the event
+ does not occur. This may overflow but this doesn't matter, the kernel
+ will manage it correctly. */
+ xTimeToWake = xConstTickCount + xTicksToWait;
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
+
+ if( xTimeToWake < xConstTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so the current block list is used. */
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+
+ /* If the task entering the blocked state was placed at the head of the
+ list of blocked tasks then xNextTaskUnblockTime needs to be updated
+ too. */
+ if( xTimeToWake < xNextTaskUnblockTime )
+ {
+ xNextTaskUnblockTime = xTimeToWake;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
+ ( void ) xCanBlockIndefinitely;
+ }
+ #endif /* INCLUDE_vTaskSuspend */
+}
+
+/* Code below here allows additional code to be inserted into this source file,
+especially where access to file scope functions and data is needed (for example
+when performing module tests). */
+
+#ifdef FREERTOS_MODULE_TEST
+ #include "tasks_test_access_functions.h"
+#endif
+
+
+#if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
+
+ #include "freertos_tasks_c_additions.h"
+
+ #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+ static void freertos_tasks_c_additions_init( void )
+ {
+ FREERTOS_TASKS_C_ADDITIONS_INIT();
+ }
+ #endif
+
+#endif
+
+
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