FreeRTOS 9.0.1
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26 changed files with 1347 additions and 615 deletions
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@ -1,5 +1,5 @@
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/*
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FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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@ -160,6 +160,9 @@ typedef struct xTASK_PARAMETERS
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UBaseType_t uxPriority;
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StackType_t *puxStackBuffer;
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MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
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#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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StaticTask_t * const pxTaskBuffer;
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#endif
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} TaskParameters_t;
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/* Used with the uxTaskGetSystemState() function to return the state of each task
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@ -269,7 +272,7 @@ is used in assert() statements. */
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BaseType_t xTaskCreate(
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TaskFunction_t pvTaskCode,
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const char * const pcName,
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uint16_t usStackDepth,
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configSTACK_DEPTH_TYPE usStackDepth,
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void *pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t *pvCreatedTask
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@ -358,11 +361,11 @@ is used in assert() statements. */
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*/
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
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const char * const pcName,
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const uint16_t usStackDepth,
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const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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const configSTACK_DEPTH_TYPE usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
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#endif
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/**
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@ -474,12 +477,12 @@ is used in assert() statements. */
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*/
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
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const char * const pcName,
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const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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const uint32_t ulStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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StackType_t * const puxStackBuffer,
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StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/**
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@ -487,6 +490,8 @@ is used in assert() statements. */
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*<pre>
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BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );</pre>
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*
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* Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1.
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*
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* xTaskCreateRestricted() should only be used in systems that include an MPU
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* implementation.
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*
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@ -494,6 +499,9 @@ is used in assert() statements. */
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* The function parameters define the memory regions and associated access
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* permissions allocated to the task.
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*
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* See xTaskCreateRestrictedStatic() for a version that does not use any
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* dynamic memory allocation.
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*
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* @param pxTaskDefinition Pointer to a structure that contains a member
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* for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
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* documentation) plus an optional stack buffer and the memory region
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@ -553,6 +561,94 @@ TaskHandle_t xHandle;
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BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
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#endif
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/**
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* task. h
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*<pre>
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BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );</pre>
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*
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* Only available when configSUPPORT_STATIC_ALLOCATION is set to 1.
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*
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* xTaskCreateRestrictedStatic() should only be used in systems that include an
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* MPU implementation.
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*
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* Internally, within the FreeRTOS implementation, tasks use two blocks of
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* memory. The first block is used to hold the task's data structures. The
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* second block is used by the task as its stack. If a task is created using
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* xTaskCreateRestricted() then the stack is provided by the application writer,
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* and the memory used to hold the task's data structure is automatically
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* dynamically allocated inside the xTaskCreateRestricted() function. If a task
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* is created using xTaskCreateRestrictedStatic() then the application writer
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* must provide the memory used to hold the task's data structures too.
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* xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
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* created without using any dynamic memory allocation.
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*
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* @param pxTaskDefinition Pointer to a structure that contains a member
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* for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
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* documentation) plus an optional stack buffer and the memory region
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* definitions. If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure
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* contains an additional member, which is used to point to a variable of type
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* StaticTask_t - which is then used to hold the task's data structure.
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*
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* @param pxCreatedTask Used to pass back a handle by which the created task
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* can be referenced.
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*
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* @return pdPASS if the task was successfully created and added to a ready
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* list, otherwise an error code defined in the file projdefs.h
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*
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* Example usage:
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<pre>
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// Create an TaskParameters_t structure that defines the task to be created.
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// The StaticTask_t variable is only included in the structure when
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// configSUPPORT_STATIC_ALLOCATION is set to 1. The PRIVILEGED_DATA macro can
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// be used to force the variable into the RTOS kernel's privileged data area.
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static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
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static const TaskParameters_t xCheckTaskParameters =
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{
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vATask, // pvTaskCode - the function that implements the task.
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"ATask", // pcName - just a text name for the task to assist debugging.
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100, // usStackDepth - the stack size DEFINED IN WORDS.
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NULL, // pvParameters - passed into the task function as the function parameters.
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( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
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cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
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// xRegions - Allocate up to three separate memory regions for access by
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// the task, with appropriate access permissions. Different processors have
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// different memory alignment requirements - refer to the FreeRTOS documentation
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// for full information.
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{
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// Base address Length Parameters
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{ cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
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{ cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
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{ cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
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}
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&xTaskBuffer; // Holds the task's data structure.
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};
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int main( void )
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{
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TaskHandle_t xHandle;
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// Create a task from the const structure defined above. The task handle
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// is requested (the second parameter is not NULL) but in this case just for
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// demonstration purposes as its not actually used.
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xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
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// Start the scheduler.
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vTaskStartScheduler();
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// Will only get here if there was insufficient memory to create the idle
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// and/or timer task.
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for( ;; );
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}
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</pre>
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* \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic
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* \ingroup Tasks
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*/
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#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
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BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
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#endif
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/**
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* task. h
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*<pre>
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@ -2141,14 +2237,14 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTi
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* Removes a task from both the specified event list and the list of blocked
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* tasks, and places it on a ready queue.
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*
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* xTaskRemoveFromEventList()/xTaskRemoveFromUnorderedEventList() will be called
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* xTaskRemoveFromEventList()/vTaskRemoveFromUnorderedEventList() will be called
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* if either an event occurs to unblock a task, or the block timeout period
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* expires.
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*
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* xTaskRemoveFromEventList() is used when the event list is in task priority
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* order. It removes the list item from the head of the event list as that will
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* have the highest priority owning task of all the tasks on the event list.
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* xTaskRemoveFromUnorderedEventList() is used when the event list is not
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* vTaskRemoveFromUnorderedEventList() is used when the event list is not
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* ordered and the event list items hold something other than the owning tasks
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* priority. In this case the event list item value is updated to the value
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* passed in the xItemValue parameter.
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@ -2157,7 +2253,7 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTi
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* making the call, otherwise pdFALSE.
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*/
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BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
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BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
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void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
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/*
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* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
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@ -2207,7 +2303,7 @@ BaseType_t xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
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* Raises the priority of the mutex holder to that of the calling task should
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* the mutex holder have a priority less than the calling task.
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*/
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void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
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BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
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/*
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* Set the priority of a task back to its proper priority in the case that it
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@ -2215,6 +2311,16 @@ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTIO
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*/
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BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
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/*
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* If a higher priority task attempting to obtain a mutex caused a lower
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* priority task to inherit the higher priority task's priority - but the higher
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* priority task then timed out without obtaining the mutex, then the lower
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* priority task will disinherit the priority again - but only down as far as
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* the highest priority task that is still waiting for the mutex (if there were
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* more than one task waiting for the mutex).
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*/
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void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
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/*
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* Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
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*/
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@ -2258,6 +2364,13 @@ eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
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*/
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void *pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
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/*
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* For internal use only. Same as vTaskSetTimeOutState(), but without a critial
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* section.
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*/
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void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
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#ifdef __cplusplus
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}
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#endif
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