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FreeRTOS 9.0.1

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This commit is contained in:
Our Air Quality 2017-07-05 14:17:41 +10:00
parent 5583543f14
commit 17eb160be7
26 changed files with 1347 additions and 615 deletions
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543
FreeRTOS/Source/tasks.c
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@ -1,5 +1,5 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
@ -131,12 +131,23 @@ 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 ) )
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.
*/
@ -153,6 +164,12 @@ a statically allocated stack and a dynamically allocated TCB. */
#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
@ -304,8 +321,8 @@ typedef struct tskTaskControlBlock
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 )
StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
#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 )
@ -327,7 +344,7 @@ typedef struct tskTaskControlBlock
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#endif
#if( configGENERATE_RUN_TIME_STATS == 1 )
@ -352,7 +369,7 @@ typedef struct tskTaskControlBlock
/* See the comments above the definition of
tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 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
@ -366,8 +383,8 @@ typedef struct tskTaskControlBlock
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. */
/*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;
@ -394,7 +411,7 @@ PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been r
/* 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 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;
@ -421,21 +438,27 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t
#endif
/*lint +e956 */
/*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 );
#endif
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
#endif
/* File private functions. --------------------------------*/
@ -446,7 +469,9 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t
* is in any other state.
*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
#endif /* INCLUDE_vTaskSuspend */
/*
@ -565,13 +590,13 @@ static void prvResetNextTaskUnblockTime( void );
* dynamically to fill in the structure's members.
*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
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; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
/*
* Called after a new task has been created and initialised to place the task
@ -579,17 +604,28 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
*/
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,
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 ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
StaticTask_t * const pxTaskBuffer )
{
TCB_t *pxNewTCB;
TaskHandle_t xReturn;
@ -597,6 +633,17 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
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 ) );
}
#endif /* configASSERT_DEFINED */
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
{
/* The memory used for the task's TCB and stack are passed into this
@ -604,7 +651,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
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 )
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 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. */
@ -626,7 +673,53 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if( portUSING_MPU_WRAPPERS == 1 )
#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 ) && ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
{
@ -674,11 +767,11 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName,
const uint16_t usStackDepth,
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 ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
TaskHandle_t * const pxCreatedTask )
{
TCB_t *pxNewTCB;
BaseType_t xReturn;
@ -741,7 +834,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
if( pxNewTCB != NULL )
{
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !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. */
@ -765,13 +858,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName,
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 ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const MemoryRegion_t * const xRegions )
{
StackType_t *pxTopOfStack;
UBaseType_t x;
@ -791,12 +884,12 @@ UBaseType_t x;
#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 ) )
#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 /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
#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.
@ -809,6 +902,14 @@ UBaseType_t x;
/* 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 */
{
@ -936,7 +1037,7 @@ UBaseType_t x;
/* 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. */
the top of stack variable is updated. */
#if( portUSING_MPU_WRAPPERS == 1 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
@ -1515,14 +1616,14 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
}
/* If the task is in the blocked or suspended list we need do
nothing more than change it's priority variable. However, if
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. */
/* 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
@ -1597,6 +1698,17 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
}
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();
@ -1672,7 +1784,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
{
/* 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 )
if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
{
xReturn = pdTRUE;
}
@ -1716,12 +1828,12 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
{
traceTASK_RESUME( pxTCB );
/* As we are in a critical section we can access the ready
lists even if the scheduler is suspended. */
/* 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 );
/* We may have just resumed a higher priority task. */
/* 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,
@ -1838,9 +1950,9 @@ BaseType_t xReturn;
address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
"IDLE",
configIDLE_TASK_NAME,
ulIdleTaskStackSize,
( void * ) NULL,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
@ -1858,7 +1970,8 @@ BaseType_t xReturn;
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask,
"IDLE", configMINIMAL_STACK_SIZE,
configIDLE_TASK_NAME,
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. */
@ -1880,6 +1993,15 @@ BaseType_t xReturn;
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
@ -1901,7 +2023,10 @@ BaseType_t xReturn;
/* 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. */
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();
/* Setting up the timer tick is hardware specific and thus in the
@ -2427,7 +2552,7 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
{
TCB_t *pxTCB = ( TCB_t * ) xTask;
BaseType_t xReturn = pdFALSE;
BaseType_t xReturn;
configASSERT( pxTCB );
@ -2437,6 +2562,8 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
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. */
@ -2485,10 +2612,10 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
}
else
{
mtCOVERAGE_TEST_MARKER();
xReturn = pdFAIL;
}
}
xTaskResumeAll();
( void ) xTaskResumeAll();
return xReturn;
}
@ -2510,13 +2637,13 @@ BaseType_t xSwitchRequired = pdFALSE;
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount + 1;
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 )
if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
{
taskSWITCH_DELAYED_LISTS();
}
@ -2959,10 +3086,9 @@ BaseType_t xReturn;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
void vTaskRemoveFromUnorderedEventList( 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. */
@ -2985,28 +3111,30 @@ BaseType_t xReturn;
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. */
/* 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;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
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;
}
@ -3023,6 +3151,7 @@ BaseType_t xReturn;
{
/* 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 != pdFALSE )
@ -3055,11 +3184,11 @@ BaseType_t xReturn;
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. */
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 -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
vTaskSetTimeOutState( pxTimeOut );
*pxTicksToWait -= xElapsedTime;
vTaskInternalSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
else
@ -3136,6 +3265,11 @@ static portTASK_FUNCTION( prvIdleTask, 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
@ -3212,6 +3346,11 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
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();
@ -3369,37 +3508,22 @@ static void prvCheckTasksWaitingTermination( void )
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xListIsEmpty;
TCB_t *pxTCB;
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
too often in the idle task. */
/* uxDeletedTasksWaitingCleanUp is used to prevent vTaskSuspendAll()
being called too often in the idle task. */
while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
{
vTaskSuspendAll();
taskENTER_CRITICAL();
{
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
--uxCurrentNumberOfTasks;
--uxDeletedTasksWaitingCleanUp;
}
( void ) xTaskResumeAll();
taskEXIT_CRITICAL();
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();
}
prvDeleteTCB( pxTCB );
}
}
#endif /* INCLUDE_vTaskDelete */
@ -3421,25 +3545,6 @@ static void prvCheckTasksWaitingTermination( void )
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;
@ -3460,12 +3565,38 @@ static void prvCheckTasksWaitingTermination( void )
}
#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. */
/* 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;
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
{
@ -3499,7 +3630,7 @@ static void prvCheckTasksWaitingTermination( void )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
{
volatile TCB_t *pxNextTCB, *pxFirstTCB;
configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
UBaseType_t uxTask = 0;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
@ -3600,7 +3731,7 @@ static void prvCheckTasksWaitingTermination( void )
vPortFree( pxTCB->pxStack );
vPortFree( pxTCB );
}
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 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
@ -3622,7 +3753,7 @@ static void prvCheckTasksWaitingTermination( void )
{
/* Neither the stack nor the TCB were allocated dynamically, so
nothing needs to be freed. */
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
mtCOVERAGE_TEST_MARKER();
}
}
@ -3703,25 +3834,27 @@ TCB_t *pxTCB;
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
TCB_t * const pxMutexHolderTCB = ( TCB_t * ) 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. */
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( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
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( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
not being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->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. */
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
{
@ -3730,11 +3863,11 @@ TCB_t *pxTCB;
/* 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( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
}
else
{
@ -3742,26 +3875,45 @@ TCB_t *pxTCB;
}
/* Inherit the priority before being moved into the new list. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxTCB );
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxMutexHolderTCB );
}
else
{
/* Just inherit the priority. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
}
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
/* Inheritance occurred. */
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
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 */
@ -3781,7 +3933,6 @@ TCB_t *pxTCB;
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 )--;
@ -3795,8 +3946,8 @@ TCB_t *pxTCB;
/* 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. */
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 );
@ -3848,6 +3999,108 @@ TCB_t *pxTCB;
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
{
TCB_t * const pxTCB = ( TCB_t * ) 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 )
@ -3937,7 +4190,7 @@ TCB_t *pxTCB;
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/
#if ( ( 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 )
{
@ -4029,10 +4282,10 @@ TCB_t *pxTCB;
}
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
#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 ) )
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
void vTaskGetRunTimeStats( char *pcWriteBuffer )
{
@ -4156,7 +4409,7 @@ TCB_t *pxTCB;
}
}
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
TickType_t uxTaskResetEventItemValue( void )
@ -4240,7 +4493,7 @@ TickType_t uxReturn;
}
else
{
pxCurrentTCB->ulNotifiedValue = ulReturn - 1;
pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
}
}
else
@ -4315,7 +4568,7 @@ TickType_t uxReturn;
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 )
if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
{
/* A notification was not received. */
xReturn = pdFALSE;
@ -4800,8 +5053,24 @@ const TickType_t xConstTickCount = xTickCount;
#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"
static void freertos_tasks_c_additions_init( void )
{
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
FREERTOS_TASKS_C_ADDITIONS_INIT();
#endif
}
#endif