+/*\r
+ FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+/* Standard includes. */\r
+#include <stdlib.h>\r
+#include <string.h>\r
+\r
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
+all the API functions to use the MPU wrappers. That should only be done when\r
+task.h is included from an application file. */\r
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
+\r
+/* FreeRTOS includes. */\r
+#include "os/FreeRTOS.h"\r
+#include "os/task.h"\r
+#include "os/timers.h"\r
+#include "os/StackMacros.h"\r
+\r
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the\r
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the\r
+header files above, but not in this file, in order to generate the correct\r
+privileged Vs unprivileged linkage and placement. */\r
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */\r
+\r
+/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting\r
+functions but without including stdio.h here. */\r
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )\r
+ /* At the bottom of this file are two optional functions that can be used\r
+ to generate human readable text from the raw data generated by the\r
+ uxTaskGetSystemState() function. Note the formatting functions are provided\r
+ for convenience only, and are NOT considered part of the kernel. */\r
+ #include <stdio.h>\r
+#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */\r
+\r
+/* Sanity check the configuration. */\r
+#if( configUSE_TICKLESS_IDLE != 0 )\r
+ #if( INCLUDE_vTaskSuspend != 1 )\r
+ #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+\r
+/*\r
+ * Defines the size, in words, of the stack allocated to the idle task.\r
+ */\r
+#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE\r
+\r
+#if( configUSE_PREEMPTION == 0 )\r
+ /* If the cooperative scheduler is being used then a yield should not be\r
+ performed just because a higher priority task has been woken. */\r
+ #define taskYIELD_IF_USING_PREEMPTION()\r
+#else\r
+ #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()\r
+#endif\r
+\r
+/* Value that can be assigned to the eNotifyState member of the TCB. */\r
+typedef enum\r
+{\r
+ eNotWaitingNotification = 0,\r
+ eWaitingNotification,\r
+ eNotified\r
+} eNotifyValue;\r
+\r
+/*\r
+ * Task control block. A task control block (TCB) is allocated for each task,\r
+ * and stores task state information, including a pointer to the task's context\r
+ * (the task's run time environment, including register values)\r
+ */\r
+typedef struct tskTaskControlBlock\r
+{\r
+ 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. */\r
+\r
+ #if ( portUSING_MPU_WRAPPERS == 1 )\r
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */\r
+ BaseType_t xUsingStaticallyAllocatedStack; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */\r
+ #endif\r
+\r
+ ListItem_t xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */\r
+ ListItem_t xEventListItem; /*< Used to reference a task from an event list. */\r
+ UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */\r
+ StackType_t *pxStack; /*< Points to the start of the stack. */\r
+ 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. */\r
+\r
+ #if ( portSTACK_GROWTH > 0 )\r
+ StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */\r
+ #endif\r
+\r
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
+ UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */\r
+ #endif\r
+\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ 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. */\r
+ UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */\r
+ #endif\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
+ UBaseType_t uxMutexesHeld;\r
+ #endif\r
+\r
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+ TaskHookFunction_t pxTaskTag;\r
+ #endif\r
+\r
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )\r
+ void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];\r
+ #endif\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */\r
+ #endif\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ /* Allocate a Newlib reent structure that is specific to this task.\r
+ Note Newlib support has been included by popular demand, but is not\r
+ used by the FreeRTOS maintainers themselves. FreeRTOS is not\r
+ responsible for resulting newlib operation. User must be familiar with\r
+ newlib and must provide system-wide implementations of the necessary\r
+ stubs. Be warned that (at the time of writing) the current newlib design\r
+ implements a system-wide malloc() that must be provided with locks. */\r
+ struct _reent xNewLib_reent;\r
+ #endif\r
+\r
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
+ volatile uint32_t ulNotifiedValue;\r
+ volatile eNotifyValue eNotifyState;\r
+ #endif\r
+\r
+} tskTCB;\r
+\r
+/* The old tskTCB name is maintained above then typedefed to the new TCB_t name\r
+below to enable the use of older kernel aware debuggers. */\r
+typedef tskTCB TCB_t;\r
+\r
+/*\r
+ * Some kernel aware debuggers require the data the debugger needs access to to\r
+ * be global, rather than file scope.\r
+ */\r
+#ifdef portREMOVE_STATIC_QUALIFIER\r
+ #define static\r
+#endif\r
+\r
+/*lint -e956 A manual analysis and inspection has been used to determine which\r
+static variables must be declared volatile. */\r
+\r
+PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;\r
+\r
+/* Lists for ready and blocked tasks. --------------------*/\r
+PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */\r
+PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */\r
+PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
+PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */\r
+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. */\r
+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. */\r
+\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */\r
+ PRIVILEGED_DATA static volatile UBaseType_t uxTasksDeleted = ( UBaseType_t ) 0U;\r
+\r
+#endif\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */\r
+\r
+#endif\r
+\r
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
+\r
+ 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. */\r
+\r
+#endif\r
+\r
+/* Other file private variables. --------------------------------*/\r
+PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U;\r
+PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;\r
+PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;\r
+PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;\r
+PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;\r
+PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;\r
+PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY; before the scheduler starts. */\r
+\r
+/* Context switches are held pending while the scheduler is suspended. Also,\r
+interrupts must not manipulate the xGenericListItem of a TCB, or any of the\r
+lists the xGenericListItem can be referenced from, if the scheduler is suspended.\r
+If an interrupt needs to unblock a task while the scheduler is suspended then it\r
+moves the task's event list item into the xPendingReadyList, ready for the\r
+kernel to move the task from the pending ready list into the real ready list\r
+when the scheduler is unsuspended. The pending ready list itself can only be\r
+accessed from a critical section. */\r
+PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;\r
+\r
+#if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+\r
+ PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */\r
+ PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */\r
+\r
+#endif\r
+\r
+/*lint +e956 */\r
+\r
+/* Debugging and trace facilities private variables and macros. ------------*/\r
+\r
+/*\r
+ * The value used to fill the stack of a task when the task is created. This\r
+ * is used purely for checking the high water mark for tasks.\r
+ */\r
+#define tskSTACK_FILL_BYTE ( 0xa5U )\r
+\r
+/*\r
+ * Macros used by vListTask to indicate which state a task is in.\r
+ */\r
+#define tskBLOCKED_CHAR ( 'B' )\r
+#define tskREADY_CHAR ( 'R' )\r
+#define tskDELETED_CHAR ( 'D' )\r
+#define tskSUSPENDED_CHAR ( 'S' )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )\r
+\r
+ /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is\r
+ performed in a generic way that is not optimised to any particular\r
+ microcontroller architecture. */\r
+\r
+ /* uxTopReadyPriority holds the priority of the highest priority ready\r
+ state task. */\r
+ #define taskRECORD_READY_PRIORITY( uxPriority ) \\r
+ { \\r
+ if( ( uxPriority ) > uxTopReadyPriority ) \\r
+ { \\r
+ uxTopReadyPriority = ( uxPriority ); \\r
+ } \\r
+ } /* taskRECORD_READY_PRIORITY */\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ #define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
+ { \\r
+ /* Find the highest priority queue that contains ready tasks. */ \\r
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \\r
+ { \\r
+ configASSERT( uxTopReadyPriority ); \\r
+ --uxTopReadyPriority; \\r
+ } \\r
+ \\r
+ /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \\r
+ the same priority get an equal share of the processor time. */ \\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \\r
+ } /* taskSELECT_HIGHEST_PRIORITY_TASK */\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as\r
+ they are only required when a port optimised method of task selection is\r
+ being used. */\r
+ #define taskRESET_READY_PRIORITY( uxPriority )\r
+ #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )\r
+\r
+#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
+\r
+ /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is\r
+ performed in a way that is tailored to the particular microcontroller\r
+ architecture being used. */\r
+\r
+ /* A port optimised version is provided. Call the port defined macros. */\r
+ #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ #define taskSELECT_HIGHEST_PRIORITY_TASK() \\r
+ { \\r
+ UBaseType_t uxTopPriority; \\r
+ \\r
+ /* Find the highest priority queue that contains ready tasks. */ \\r
+ portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \\r
+ configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \\r
+ } /* taskSELECT_HIGHEST_PRIORITY_TASK() */\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ /* A port optimised version is provided, call it only if the TCB being reset\r
+ is being referenced from a ready list. If it is referenced from a delayed\r
+ or suspended list then it won't be in a ready list. */\r
+ #define taskRESET_READY_PRIORITY( uxPriority ) \\r
+ { \\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \\r
+ { \\r
+ portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \\r
+ } \\r
+ }\r
+\r
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick\r
+count overflows. */\r
+#define taskSWITCH_DELAYED_LISTS() \\r
+{ \\r
+ List_t *pxTemp; \\r
+ \\r
+ /* The delayed tasks list should be empty when the lists are switched. */ \\r
+ configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \\r
+ \\r
+ pxTemp = pxDelayedTaskList; \\r
+ pxDelayedTaskList = pxOverflowDelayedTaskList; \\r
+ pxOverflowDelayedTaskList = pxTemp; \\r
+ xNumOfOverflows++; \\r
+ prvResetNextTaskUnblockTime(); \\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Place the task represented by pxTCB into the appropriate ready list for\r
+ * the task. It is inserted at the end of the list.\r
+ */\r
+#define prvAddTaskToReadyList( pxTCB ) \\r
+ traceMOVED_TASK_TO_READY_STATE( pxTCB ); \\r
+ taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \\r
+ vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Several functions take an TaskHandle_t parameter that can optionally be NULL,\r
+ * where NULL is used to indicate that the handle of the currently executing\r
+ * task should be used in place of the parameter. This macro simply checks to\r
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
+ */\r
+#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) )\r
+\r
+/* The item value of the event list item is normally used to hold the priority\r
+of the task to which it belongs (coded to allow it to be held in reverse\r
+priority order). However, it is occasionally borrowed for other purposes. It\r
+is important its value is not updated due to a task priority change while it is\r
+being used for another purpose. The following bit definition is used to inform\r
+the scheduler that the value should not be changed - in which case it is the\r
+responsibility of whichever module is using the value to ensure it gets set back\r
+to its original value when it is released. */\r
+#if configUSE_16_BIT_TICKS == 1\r
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U\r
+#else\r
+ #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL\r
+#endif\r
+\r
+/* Callback function prototypes. --------------------------*/\r
+#if configCHECK_FOR_STACK_OVERFLOW > 0\r
+ extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );\r
+#endif\r
+\r
+#if configUSE_TICK_HOOK > 0\r
+ extern void vApplicationTickHook( void );\r
+#endif\r
+\r
+/* File private functions. --------------------------------*/\r
+\r
+/*\r
+ * Utility to ready a TCB for a given task. Mainly just copies the parameters\r
+ * into the TCB structure.\r
+ */\r
+static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+\r
+/**\r
+ * Utility task that simply returns pdTRUE if the task referenced by xTask is\r
+ * currently in the Suspended state, or pdFALSE if the task referenced by xTask\r
+ * is in any other state.\r
+ */\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;\r
+#endif /* INCLUDE_vTaskSuspend */\r
+\r
+/*\r
+ * Utility to ready all the lists used by the scheduler. This is called\r
+ * automatically upon the creation of the first task.\r
+ */\r
+static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;\r
+\r
+/*\r
+ * The idle task, which as all tasks is implemented as a never ending loop.\r
+ * The idle task is automatically created and added to the ready lists upon\r
+ * creation of the first user task.\r
+ *\r
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
+ * language extensions. The equivalent prototype for this function is:\r
+ *\r
+ * void prvIdleTask( void *pvParameters );\r
+ *\r
+ */\r
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
+\r
+/*\r
+ * Utility to free all memory allocated by the scheduler to hold a TCB,\r
+ * including the stack pointed to by the TCB.\r
+ *\r
+ * This does not free memory allocated by the task itself (i.e. memory\r
+ * allocated by calls to pvPortMalloc from within the tasks application code).\r
+ */\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * Used only by the idle task. This checks to see if anything has been placed\r
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up\r
+ * and its TCB deleted.\r
+ */\r
+static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;\r
+\r
+/*\r
+ * The currently executing task is entering the Blocked state. Add the task to\r
+ * either the current or the overflow delayed task list.\r
+ */\r
+static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;\r
+\r
+/*\r
+ * Allocates memory from the heap for a TCB and associated stack. Checks the\r
+ * allocation was successful.\r
+ */\r
+static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer ) PRIVILEGED_FUNCTION;\r
+\r
+/*\r
+ * Fills an TaskStatus_t structure with information on each task that is\r
+ * referenced from the pxList list (which may be a ready list, a delayed list,\r
+ * a suspended list, etc.).\r
+ *\r
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
+ * NORMAL APPLICATION CODE.\r
+ */\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * When a task is created, the stack of the task is filled with a known value.\r
+ * This function determines the 'high water mark' of the task stack by\r
+ * determining how much of the stack remains at the original preset value.\r
+ */\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
+\r
+ static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * Return the amount of time, in ticks, that will pass before the kernel will\r
+ * next move a task from the Blocked state to the Running state.\r
+ *\r
+ * This conditional compilation should use inequality to 0, not equality to 1.\r
+ * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user\r
+ * defined low power mode implementations require configUSE_TICKLESS_IDLE to be\r
+ * set to a value other than 1.\r
+ */\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
+\r
+ static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;\r
+\r
+#endif\r
+\r
+/*\r
+ * Set xNextTaskUnblockTime to the time at which the next Blocked state task\r
+ * will exit the Blocked state.\r
+ */\r
+static void prvResetNextTaskUnblockTime( void );\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ /*\r
+ * Helper function used to pad task names with spaces when printing out\r
+ * human readable tables of task information.\r
+ */\r
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );\r
+\r
+#endif\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+{\r
+BaseType_t xReturn;\r
+TCB_t * pxNewTCB;\r
+StackType_t *pxTopOfStack;\r
+\r
+ configASSERT( pxTaskCode );\r
+ configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );\r
+\r
+ /* Allocate the memory required by the TCB and stack for the new task,\r
+ checking that the allocation was successful. */\r
+ pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ /* Should the task be created in privileged mode? */\r
+ BaseType_t xRunPrivileged;\r
+ if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )\r
+ {\r
+ xRunPrivileged = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xRunPrivileged = pdFALSE;\r
+ }\r
+ uxPriority &= ~portPRIVILEGE_BIT;\r
+\r
+ if( puxStackBuffer != NULL )\r
+ {\r
+ /* The application provided its own stack. Note this so no\r
+ attempt is made to delete the stack should that task be\r
+ deleted. */\r
+ pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ /* The stack was allocated dynamically. Note this so it can be\r
+ deleted again if the task is deleted. */\r
+ pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;\r
+ }\r
+ #endif /* portUSING_MPU_WRAPPERS == 1 */\r
+\r
+ /* Calculate the top of stack address. This depends on whether the\r
+ stack grows from high memory to low (as per the 80x86) or vice versa.\r
+ portSTACK_GROWTH is used to make the result positive or negative as\r
+ required by the port. */\r
+ #if( portSTACK_GROWTH < 0 )\r
+ {\r
+ pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );\r
+ 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. */\r
+\r
+ /* Check the alignment of the calculated top of stack is correct. */\r
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+ }\r
+ #else /* portSTACK_GROWTH */\r
+ {\r
+ pxTopOfStack = pxNewTCB->pxStack;\r
+\r
+ /* Check the alignment of the stack buffer is correct. */\r
+ configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );\r
+\r
+ /* If we want to use stack checking on architectures that use\r
+ a positive stack growth direction then we also need to store the\r
+ other extreme of the stack space. */\r
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
+ }\r
+ #endif /* portSTACK_GROWTH */\r
+\r
+ /* Setup the newly allocated TCB with the initial state of the task. */\r
+ prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );\r
+\r
+ /* Initialize the TCB stack to look as if the task was already running,\r
+ but had been interrupted by the scheduler. The return address is set\r
+ to the start of the task function. Once the stack has been initialised\r
+ the top of stack variable is updated. */\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
+ }\r
+ #else /* portUSING_MPU_WRAPPERS */\r
+ {\r
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
+ }\r
+ #endif /* portUSING_MPU_WRAPPERS */\r
+\r
+ if( ( void * ) pxCreatedTask != NULL )\r
+ {\r
+ /* Pass the TCB out - in an anonymous way. The calling function/\r
+ task can use this as a handle to delete the task later if\r
+ required.*/\r
+ *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Ensure interrupts don't access the task lists while they are being\r
+ updated. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ uxCurrentNumberOfTasks++;\r
+ if( pxCurrentTCB == NULL )\r
+ {\r
+ /* There are no other tasks, or all the other tasks are in\r
+ the suspended state - make this the current task. */\r
+ pxCurrentTCB = pxNewTCB;\r
+\r
+ if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )\r
+ {\r
+ /* This is the first task to be created so do the preliminary\r
+ initialisation required. We will not recover if this call\r
+ fails, but we will report the failure. */\r
+ prvInitialiseTaskLists();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* If the scheduler is not already running, make this task the\r
+ current task if it is the highest priority task to be created\r
+ so far. */\r
+ if( xSchedulerRunning == pdFALSE )\r
+ {\r
+ if( pxCurrentTCB->uxPriority <= uxPriority )\r
+ {\r
+ pxCurrentTCB = pxNewTCB;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ uxTaskNumber++;\r
+\r
+ #if ( configUSE_TRACE_FACILITY == 1 )\r
+ {\r
+ /* Add a counter into the TCB for tracing only. */\r
+ pxNewTCB->uxTCBNumber = uxTaskNumber;\r
+ }\r
+ #endif /* configUSE_TRACE_FACILITY */\r
+ traceTASK_CREATE( pxNewTCB );\r
+\r
+ prvAddTaskToReadyList( pxNewTCB );\r
+\r
+ xReturn = pdPASS;\r
+ portSETUP_TCB( pxNewTCB );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ else\r
+ {\r
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
+ traceTASK_CREATE_FAILED();\r
+ }\r
+\r
+ if( xReturn == pdPASS )\r
+ {\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ /* If the created task is of a higher priority than the current task\r
+ then it should run now. */\r
+ if( pxCurrentTCB->uxPriority < uxPriority )\r
+ {\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ void vTaskDelete( TaskHandle_t xTaskToDelete )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then it is the calling task that is\r
+ being deleted. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToDelete );\r
+\r
+ /* Remove task from the ready list and place in the termination list.\r
+ This will stop the task from be scheduled. The idle task will check\r
+ the termination list and free up any memory allocated by the\r
+ scheduler for the TCB and stack. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Is the task waiting on an event also? */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Increment the ucTasksDeleted variable so the idle task knows\r
+ there is a task that has been deleted and that it should therefore\r
+ check the xTasksWaitingTermination list. */\r
+ ++uxTasksDeleted;\r
+\r
+ /* Increment the uxTaskNumberVariable also so kernel aware debuggers\r
+ can detect that the task lists need re-generating. */\r
+ uxTaskNumber++;\r
+\r
+ traceTASK_DELETE( pxTCB );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ /* Force a reschedule if it is the currently running task that has just\r
+ been deleted. */\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ if( pxTCB == pxCurrentTCB )\r
+ {\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
+\r
+ /* The pre-delete hook is primarily for the Windows simulator,\r
+ in which Windows specific clean up operations are performed,\r
+ after which it is not possible to yield away from this task -\r
+ hence xYieldPending is used to latch that a context switch is\r
+ required. */\r
+ portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ /* Reset the next expected unblock time in case it referred to\r
+ the task that has just been deleted. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ }\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskDelete */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelayUntil == 1 )\r
+\r
+ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;\r
+\r
+ configASSERT( pxPreviousWakeTime );\r
+ configASSERT( ( xTimeIncrement > 0U ) );\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Minor optimisation. The tick count cannot change in this\r
+ block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
+ /* Generate the tick time at which the task wants to wake. */\r
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
+\r
+ if( xConstTickCount < *pxPreviousWakeTime )\r
+ {\r
+ /* The tick count has overflowed since this function was\r
+ lasted called. In this case the only time we should ever\r
+ actually delay is if the wake time has also overflowed,\r
+ and the wake time is greater than the tick time. When this\r
+ is the case it is as if neither time had overflowed. */\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )\r
+ {\r
+ xShouldDelay = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* The tick time has not overflowed. In this case we will\r
+ delay if either the wake time has overflowed, and/or the\r
+ tick time is less than the wake time. */\r
+ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )\r
+ {\r
+ xShouldDelay = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ /* Update the wake time ready for the next call. */\r
+ *pxPreviousWakeTime = xTimeToWake;\r
+\r
+ if( xShouldDelay != pdFALSE )\r
+ {\r
+ traceTASK_DELAY_UNTIL();\r
+\r
+ /* Remove the task from the ready list before adding it to the\r
+ blocked list as the same list item is used for both lists. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ xAlreadyYielded = xTaskResumeAll();\r
+\r
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
+ have put ourselves to sleep. */\r
+ if( xAlreadyYielded == pdFALSE )\r
+ {\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskDelayUntil */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelay == 1 )\r
+\r
+ void vTaskDelay( const TickType_t xTicksToDelay )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xAlreadyYielded = pdFALSE;\r
+\r
+\r
+ /* A delay time of zero just forces a reschedule. */\r
+ if( xTicksToDelay > ( TickType_t ) 0U )\r
+ {\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
+ vTaskSuspendAll();\r
+ {\r
+ traceTASK_DELAY();\r
+\r
+ /* A task that is removed from the event list while the\r
+ scheduler is suspended will not get placed in the ready\r
+ list or removed from the blocked list until the scheduler\r
+ is resumed.\r
+\r
+ This task cannot be in an event list as it is the currently\r
+ executing task. */\r
+\r
+ /* Calculate the time to wake - this may overflow but this is\r
+ not a problem. */\r
+ xTimeToWake = xTickCount + xTicksToDelay;\r
+\r
+ /* We must remove ourselves from the ready list before adding\r
+ ourselves to the blocked list as the same list item is used for\r
+ both lists. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ xAlreadyYielded = xTaskResumeAll();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
+ have put ourselves to sleep. */\r
+ if( xAlreadyYielded == pdFALSE )\r
+ {\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskDelay */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_eTaskGetState == 1 )\r
+\r
+ eTaskState eTaskGetState( TaskHandle_t xTask )\r
+ {\r
+ eTaskState eReturn;\r
+ List_t *pxStateList;\r
+ const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
+\r
+ configASSERT( pxTCB );\r
+\r
+ if( pxTCB == pxCurrentTCB )\r
+ {\r
+ /* The task calling this function is querying its own state. */\r
+ eReturn = eRunning;\r
+ }\r
+ else\r
+ {\r
+ taskENTER_CRITICAL();\r
+ {\r
+ pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )\r
+ {\r
+ /* The task being queried is referenced from one of the Blocked\r
+ lists. */\r
+ eReturn = eBlocked;\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ else if( pxStateList == &xSuspendedTaskList )\r
+ {\r
+ /* The task being queried is referenced from the suspended\r
+ list. Is it genuinely suspended or is it block\r
+ indefinitely? */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )\r
+ {\r
+ eReturn = eSuspended;\r
+ }\r
+ else\r
+ {\r
+ eReturn = eBlocked;\r
+ }\r
+ }\r
+ #endif\r
+\r
+ #if ( INCLUDE_vTaskDelete == 1 )\r
+ else if( pxStateList == &xTasksWaitingTermination )\r
+ {\r
+ /* The task being queried is referenced from the deleted\r
+ tasks list. */\r
+ eReturn = eDeleted;\r
+ }\r
+ #endif\r
+\r
+ else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */\r
+ {\r
+ /* If the task is not in any other state, it must be in the\r
+ Ready (including pending ready) state. */\r
+ eReturn = eReady;\r
+ }\r
+ }\r
+\r
+ return eReturn;\r
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
+\r
+#endif /* INCLUDE_eTaskGetState */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_uxTaskPriorityGet == 1 )\r
+\r
+ UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then it is the priority of the that\r
+ called uxTaskPriorityGet() that is being queried. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+ uxReturn = pxTCB->uxPriority;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_uxTaskPriorityGet */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_uxTaskPriorityGet == 1 )\r
+\r
+ UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxReturn, uxSavedInterruptState;\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ /* If null is passed in here then it is the priority of the calling\r
+ task that is being queried. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+ uxReturn = pxTCB->uxPriority;\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_uxTaskPriorityGet */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskPrioritySet == 1 )\r
+\r
+ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )\r
+ {\r
+ TCB_t *pxTCB;\r
+ UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;\r
+ BaseType_t xYieldRequired = pdFALSE;\r
+\r
+ configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );\r
+\r
+ /* Ensure the new priority is valid. */\r
+ if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
+ {\r
+ uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then it is the priority of the calling\r
+ task that is being changed. */\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+\r
+ traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ uxCurrentBasePriority = pxTCB->uxBasePriority;\r
+ }\r
+ #else\r
+ {\r
+ uxCurrentBasePriority = pxTCB->uxPriority;\r
+ }\r
+ #endif\r
+\r
+ if( uxCurrentBasePriority != uxNewPriority )\r
+ {\r
+ /* The priority change may have readied a task of higher\r
+ priority than the calling task. */\r
+ if( uxNewPriority > uxCurrentBasePriority )\r
+ {\r
+ if( pxTCB != pxCurrentTCB )\r
+ {\r
+ /* The priority of a task other than the currently\r
+ running task is being raised. Is the priority being\r
+ raised above that of the running task? */\r
+ if( uxNewPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* The priority of the running task is being raised,\r
+ but the running task must already be the highest\r
+ priority task able to run so no yield is required. */\r
+ }\r
+ }\r
+ else if( pxTCB == pxCurrentTCB )\r
+ {\r
+ /* Setting the priority of the running task down means\r
+ there may now be another task of higher priority that\r
+ is ready to execute. */\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ /* Setting the priority of any other task down does not\r
+ require a yield as the running task must be above the\r
+ new priority of the task being modified. */\r
+ }\r
+\r
+ /* Remember the ready list the task might be referenced from\r
+ before its uxPriority member is changed so the\r
+ taskRESET_READY_PRIORITY() macro can function correctly. */\r
+ uxPriorityUsedOnEntry = pxTCB->uxPriority;\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ /* Only change the priority being used if the task is not\r
+ currently using an inherited priority. */\r
+ if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
+ {\r
+ pxTCB->uxPriority = uxNewPriority;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* The base priority gets set whatever. */\r
+ pxTCB->uxBasePriority = uxNewPriority;\r
+ }\r
+ #else\r
+ {\r
+ pxTCB->uxPriority = uxNewPriority;\r
+ }\r
+ #endif\r
+\r
+ /* Only reset the event list item value if the value is not\r
+ being used for anything else. */\r
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
+ {\r
+ 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. */\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* If the task is in the blocked or suspended list we need do\r
+ nothing more than change it's priority variable. However, if\r
+ the task is in a ready list it needs to be removed and placed\r
+ in the list appropriate to its new priority. */\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ {\r
+ /* The task is currently in its ready list - remove before adding\r
+ it to it's new ready list. As we are in a critical section we\r
+ can do this even if the scheduler is suspended. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* It is known that the task is in its ready list so\r
+ there is no need to check again and the port level\r
+ reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ if( xYieldRequired == pdTRUE )\r
+ {\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Remove compiler warning about unused variables when the port\r
+ optimised task selection is not being used. */\r
+ ( void ) uxPriorityUsedOnEntry;\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskPrioritySet */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ void vTaskSuspend( TaskHandle_t xTaskToSuspend )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* If null is passed in here then it is the running task that is\r
+ being suspended. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToSuspend );\r
+\r
+ traceTASK_SUSPEND( pxTCB );\r
+\r
+ /* Remove task from the ready/delayed list and place in the\r
+ suspended list. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Is the task waiting on an event also? */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ if( pxTCB == pxCurrentTCB )\r
+ {\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ /* The current task has just been suspended. */\r
+ configASSERT( uxSchedulerSuspended == 0 );\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ /* The scheduler is not running, but the task that was pointed\r
+ to by pxCurrentTCB has just been suspended and pxCurrentTCB\r
+ must be adjusted to point to a different task. */\r
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )\r
+ {\r
+ /* No other tasks are ready, so set pxCurrentTCB back to\r
+ NULL so when the next task is created pxCurrentTCB will\r
+ be set to point to it no matter what its relative priority\r
+ is. */\r
+ pxCurrentTCB = NULL;\r
+ }\r
+ else\r
+ {\r
+ vTaskSwitchContext();\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ /* A task other than the currently running task was suspended,\r
+ reset the next expected unblock time in case it referred to the\r
+ task that is now in the Suspended state. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskSuspend */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )\r
+ {\r
+ BaseType_t xReturn = pdFALSE;\r
+ const TCB_t * const pxTCB = ( TCB_t * ) xTask;\r
+\r
+ /* Accesses xPendingReadyList so must be called from a critical\r
+ section. */\r
+\r
+ /* It does not make sense to check if the calling task is suspended. */\r
+ configASSERT( xTask );\r
+\r
+ /* Is the task being resumed actually in the suspended list? */\r
+ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ {\r
+ /* Has the task already been resumed from within an ISR? */\r
+ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )\r
+ {\r
+ /* Is it in the suspended list because it is in the Suspended\r
+ state, or because is is blocked with no timeout? */\r
+ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )\r
+ {\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ return xReturn;\r
+ } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */\r
+\r
+#endif /* INCLUDE_vTaskSuspend */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskSuspend == 1 )\r
+\r
+ void vTaskResume( TaskHandle_t xTaskToResume )\r
+ {\r
+ TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
+\r
+ /* It does not make sense to resume the calling task. */\r
+ configASSERT( xTaskToResume );\r
+\r
+ /* The parameter cannot be NULL as it is impossible to resume the\r
+ currently executing task. */\r
+ if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )\r
+ {\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ {\r
+ traceTASK_RESUME( pxTCB );\r
+\r
+ /* As we are in a critical section we can access the ready\r
+ lists even if the scheduler is suspended. */\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* We may have just resumed a higher priority task. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ /* This yield may not cause the task just resumed to run,\r
+ but will leave the lists in the correct state for the\r
+ next yield. */\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskSuspend */\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
+\r
+ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )\r
+ {\r
+ BaseType_t xYieldRequired = pdFALSE;\r
+ TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToResume );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ if( prvTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
+ {\r
+ traceTASK_RESUME_FROM_ISR( pxTCB );\r
+\r
+ /* Check the ready lists can be accessed. */\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ /* Ready lists can be accessed so move the task from the\r
+ suspended list to the ready list directly. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed or ready lists cannot be accessed so the task\r
+ is held in the pending ready list until the scheduler is\r
+ unsuspended. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+\r
+ return xYieldRequired;\r
+ }\r
+\r
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskStartScheduler( void )\r
+{\r
+BaseType_t xReturn;\r
+\r
+ /* Add the idle task at the lowest priority. */\r
+ #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
+ {\r
+ /* Create the idle task, storing its handle in xIdleTaskHandle so it can\r
+ be returned by the xTaskGetIdleTaskHandle() function. */\r
+ xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */\r
+ }\r
+ #else\r
+ {\r
+ /* Create the idle task without storing its handle. */\r
+ xReturn = xTaskCreate( prvIdleTask, "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */\r
+ }\r
+ #endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
+\r
+ #if ( configUSE_TIMERS == 1 )\r
+ {\r
+ if( xReturn == pdPASS )\r
+ {\r
+ xReturn = xTimerCreateTimerTask();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_TIMERS */\r
+\r
+ if( xReturn == pdPASS )\r
+ {\r
+ /* Interrupts are turned off here, to ensure a tick does not occur\r
+ before or during the call to xPortStartScheduler(). The stacks of\r
+ the created tasks contain a status word with interrupts switched on\r
+ so interrupts will automatically get re-enabled when the first task\r
+ starts to run. */\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Switch Newlib's _impure_ptr variable to point to the _reent\r
+ structure specific to the task that will run first. */\r
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
+ xSchedulerRunning = pdTRUE;\r
+ xTickCount = ( TickType_t ) 0U;\r
+\r
+ /* If configGENERATE_RUN_TIME_STATS is defined then the following\r
+ macro must be defined to configure the timer/counter used to generate\r
+ the run time counter time base. */\r
+ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();\r
+\r
+ /* Setting up the timer tick is hardware specific and thus in the\r
+ portable interface. */\r
+ if( xPortStartScheduler() != pdFALSE )\r
+ {\r
+ /* Should not reach here as if the scheduler is running the\r
+ function will not return. */\r
+ }\r
+ else\r
+ {\r
+ /* Should only reach here if a task calls xTaskEndScheduler(). */\r
+ }\r
+ }\r
+ else\r
+ {\r
+ /* This line will only be reached if the kernel could not be started,\r
+ because there was not enough FreeRTOS heap to create the idle task\r
+ or the timer task. */\r
+ configASSERT( xReturn );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskEndScheduler( void )\r
+{\r
+ /* Stop the scheduler interrupts and call the portable scheduler end\r
+ routine so the original ISRs can be restored if necessary. The port\r
+ layer must ensure interrupts enable bit is left in the correct state. */\r
+ portDISABLE_INTERRUPTS();\r
+ xSchedulerRunning = pdFALSE;\r
+ vPortEndScheduler();\r
+}\r
+/*----------------------------------------------------------*/\r
+\r
+void vTaskSuspendAll( void )\r
+{\r
+ /* A critical section is not required as the variable is of type\r
+ BaseType_t. Please read Richard Barry's reply in the following link to a\r
+ post in the FreeRTOS support forum before reporting this as a bug! -\r
+ http://goo.gl/wu4acr */\r
+ ++uxSchedulerSuspended;\r
+}\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
+\r
+ static TickType_t prvGetExpectedIdleTime( void )\r
+ {\r
+ TickType_t xReturn;\r
+\r
+ if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )\r
+ {\r
+ xReturn = 0;\r
+ }\r
+ else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )\r
+ {\r
+ /* There are other idle priority tasks in the ready state. If\r
+ time slicing is used then the very next tick interrupt must be\r
+ processed. */\r
+ xReturn = 0;\r
+ }\r
+ else\r
+ {\r
+ xReturn = xNextTaskUnblockTime - xTickCount;\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+/*----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskResumeAll( void )\r
+{\r
+TCB_t *pxTCB;\r
+BaseType_t xAlreadyYielded = pdFALSE;\r
+\r
+ /* If uxSchedulerSuspended is zero then this function does not match a\r
+ previous call to vTaskSuspendAll(). */\r
+ configASSERT( uxSchedulerSuspended );\r
+\r
+ /* It is possible that an ISR caused a task to be removed from an event\r
+ list while the scheduler was suspended. If this was the case then the\r
+ removed task will have been added to the xPendingReadyList. Once the\r
+ scheduler has been resumed it is safe to move all the pending ready\r
+ tasks from this list into their appropriate ready list. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ --uxSchedulerSuspended;\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )\r
+ {\r
+ /* Move any readied tasks from the pending list into the\r
+ appropriate ready list. */\r
+ while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )\r
+ {\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* If the moved task has a priority higher than the current\r
+ task then a yield must be performed. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ /* If any ticks occurred while the scheduler was suspended then\r
+ they should be processed now. This ensures the tick count does\r
+ not slip, and that any delayed tasks are resumed at the correct\r
+ time. */\r
+ if( uxPendedTicks > ( UBaseType_t ) 0U )\r
+ {\r
+ while( uxPendedTicks > ( UBaseType_t ) 0U )\r
+ {\r
+ if( xTaskIncrementTick() != pdFALSE )\r
+ {\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ --uxPendedTicks;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ if( xYieldPending == pdTRUE )\r
+ {\r
+ #if( configUSE_PREEMPTION != 0 )\r
+ {\r
+ xAlreadyYielded = pdTRUE;\r
+ }\r
+ #endif\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xAlreadyYielded;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+TickType_t xTaskGetTickCount( void )\r
+{\r
+TickType_t xTicks;\r
+\r
+ /* Critical section required if running on a 16 bit processor. */\r
+ portTICK_TYPE_ENTER_CRITICAL();\r
+ {\r
+ xTicks = xTickCount;\r
+ }\r
+ portTICK_TYPE_EXIT_CRITICAL();\r
+\r
+ return xTicks;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+TickType_t xTaskGetTickCountFromISR( void )\r
+{\r
+TickType_t xReturn;\r
+UBaseType_t uxSavedInterruptStatus;\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a maximum\r
+ system call (or maximum API call) interrupt priority. Interrupts that are\r
+ above the maximum system call priority are kept permanently enabled, even\r
+ when the RTOS kernel is in a critical section, but cannot make any calls to\r
+ FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h\r
+ then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has been\r
+ assigned a priority above the configured maximum system call priority.\r
+ Only FreeRTOS functions that end in FromISR can be called from interrupts\r
+ that have been assigned a priority at or (logically) below the maximum\r
+ system call interrupt priority. FreeRTOS maintains a separate interrupt\r
+ safe API to ensure interrupt entry is as fast and as simple as possible.\r
+ More information (albeit Cortex-M specific) is provided on the following\r
+ link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ xReturn = xTickCount;\r
+ }\r
+ portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+UBaseType_t uxTaskGetNumberOfTasks( void )\r
+{\r
+ /* A critical section is not required because the variables are of type\r
+ BaseType_t. */\r
+ return uxCurrentNumberOfTasks;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_pcTaskGetTaskName == 1 )\r
+\r
+ char *pcTaskGetTaskName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ /* If null is passed in here then the name of the calling task is being queried. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
+ configASSERT( pxTCB );\r
+ return &( pxTCB->pcTaskName[ 0 ] );\r
+ }\r
+\r
+#endif /* INCLUDE_pcTaskGetTaskName */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )\r
+ {\r
+ UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;\r
+\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Is there a space in the array for each task in the system? */\r
+ if( uxArraySize >= uxCurrentNumberOfTasks )\r
+ {\r
+ /* Fill in an TaskStatus_t structure with information on each\r
+ task in the Ready state. */\r
+ do\r
+ {\r
+ uxQueue--;\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );\r
+\r
+ } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ /* Fill in an TaskStatus_t structure with information on each\r
+ task in the Blocked state. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );\r
+\r
+ #if( INCLUDE_vTaskDelete == 1 )\r
+ {\r
+ /* Fill in an TaskStatus_t structure with information on\r
+ each task that has been deleted but not yet cleaned up. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );\r
+ }\r
+ #endif\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ /* Fill in an TaskStatus_t structure with information on\r
+ each task in the Suspended state. */\r
+ uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );\r
+ }\r
+ #endif\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1)\r
+ {\r
+ if( pulTotalRunTime != NULL )\r
+ {\r
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );\r
+ #else\r
+ *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
+ #endif\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ if( pulTotalRunTime != NULL )\r
+ {\r
+ *pulTotalRunTime = 0;\r
+ }\r
+ }\r
+ #endif\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ ( void ) xTaskResumeAll();\r
+\r
+ return uxTask;\r
+ }\r
+\r
+#endif /* configUSE_TRACE_FACILITY */\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )\r
+\r
+ TaskHandle_t xTaskGetIdleTaskHandle( void )\r
+ {\r
+ /* If xTaskGetIdleTaskHandle() is called before the scheduler has been\r
+ started, then xIdleTaskHandle will be NULL. */\r
+ configASSERT( ( xIdleTaskHandle != NULL ) );\r
+ return xIdleTaskHandle;\r
+ }\r
+\r
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */\r
+/*----------------------------------------------------------*/\r
+\r
+/* This conditional compilation should use inequality to 0, not equality to 1.\r
+This is to ensure vTaskStepTick() is available when user defined low power mode\r
+implementations require configUSE_TICKLESS_IDLE to be set to a value other than\r
+1. */\r
+#if ( configUSE_TICKLESS_IDLE != 0 )\r
+\r
+ void vTaskStepTick( const TickType_t xTicksToJump )\r
+ {\r
+ /* Correct the tick count value after a period during which the tick\r
+ was suppressed. Note this does *not* call the tick hook function for\r
+ each stepped tick. */\r
+ configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );\r
+ xTickCount += xTicksToJump;\r
+ traceINCREASE_TICK_COUNT( xTicksToJump );\r
+ }\r
+\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+/*----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskIncrementTick( void )\r
+{\r
+TCB_t * pxTCB;\r
+TickType_t xItemValue;\r
+BaseType_t xSwitchRequired = pdFALSE;\r
+\r
+ /* Called by the portable layer each time a tick interrupt occurs.\r
+ Increments the tick then checks to see if the new tick value will cause any\r
+ tasks to be unblocked. */\r
+ traceTASK_INCREMENT_TICK( xTickCount );\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ /* Increment the RTOS tick, switching the delayed and overflowed\r
+ delayed lists if it wraps to 0. */\r
+ ++xTickCount;\r
+\r
+ {\r
+ /* Minor optimisation. The tick count cannot change in this\r
+ block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
+ if( xConstTickCount == ( TickType_t ) 0U )\r
+ {\r
+ taskSWITCH_DELAYED_LISTS();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* See if this tick has made a timeout expire. Tasks are stored in\r
+ the queue in the order of their wake time - meaning once one task\r
+ has been found whose block time has not expired there is no need to\r
+ look any further down the list. */\r
+ if( xConstTickCount >= xNextTaskUnblockTime )\r
+ {\r
+ for( ;; )\r
+ {\r
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
+ {\r
+ /* The delayed list is empty. Set xNextTaskUnblockTime\r
+ to the maximum possible value so it is extremely\r
+ unlikely that the\r
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass\r
+ next time through. */\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ /* The delayed list is not empty, get the value of the\r
+ item at the head of the delayed list. This is the time\r
+ at which the task at the head of the delayed list must\r
+ be removed from the Blocked state. */\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
+ xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );\r
+\r
+ if( xConstTickCount < xItemValue )\r
+ {\r
+ /* It is not time to unblock this item yet, but the\r
+ item value is the time at which the task at the head\r
+ of the blocked list must be removed from the Blocked\r
+ state - so record the item value in\r
+ xNextTaskUnblockTime. */\r
+ xNextTaskUnblockTime = xItemValue;\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* It is time to remove the item from the Blocked state. */\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+\r
+ /* Is the task waiting on an event also? If so remove\r
+ it from the event list. */\r
+ if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xEventListItem ) );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Place the unblocked task into the appropriate ready\r
+ list. */\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* A task being unblocked cannot cause an immediate\r
+ context switch if preemption is turned off. */\r
+ #if ( configUSE_PREEMPTION == 1 )\r
+ {\r
+ /* Preemption is on, but a context switch should\r
+ only be performed if the unblocked task has a\r
+ priority that is equal to or higher than the\r
+ currently executing task. */\r
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
+ {\r
+ xSwitchRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_PREEMPTION */\r
+ }\r
+ }\r
+ }\r
+ }\r
+\r
+ /* Tasks of equal priority to the currently running task will share\r
+ processing time (time slice) if preemption is on, and the application\r
+ writer has not explicitly turned time slicing off. */\r
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )\r
+ {\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )\r
+ {\r
+ xSwitchRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */\r
+\r
+ #if ( configUSE_TICK_HOOK == 1 )\r
+ {\r
+ /* Guard against the tick hook being called when the pended tick\r
+ count is being unwound (when the scheduler is being unlocked). */\r
+ if( uxPendedTicks == ( UBaseType_t ) 0U )\r
+ {\r
+ vApplicationTickHook();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_TICK_HOOK */\r
+ }\r
+ else\r
+ {\r
+ ++uxPendedTicks;\r
+\r
+ /* The tick hook gets called at regular intervals, even if the\r
+ scheduler is locked. */\r
+ #if ( configUSE_TICK_HOOK == 1 )\r
+ {\r
+ vApplicationTickHook();\r
+ }\r
+ #endif\r
+ }\r
+\r
+ #if ( configUSE_PREEMPTION == 1 )\r
+ {\r
+ if( xYieldPending != pdFALSE )\r
+ {\r
+ xSwitchRequired = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_PREEMPTION */\r
+\r
+ return xSwitchRequired;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+\r
+ void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )\r
+ {\r
+ TCB_t *xTCB;\r
+\r
+ /* If xTask is NULL then it is the task hook of the calling task that is\r
+ getting set. */\r
+ if( xTask == NULL )\r
+ {\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
+ }\r
+ else\r
+ {\r
+ xTCB = ( TCB_t * ) xTask;\r
+ }\r
+\r
+ /* Save the hook function in the TCB. A critical section is required as\r
+ the value can be accessed from an interrupt. */\r
+ taskENTER_CRITICAL();\r
+ xTCB->pxTaskTag = pxHookFunction;\r
+ taskEXIT_CRITICAL();\r
+ }\r
+\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+\r
+ TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *xTCB;\r
+ TaskHookFunction_t xReturn;\r
+\r
+ /* If xTask is NULL then we are setting our own task hook. */\r
+ if( xTask == NULL )\r
+ {\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
+ }\r
+ else\r
+ {\r
+ xTCB = ( TCB_t * ) xTask;\r
+ }\r
+\r
+ /* Save the hook function in the TCB. A critical section is required as\r
+ the value can be accessed from an interrupt. */\r
+ taskENTER_CRITICAL();\r
+ {\r
+ xReturn = xTCB->pxTaskTag;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+\r
+ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )\r
+ {\r
+ TCB_t *xTCB;\r
+ BaseType_t xReturn;\r
+\r
+ /* If xTask is NULL then we are calling our own task hook. */\r
+ if( xTask == NULL )\r
+ {\r
+ xTCB = ( TCB_t * ) pxCurrentTCB;\r
+ }\r
+ else\r
+ {\r
+ xTCB = ( TCB_t * ) xTask;\r
+ }\r
+\r
+ if( xTCB->pxTaskTag != NULL )\r
+ {\r
+ xReturn = xTCB->pxTaskTag( pvParameter );\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_APPLICATION_TASK_TAG */\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskSwitchContext( void )\r
+{\r
+ if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )\r
+ {\r
+ /* The scheduler is currently suspended - do not allow a context\r
+ switch. */\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xYieldPending = pdFALSE;\r
+ traceTASK_SWITCHED_OUT();\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
+ portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );\r
+ #else\r
+ ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
+ #endif\r
+\r
+ /* Add the amount of time the task has been running to the\r
+ accumulated time so far. The time the task started running was\r
+ stored in ulTaskSwitchedInTime. Note that there is no overflow\r
+ protection here so count values are only valid until the timer\r
+ overflows. The guard against negative values is to protect\r
+ against suspect run time stat counter implementations - which\r
+ are provided by the application, not the kernel. */\r
+ if( ulTotalRunTime > ulTaskSwitchedInTime )\r
+ {\r
+ pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ ulTaskSwitchedInTime = ulTotalRunTime;\r
+ }\r
+ #endif /* configGENERATE_RUN_TIME_STATS */\r
+\r
+ /* Check for stack overflow, if configured. */\r
+ taskFIRST_CHECK_FOR_STACK_OVERFLOW();\r
+ taskSECOND_CHECK_FOR_STACK_OVERFLOW();\r
+\r
+ /* Select a new task to run using either the generic C or port\r
+ optimised asm code. */\r
+ taskSELECT_HIGHEST_PRIORITY_TASK();\r
+ traceTASK_SWITCHED_IN();\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Switch Newlib's _impure_ptr variable to point to the _reent\r
+ structure specific to this task. */\r
+ _impure_ptr = &( pxCurrentTCB->xNewLib_reent );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )\r
+{\r
+TickType_t xTimeToWake;\r
+\r
+ configASSERT( pxEventList );\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE\r
+ SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */\r
+\r
+ /* Place the event list item of the TCB in the appropriate event list.\r
+ This is placed in the list in priority order so the highest priority task\r
+ is the first to be woken by the event. The queue that contains the event\r
+ list is locked, preventing simultaneous access from interrupts. */\r
+ vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* The task must be removed from from the ready list before it is added to\r
+ the blocked list as the same list item is used for both lists. Exclusive\r
+ access to the ready lists guaranteed because the scheduler is locked. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is no need to\r
+ check, and the port reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead of a delayed task\r
+ list to ensure the task is not woken by a timing event. It will\r
+ block indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event\r
+ does not occur. This may overflow but this doesn't matter, the\r
+ scheduler will handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event does\r
+ not occur. This may overflow but this doesn't matter, the scheduler\r
+ will handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )\r
+{\r
+TickType_t xTimeToWake;\r
+\r
+ configASSERT( pxEventList );\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by\r
+ the event groups implementation. */\r
+ configASSERT( uxSchedulerSuspended != 0 );\r
+\r
+ /* Store the item value in the event list item. It is safe to access the\r
+ event list item here as interrupts won't access the event list item of a\r
+ task that is not in the Blocked state. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
+\r
+ /* Place the event list item of the TCB at the end of the appropriate event\r
+ list. It is safe to access the event list here because it is part of an\r
+ event group implementation - and interrupts don't access event groups\r
+ directly (instead they access them indirectly by pending function calls to\r
+ the task level). */\r
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* The task must be removed from the ready list before it is added to the\r
+ blocked list. Exclusive access can be assured to the ready list as the\r
+ scheduler is locked. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is no need to\r
+ check, and the port reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead of a delayed task\r
+ list to ensure it is not woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event\r
+ does not occur. This may overflow but this doesn't matter, the\r
+ kernel will manage it correctly. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event does\r
+ not occur. This may overflow but this doesn't matter, the kernel\r
+ will manage it correctly. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if configUSE_TIMERS == 1\r
+\r
+ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )\r
+ {\r
+ TickType_t xTimeToWake;\r
+\r
+ configASSERT( pxEventList );\r
+\r
+ /* This function should not be called by application code hence the\r
+ 'Restricted' in its name. It is not part of the public API. It is\r
+ designed for use by kernel code, and has special calling requirements -\r
+ it should be called with the scheduler suspended. */\r
+\r
+\r
+ /* Place the event list item of the TCB in the appropriate event list.\r
+ In this case it is assume that this is the only task that is going to\r
+ be waiting on this event list, so the faster vListInsertEnd() function\r
+ can be used in place of vListInsert. */\r
+ vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* We must remove this task from the ready list before adding it to the\r
+ blocked list as the same list item is used for both lists. This\r
+ function is called with the scheduler locked so interrupts will not\r
+ access the lists at the same time. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is no need to\r
+ check, and the port reset macro can be called directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* If vTaskSuspend() is available then the suspended task list is also\r
+ available and a task that is blocking indefinitely can enter the\r
+ suspended state (it is not really suspended as it will re-enter the\r
+ Ready state when the event it is waiting indefinitely for occurs).\r
+ Blocking indefinitely is useful when using tickless idle mode as when\r
+ all tasks are blocked indefinitely all timers can be turned off. */\r
+ #if( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xWaitIndefinitely == pdTRUE )\r
+ {\r
+ /* Add the task to the suspended task list instead of a delayed\r
+ task list to ensure the task is not woken by a timing event. It\r
+ will block indefinitely. */\r
+ traceTASK_DELAY_SUSPEND( pxCurrentTCB );\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the\r
+ event does not occur. This may overflow but this doesn't\r
+ matter. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ traceTASK_DELAY_UNTIL();\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ /* Calculate the time at which the task should be woken if the event\r
+ does not occur. This may overflow but this doesn't matter. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ traceTASK_DELAY_UNTIL();\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+\r
+ /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not\r
+ defined. */\r
+ ( void ) xWaitIndefinitely;\r
+ }\r
+ #endif\r
+ }\r
+\r
+#endif /* configUSE_TIMERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )\r
+{\r
+TCB_t *pxUnblockedTCB;\r
+BaseType_t xReturn;\r
+\r
+ /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be\r
+ called from a critical section within an ISR. */\r
+\r
+ /* The event list is sorted in priority order, so the first in the list can\r
+ be removed as it is known to be the highest priority. Remove the TCB from\r
+ the delayed list, and add it to the ready list.\r
+\r
+ If an event is for a queue that is locked then this function will never\r
+ get called - the lock count on the queue will get modified instead. This\r
+ means exclusive access to the event list is guaranteed here.\r
+\r
+ This function assumes that a check has already been made to ensure that\r
+ pxEventList is not empty. */\r
+ pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
+ configASSERT( pxUnblockedTCB );\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxUnblockedTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold this task\r
+ pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Return true if the task removed from the event list has a higher\r
+ priority than the calling task. This allows the calling task to know if\r
+ it should force a context switch now. */\r
+ xReturn = pdTRUE;\r
+\r
+ /* Mark that a yield is pending in case the user is not using the\r
+ "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ #if( configUSE_TICKLESS_IDLE != 0 )\r
+ {\r
+ /* If a task is blocked on a kernel object then xNextTaskUnblockTime\r
+ might be set to the blocked task's time out time. If the task is\r
+ unblocked for a reason other than a timeout xNextTaskUnblockTime is\r
+ normally left unchanged, because it is automatically reset to a new\r
+ value when the tick count equals xNextTaskUnblockTime. However if\r
+ tickless idling is used it might be more important to enter sleep mode\r
+ at the earliest possible time - so reset xNextTaskUnblockTime here to\r
+ ensure it is updated at the earliest possible time. */\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ #endif\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )\r
+{\r
+TCB_t *pxUnblockedTCB;\r
+BaseType_t xReturn;\r
+\r
+ /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by\r
+ the event flags implementation. */\r
+ configASSERT( uxSchedulerSuspended != pdFALSE );\r
+\r
+ /* Store the new item value in the event list. */\r
+ listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );\r
+\r
+ /* Remove the event list form the event flag. Interrupts do not access\r
+ event flags. */\r
+ pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem );\r
+ configASSERT( pxUnblockedTCB );\r
+ ( void ) uxListRemove( pxEventListItem );\r
+\r
+ /* Remove the task from the delayed list and add it to the ready list. The\r
+ scheduler is suspended so interrupts will not be accessing the ready\r
+ lists. */\r
+ ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxUnblockedTCB );\r
+\r
+ if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Return true if the task removed from the event list has\r
+ a higher priority than the calling task. This allows\r
+ the calling task to know if it should force a context\r
+ switch now. */\r
+ xReturn = pdTRUE;\r
+\r
+ /* Mark that a yield is pending in case the user is not using the\r
+ "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */\r
+ xYieldPending = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )\r
+{\r
+ configASSERT( pxTimeOut );\r
+ pxTimeOut->xOverflowCount = xNumOfOverflows;\r
+ pxTimeOut->xTimeOnEntering = xTickCount;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )\r
+{\r
+BaseType_t xReturn;\r
+\r
+ configASSERT( pxTimeOut );\r
+ configASSERT( pxTicksToWait );\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Minor optimisation. The tick count cannot change in this block. */\r
+ const TickType_t xConstTickCount = xTickCount;\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
+ the maximum block time then the task should block indefinitely, and\r
+ therefore never time out. */\r
+ if( *pxTicksToWait == portMAX_DELAY )\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+ else /* We are not blocking indefinitely, perform the checks below. */\r
+ #endif\r
+\r
+ if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */\r
+ {\r
+ /* The tick count is greater than the time at which vTaskSetTimeout()\r
+ was called, but has also overflowed since vTaskSetTimeOut() was called.\r
+ It must have wrapped all the way around and gone past us again. This\r
+ passed since vTaskSetTimeout() was called. */\r
+ xReturn = pdTRUE;\r
+ }\r
+ else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
+ {\r
+ /* Not a genuine timeout. Adjust parameters for time remaining. */\r
+ *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );\r
+ vTaskSetTimeOutState( pxTimeOut );\r
+ xReturn = pdFALSE;\r
+ }\r
+ else\r
+ {\r
+ xReturn = pdTRUE;\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vTaskMissedYield( void )\r
+{\r
+ xYieldPending = pdTRUE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )\r
+ {\r
+ UBaseType_t uxReturn;\r
+ TCB_t *pxTCB;\r
+\r
+ if( xTask != NULL )\r
+ {\r
+ pxTCB = ( TCB_t * ) xTask;\r
+ uxReturn = pxTCB->uxTaskNumber;\r
+ }\r
+ else\r
+ {\r
+ uxReturn = 0U;\r
+ }\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif /* configUSE_TRACE_FACILITY */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ if( xTask != NULL )\r
+ {\r
+ pxTCB = ( TCB_t * ) xTask;\r
+ pxTCB->uxTaskNumber = uxHandle;\r
+ }\r
+ }\r
+\r
+#endif /* configUSE_TRACE_FACILITY */\r
+\r
+/*\r
+ * -----------------------------------------------------------\r
+ * The Idle task.\r
+ * ----------------------------------------------------------\r
+ *\r
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
+ * language extensions. The equivalent prototype for this function is:\r
+ *\r
+ * void prvIdleTask( void *pvParameters );\r
+ *\r
+ */\r
+static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
+{\r
+ /* Stop warnings. */\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ /* See if any tasks have been deleted. */\r
+ prvCheckTasksWaitingTermination();\r
+\r
+ #if ( configUSE_PREEMPTION == 0 )\r
+ {\r
+ /* If we are not using preemption we keep forcing a task switch to\r
+ see if any other task has become available. If we are using\r
+ preemption we don't need to do this as any task becoming available\r
+ will automatically get the processor anyway. */\r
+ taskYIELD();\r
+ }\r
+ #endif /* configUSE_PREEMPTION */\r
+\r
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
+ {\r
+ /* When using preemption tasks of equal priority will be\r
+ timesliced. If a task that is sharing the idle priority is ready\r
+ to run then the idle task should yield before the end of the\r
+ timeslice.\r
+\r
+ A critical region is not required here as we are just reading from\r
+ the list, and an occasional incorrect value will not matter. If\r
+ the ready list at the idle priority contains more than one task\r
+ then a task other than the idle task is ready to execute. */\r
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )\r
+ {\r
+ taskYIELD();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */\r
+\r
+ #if ( configUSE_IDLE_HOOK == 1 )\r
+ {\r
+ extern void vApplicationIdleHook( void );\r
+\r
+ /* Call the user defined function from within the idle task. This\r
+ allows the application designer to add background functionality\r
+ without the overhead of a separate task.\r
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
+ CALL A FUNCTION THAT MIGHT BLOCK. */\r
+ vApplicationIdleHook();\r
+ }\r
+ #endif /* configUSE_IDLE_HOOK */\r
+\r
+ /* This conditional compilation should use inequality to 0, not equality\r
+ to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when\r
+ user defined low power mode implementations require\r
+ configUSE_TICKLESS_IDLE to be set to a value other than 1. */\r
+ #if ( configUSE_TICKLESS_IDLE != 0 )\r
+ {\r
+ TickType_t xExpectedIdleTime;\r
+\r
+ /* It is not desirable to suspend then resume the scheduler on\r
+ each iteration of the idle task. Therefore, a preliminary\r
+ test of the expected idle time is performed without the\r
+ scheduler suspended. The result here is not necessarily\r
+ valid. */\r
+ xExpectedIdleTime = prvGetExpectedIdleTime();\r
+\r
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ /* Now the scheduler is suspended, the expected idle\r
+ time can be sampled again, and this time its value can\r
+ be used. */\r
+ configASSERT( xNextTaskUnblockTime >= xTickCount );\r
+ xExpectedIdleTime = prvGetExpectedIdleTime();\r
+\r
+ if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )\r
+ {\r
+ traceLOW_POWER_IDLE_BEGIN();\r
+ portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );\r
+ traceLOW_POWER_IDLE_END();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ ( void ) xTaskResumeAll();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ #endif /* configUSE_TICKLESS_IDLE */\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TICKLESS_IDLE != 0 )\r
+\r
+ eSleepModeStatus eTaskConfirmSleepModeStatus( void )\r
+ {\r
+ /* The idle task exists in addition to the application tasks. */\r
+ const UBaseType_t uxNonApplicationTasks = 1;\r
+ eSleepModeStatus eReturn = eStandardSleep;\r
+\r
+ if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )\r
+ {\r
+ /* A task was made ready while the scheduler was suspended. */\r
+ eReturn = eAbortSleep;\r
+ }\r
+ else if( xYieldPending != pdFALSE )\r
+ {\r
+ /* A yield was pended while the scheduler was suspended. */\r
+ eReturn = eAbortSleep;\r
+ }\r
+ else\r
+ {\r
+ /* If all the tasks are in the suspended list (which might mean they\r
+ have an infinite block time rather than actually being suspended)\r
+ then it is safe to turn all clocks off and just wait for external\r
+ interrupts. */\r
+ if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )\r
+ {\r
+ eReturn = eNoTasksWaitingTimeout;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ return eReturn;\r
+ }\r
+\r
+#endif /* configUSE_TICKLESS_IDLE */\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvInitialiseTCBVariables( TCB_t * const pxTCB, const char * const pcName, UBaseType_t uxPriority, const MemoryRegion_t * const xRegions, const uint16_t usStackDepth ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */\r
+{\r
+UBaseType_t x;\r
+\r
+ /* Store the task name in the TCB. */\r
+ for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )\r
+ {\r
+ pxTCB->pcTaskName[ x ] = pcName[ x ];\r
+\r
+ /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than\r
+ configMAX_TASK_NAME_LEN characters just in case the memory after the\r
+ string is not accessible (extremely unlikely). */\r
+ if( pcName[ x ] == 0x00 )\r
+ {\r
+ break;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+ /* Ensure the name string is terminated in the case that the string length\r
+ was greater or equal to configMAX_TASK_NAME_LEN. */\r
+ pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';\r
+\r
+ /* This is used as an array index so must ensure it's not too large. First\r
+ remove the privilege bit if one is present. */\r
+ if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )\r
+ {\r
+ uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ pxTCB->uxPriority = uxPriority;\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ pxTCB->uxBasePriority = uxPriority;\r
+ pxTCB->uxMutexesHeld = 0;\r
+ }\r
+ #endif /* configUSE_MUTEXES */\r
+\r
+ vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
+ vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
+\r
+ /* Set the pxTCB as a link back from the ListItem_t. This is so we can get\r
+ back to the containing TCB from a generic item in a list. */\r
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
+\r
+ /* Event lists are always in priority order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
+\r
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
+ {\r
+ pxTCB->uxCriticalNesting = ( UBaseType_t ) 0U;\r
+ }\r
+ #endif /* portCRITICAL_NESTING_IN_TCB */\r
+\r
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
+ {\r
+ pxTCB->pxTaskTag = NULL;\r
+ }\r
+ #endif /* configUSE_APPLICATION_TASK_TAG */\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ pxTCB->ulRunTimeCounter = 0UL;\r
+ }\r
+ #endif /* configGENERATE_RUN_TIME_STATS */\r
+\r
+ #if ( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );\r
+ }\r
+ #else /* portUSING_MPU_WRAPPERS */\r
+ {\r
+ ( void ) xRegions;\r
+ ( void ) usStackDepth;\r
+ }\r
+ #endif /* portUSING_MPU_WRAPPERS */\r
+\r
+ #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
+ {\r
+ for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )\r
+ {\r
+ pxTCB->pvThreadLocalStoragePointers[ x ] = NULL;\r
+ }\r
+ }\r
+ #endif\r
+\r
+ #if ( configUSE_TASK_NOTIFICATIONS == 1 )\r
+ {\r
+ pxTCB->ulNotifiedValue = 0;\r
+ pxTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
+ #endif\r
+\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ /* Initialise this task's Newlib reent structure. */\r
+ _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
+\r
+ void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
+ {\r
+ pxTCB = prvGetTCBFromHandle( xTaskToSet );\r
+ pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;\r
+ }\r
+ }\r
+\r
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )\r
+\r
+ void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )\r
+ {\r
+ void *pvReturn = NULL;\r
+ TCB_t *pxTCB;\r
+\r
+ if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )\r
+ {\r
+ pxTCB = prvGetTCBFromHandle( xTaskToQuery );\r
+ pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];\r
+ }\r
+ else\r
+ {\r
+ pvReturn = NULL;\r
+ }\r
+\r
+ return pvReturn;\r
+ }\r
+\r
+#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( portUSING_MPU_WRAPPERS == 1 )\r
+\r
+ void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ /* If null is passed in here then we are modifying the MPU settings of\r
+ the calling task. */\r
+ pxTCB = prvGetTCBFromHandle( xTaskToModify );\r
+\r
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
+ }\r
+\r
+#endif /* portUSING_MPU_WRAPPERS */\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvInitialiseTaskLists( void )\r
+{\r
+UBaseType_t uxPriority;\r
+\r
+ for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )\r
+ {\r
+ vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );\r
+ }\r
+\r
+ vListInitialise( &xDelayedTaskList1 );\r
+ vListInitialise( &xDelayedTaskList2 );\r
+ vListInitialise( &xPendingReadyList );\r
+\r
+ #if ( INCLUDE_vTaskDelete == 1 )\r
+ {\r
+ vListInitialise( &xTasksWaitingTermination );\r
+ }\r
+ #endif /* INCLUDE_vTaskDelete */\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ vListInitialise( &xSuspendedTaskList );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
+ using list2. */\r
+ pxDelayedTaskList = &xDelayedTaskList1;\r
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCheckTasksWaitingTermination( void )\r
+{\r
+ #if ( INCLUDE_vTaskDelete == 1 )\r
+ {\r
+ BaseType_t xListIsEmpty;\r
+\r
+ /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
+ too often in the idle task. */\r
+ while( uxTasksDeleted > ( UBaseType_t ) 0U )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );\r
+ }\r
+ ( void ) xTaskResumeAll();\r
+\r
+ if( xListIsEmpty == pdFALSE )\r
+ {\r
+ TCB_t *pxTCB;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ --uxCurrentNumberOfTasks;\r
+ --uxTasksDeleted;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ prvDeleteTCB( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ #endif /* vTaskDelete */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )\r
+{\r
+ /* The list item will be inserted in wake time order. */\r
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
+\r
+ if( xTimeToWake < xTickCount )\r
+ {\r
+ /* Wake time has overflowed. Place this item in the overflow list. */\r
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* The wake time has not overflowed, so the current block list is used. */\r
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+\r
+ /* If the task entering the blocked state was placed at the head of the\r
+ list of blocked tasks then xNextTaskUnblockTime needs to be updated\r
+ too. */\r
+ if( xTimeToWake < xNextTaskUnblockTime )\r
+ {\r
+ xNextTaskUnblockTime = xTimeToWake;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer )\r
+{\r
+TCB_t *pxNewTCB;\r
+\r
+ /* If the stack grows down then allocate the stack then the TCB so the stack\r
+ does not grow into the TCB. Likewise if the stack grows up then allocate\r
+ the TCB then the stack. */\r
+ #if( portSTACK_GROWTH > 0 )\r
+ {\r
+ /* Allocate space for the TCB. Where the memory comes from depends on\r
+ the implementation of the port malloc function. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Allocate space for the stack used by the task being created.\r
+ The base of the stack memory stored in the TCB so the task can\r
+ be deleted later if required. */\r
+ pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ if( pxNewTCB->pxStack == NULL )\r
+ {\r
+ /* Could not allocate the stack. Delete the allocated TCB. */\r
+ vPortFree( pxNewTCB );\r
+ pxNewTCB = NULL;\r
+ }\r
+ }\r
+ }\r
+ #else /* portSTACK_GROWTH */\r
+ {\r
+ StackType_t *pxStack;\r
+\r
+ /* Allocate space for the stack used by the task being created. */\r
+ pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */\r
+\r
+ if( pxStack != NULL )\r
+ {\r
+ /* Allocate space for the TCB. Where the memory comes from depends\r
+ on the implementation of the port malloc function. */\r
+ pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Store the stack location in the TCB. */\r
+ pxNewTCB->pxStack = pxStack;\r
+ }\r
+ else\r
+ {\r
+ /* The stack cannot be used as the TCB was not created. Free it\r
+ again. */\r
+ vPortFree( pxStack );\r
+ }\r
+ }\r
+ else\r
+ {\r
+ pxNewTCB = NULL;\r
+ }\r
+ }\r
+ #endif /* portSTACK_GROWTH */\r
+\r
+ if( pxNewTCB != NULL )\r
+ {\r
+ /* Avoid dependency on memset() if it is not required. */\r
+ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
+ {\r
+ /* Just to help debugging. */\r
+ ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( StackType_t ) );\r
+ }\r
+ #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */\r
+ }\r
+\r
+ return pxNewTCB;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_TRACE_FACILITY == 1 )\r
+\r
+ static UBaseType_t prvListTaskWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )\r
+ {\r
+ volatile TCB_t *pxNextTCB, *pxFirstTCB;\r
+ UBaseType_t uxTask = 0;\r
+\r
+ if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
+\r
+ /* Populate an TaskStatus_t structure within the\r
+ pxTaskStatusArray array for each task that is referenced from\r
+ pxList. See the definition of TaskStatus_t in task.h for the\r
+ meaning of each TaskStatus_t structure member. */\r
+ do\r
+ {\r
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
+\r
+ pxTaskStatusArray[ uxTask ].xHandle = ( TaskHandle_t ) pxNextTCB;\r
+ pxTaskStatusArray[ uxTask ].pcTaskName = ( const char * ) &( pxNextTCB->pcTaskName [ 0 ] );\r
+ pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;\r
+ pxTaskStatusArray[ uxTask ].eCurrentState = eState;\r
+ pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ /* If the task is in the suspended list then there is a chance\r
+ it is actually just blocked indefinitely - so really it should\r
+ be reported as being in the Blocked state. */\r
+ if( eState == eSuspended )\r
+ {\r
+ if( listLIST_ITEM_CONTAINER( &( pxNextTCB->xEventListItem ) ) != NULL )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].eCurrentState = eBlocked;\r
+ }\r
+ }\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ #if ( configUSE_MUTEXES == 1 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].uxBasePriority = 0;\r
+ }\r
+ #endif\r
+\r
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;\r
+ }\r
+ #endif\r
+\r
+ #if ( portSTACK_GROWTH > 0 )\r
+ {\r
+ pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxEndOfStack );\r
+ }\r
+ #else\r
+ {\r
+ pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxNextTCB->pxStack );\r
+ }\r
+ #endif\r
+\r
+ uxTask++;\r
+\r
+ } while( pxNextTCB != pxFirstTCB );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ return uxTask;\r
+ }\r
+\r
+#endif /* configUSE_TRACE_FACILITY */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
+\r
+ static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )\r
+ {\r
+ uint32_t ulCount = 0U;\r
+\r
+ while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )\r
+ {\r
+ pucStackByte -= portSTACK_GROWTH;\r
+ ulCount++;\r
+ }\r
+\r
+ ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */\r
+\r
+ return ( uint16_t ) ulCount;\r
+ }\r
+\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
+\r
+ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )\r
+ {\r
+ TCB_t *pxTCB;\r
+ uint8_t *pucEndOfStack;\r
+ UBaseType_t uxReturn;\r
+\r
+ pxTCB = prvGetTCBFromHandle( xTask );\r
+\r
+ #if portSTACK_GROWTH < 0\r
+ {\r
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;\r
+ }\r
+ #else\r
+ {\r
+ pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;\r
+ }\r
+ #endif\r
+\r
+ uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );\r
+\r
+ return uxReturn;\r
+ }\r
+\r
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( INCLUDE_vTaskDelete == 1 )\r
+\r
+ static void prvDeleteTCB( TCB_t *pxTCB )\r
+ {\r
+ /* This call is required specifically for the TriCore port. It must be\r
+ above the vPortFree() calls. The call is also used by ports/demos that\r
+ want to allocate and clean RAM statically. */\r
+ portCLEAN_UP_TCB( pxTCB );\r
+\r
+ /* Free up the memory allocated by the scheduler for the task. It is up\r
+ to the task to free any memory allocated at the application level. */\r
+ #if ( configUSE_NEWLIB_REENTRANT == 1 )\r
+ {\r
+ _reclaim_reent( &( pxTCB->xNewLib_reent ) );\r
+ }\r
+ #endif /* configUSE_NEWLIB_REENTRANT */\r
+\r
+ #if( portUSING_MPU_WRAPPERS == 1 )\r
+ {\r
+ /* Only free the stack if it was allocated dynamically in the first\r
+ place. */\r
+ if( pxTCB->xUsingStaticallyAllocatedStack == pdFALSE )\r
+ {\r
+ vPortFreeAligned( pxTCB->pxStack );\r
+ }\r
+ }\r
+ #else\r
+ {\r
+ vPortFreeAligned( pxTCB->pxStack );\r
+ }\r
+ #endif\r
+\r
+ vPortFree( pxTCB );\r
+ }\r
+\r
+#endif /* INCLUDE_vTaskDelete */\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvResetNextTaskUnblockTime( void )\r
+{\r
+TCB_t *pxTCB;\r
+\r
+ if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
+ {\r
+ /* The new current delayed list is empty. Set xNextTaskUnblockTime to\r
+ the maximum possible value so it is extremely unlikely that the\r
+ if( xTickCount >= xNextTaskUnblockTime ) test will pass until\r
+ there is an item in the delayed list. */\r
+ xNextTaskUnblockTime = portMAX_DELAY;\r
+ }\r
+ else\r
+ {\r
+ /* The new current delayed list is not empty, get the value of\r
+ the item at the head of the delayed list. This is the time at\r
+ which the task at the head of the delayed list should be removed\r
+ from the Blocked state. */\r
+ ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
+ xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )\r
+\r
+ TaskHandle_t xTaskGetCurrentTaskHandle( void )\r
+ {\r
+ TaskHandle_t xReturn;\r
+\r
+ /* A critical section is not required as this is not called from\r
+ an interrupt and the current TCB will always be the same for any\r
+ individual execution thread. */\r
+ xReturn = pxCurrentTCB;\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )\r
+\r
+ BaseType_t xTaskGetSchedulerState( void )\r
+ {\r
+ BaseType_t xReturn;\r
+\r
+ if( xSchedulerRunning == pdFALSE )\r
+ {\r
+ xReturn = taskSCHEDULER_NOT_STARTED;\r
+ }\r
+ else\r
+ {\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ xReturn = taskSCHEDULER_RUNNING;\r
+ }\r
+ else\r
+ {\r
+ xReturn = taskSCHEDULER_SUSPENDED;\r
+ }\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+\r
+ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder )\r
+ {\r
+ TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
+\r
+ /* If the mutex was given back by an interrupt while the queue was\r
+ locked then the mutex holder might now be NULL. */\r
+ if( pxMutexHolder != NULL )\r
+ {\r
+ /* If the holder of the mutex has a priority below the priority of\r
+ the task attempting to obtain the mutex then it will temporarily\r
+ inherit the priority of the task attempting to obtain the mutex. */\r
+ if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
+ {\r
+ /* Adjust the mutex holder state to account for its new\r
+ priority. Only reset the event list item value if the value is\r
+ not being used for anything else. */\r
+ if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )\r
+ {\r
+ 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. */\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* If the task being modified is in the ready state it will need\r
+ to be moved into a new list. */\r
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
+ {\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Inherit the priority before being moved into the new list. */\r
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* Just inherit the priority. */\r
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
+ }\r
+\r
+ traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* configUSE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+\r
+ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )\r
+ {\r
+ TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;\r
+ BaseType_t xReturn = pdFALSE;\r
+\r
+ if( pxMutexHolder != NULL )\r
+ {\r
+ /* A task can only have an inherited priority if it holds the mutex.\r
+ If the mutex is held by a task then it cannot be given from an\r
+ interrupt, and if a mutex is given by the holding task then it must\r
+ be the running state task. */\r
+ configASSERT( pxTCB == pxCurrentTCB );\r
+\r
+ configASSERT( pxTCB->uxMutexesHeld );\r
+ ( pxTCB->uxMutexesHeld )--;\r
+\r
+ /* Has the holder of the mutex inherited the priority of another\r
+ task? */\r
+ if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
+ {\r
+ /* Only disinherit if no other mutexes are held. */\r
+ if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )\r
+ {\r
+ /* A task can only have an inherited priority if it holds\r
+ the mutex. If the mutex is held by a task then it cannot be\r
+ given from an interrupt, and if a mutex is given by the\r
+ holding task then it must be the running state task. Remove\r
+ the holding task from the ready list. */\r
+ if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ taskRESET_READY_PRIORITY( pxTCB->uxPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Disinherit the priority before adding the task into the\r
+ new ready list. */\r
+ traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );\r
+ pxTCB->uxPriority = pxTCB->uxBasePriority;\r
+\r
+ /* Reset the event list item value. It cannot be in use for\r
+ any other purpose if this task is running, and it must be\r
+ running to give back the mutex. */\r
+ 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. */\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* Return true to indicate that a context switch is required.\r
+ This is only actually required in the corner case whereby\r
+ multiple mutexes were held and the mutexes were given back\r
+ in an order different to that in which they were taken.\r
+ If a context switch did not occur when the first mutex was\r
+ returned, even if a task was waiting on it, then a context\r
+ switch should occur when the last mutex is returned whether\r
+ a task is waiting on it or not. */\r
+ xReturn = pdTRUE;\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
+\r
+ void vTaskEnterCritical( void )\r
+ {\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ ( pxCurrentTCB->uxCriticalNesting )++;\r
+\r
+ /* This is not the interrupt safe version of the enter critical\r
+ function so assert() if it is being called from an interrupt\r
+ context. Only API functions that end in "FromISR" can be used in an\r
+ interrupt. Only assert if the critical nesting count is 1 to\r
+ protect against recursive calls if the assert function also uses a\r
+ critical section. */\r
+ if( pxCurrentTCB->uxCriticalNesting == 1 )\r
+ {\r
+ portASSERT_IF_IN_ISR();\r
+ }\r
+\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* portCRITICAL_NESTING_IN_TCB */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
+\r
+ void vTaskExitCritical( void )\r
+ {\r
+ if( xSchedulerRunning != pdFALSE )\r
+ {\r
+ if( pxCurrentTCB->uxCriticalNesting > 0U )\r
+ {\r
+ ( pxCurrentTCB->uxCriticalNesting )--;\r
+\r
+ if( pxCurrentTCB->uxCriticalNesting == 0U )\r
+ {\r
+ portENABLE_INTERRUPTS();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* portCRITICAL_NESTING_IN_TCB */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )\r
+ {\r
+ BaseType_t x;\r
+\r
+ /* Start by copying the entire string. */\r
+ strcpy( pcBuffer, pcTaskName );\r
+\r
+ /* Pad the end of the string with spaces to ensure columns line up when\r
+ printed out. */\r
+ for( x = strlen( pcBuffer ); x < ( configMAX_TASK_NAME_LEN - 1 ); x++ )\r
+ {\r
+ pcBuffer[ x ] = ' ';\r
+ }\r
+\r
+ /* Terminate. */\r
+ pcBuffer[ x ] = 0x00;\r
+\r
+ /* Return the new end of string. */\r
+ return &( pcBuffer[ x ] );\r
+ }\r
+\r
+#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ void vTaskList( char * pcWriteBuffer )\r
+ {\r
+ TaskStatus_t *pxTaskStatusArray;\r
+ volatile UBaseType_t uxArraySize, x;\r
+ char cStatus;\r
+\r
+ /*\r
+ * PLEASE NOTE:\r
+ *\r
+ * This function is provided for convenience only, and is used by many\r
+ * of the demo applications. Do not consider it to be part of the\r
+ * scheduler.\r
+ *\r
+ * vTaskList() calls uxTaskGetSystemState(), then formats part of the\r
+ * uxTaskGetSystemState() output into a human readable table that\r
+ * displays task names, states and stack usage.\r
+ *\r
+ * vTaskList() has a dependency on the sprintf() C library function that\r
+ * might bloat the code size, use a lot of stack, and provide different\r
+ * results on different platforms. An alternative, tiny, third party,\r
+ * and limited functionality implementation of sprintf() is provided in\r
+ * many of the FreeRTOS/Demo sub-directories in a file called\r
+ * printf-stdarg.c (note printf-stdarg.c does not provide a full\r
+ * snprintf() implementation!).\r
+ *\r
+ * It is recommended that production systems call uxTaskGetSystemState()\r
+ * directly to get access to raw stats data, rather than indirectly\r
+ * through a call to vTaskList().\r
+ */\r
+\r
+\r
+ /* Make sure the write buffer does not contain a string. */\r
+ *pcWriteBuffer = 0x00;\r
+\r
+ /* Take a snapshot of the number of tasks in case it changes while this\r
+ function is executing. */\r
+ uxArraySize = uxCurrentNumberOfTasks;\r
+\r
+ /* Allocate an array index for each task. */\r
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
+\r
+ if( pxTaskStatusArray != NULL )\r
+ {\r
+ /* Generate the (binary) data. */\r
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );\r
+\r
+ /* Create a human readable table from the binary data. */\r
+ for( x = 0; x < uxArraySize; x++ )\r
+ {\r
+ switch( pxTaskStatusArray[ x ].eCurrentState )\r
+ {\r
+ case eReady: cStatus = tskREADY_CHAR;\r
+ break;\r
+\r
+ case eBlocked: cStatus = tskBLOCKED_CHAR;\r
+ break;\r
+\r
+ case eSuspended: cStatus = tskSUSPENDED_CHAR;\r
+ break;\r
+\r
+ case eDeleted: cStatus = tskDELETED_CHAR;\r
+ break;\r
+\r
+ default: /* Should not get here, but it is included\r
+ to prevent static checking errors. */\r
+ cStatus = 0x00;\r
+ break;\r
+ }\r
+\r
+ /* Write the task name to the string, padding with spaces so it\r
+ can be printed in tabular form more easily. */\r
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
+\r
+ /* Write the rest of the string. */\r
+ 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 );\r
+ pcWriteBuffer += strlen( pcWriteBuffer );\r
+ }\r
+\r
+ /* Free the array again. */\r
+ vPortFree( pxTaskStatusArray );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+/*----------------------------------------------------------*/\r
+\r
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )\r
+\r
+ void vTaskGetRunTimeStats( char *pcWriteBuffer )\r
+ {\r
+ TaskStatus_t *pxTaskStatusArray;\r
+ volatile UBaseType_t uxArraySize, x;\r
+ uint32_t ulTotalTime, ulStatsAsPercentage;\r
+\r
+ #if( configUSE_TRACE_FACILITY != 1 )\r
+ {\r
+ #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().\r
+ }\r
+ #endif\r
+\r
+ /*\r
+ * PLEASE NOTE:\r
+ *\r
+ * This function is provided for convenience only, and is used by many\r
+ * of the demo applications. Do not consider it to be part of the\r
+ * scheduler.\r
+ *\r
+ * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part\r
+ * of the uxTaskGetSystemState() output into a human readable table that\r
+ * displays the amount of time each task has spent in the Running state\r
+ * in both absolute and percentage terms.\r
+ *\r
+ * vTaskGetRunTimeStats() has a dependency on the sprintf() C library\r
+ * function that might bloat the code size, use a lot of stack, and\r
+ * provide different results on different platforms. An alternative,\r
+ * tiny, third party, and limited functionality implementation of\r
+ * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in\r
+ * a file called printf-stdarg.c (note printf-stdarg.c does not provide\r
+ * a full snprintf() implementation!).\r
+ *\r
+ * It is recommended that production systems call uxTaskGetSystemState()\r
+ * directly to get access to raw stats data, rather than indirectly\r
+ * through a call to vTaskGetRunTimeStats().\r
+ */\r
+\r
+ /* Make sure the write buffer does not contain a string. */\r
+ *pcWriteBuffer = 0x00;\r
+\r
+ /* Take a snapshot of the number of tasks in case it changes while this\r
+ function is executing. */\r
+ uxArraySize = uxCurrentNumberOfTasks;\r
+\r
+ /* Allocate an array index for each task. */\r
+ pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );\r
+\r
+ if( pxTaskStatusArray != NULL )\r
+ {\r
+ /* Generate the (binary) data. */\r
+ uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );\r
+\r
+ /* For percentage calculations. */\r
+ ulTotalTime /= 100UL;\r
+\r
+ /* Avoid divide by zero errors. */\r
+ if( ulTotalTime > 0 )\r
+ {\r
+ /* Create a human readable table from the binary data. */\r
+ for( x = 0; x < uxArraySize; x++ )\r
+ {\r
+ /* What percentage of the total run time has the task used?\r
+ This will always be rounded down to the nearest integer.\r
+ ulTotalRunTimeDiv100 has already been divided by 100. */\r
+ ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;\r
+\r
+ /* Write the task name to the string, padding with\r
+ spaces so it can be printed in tabular form more\r
+ easily. */\r
+ pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );\r
+\r
+ if( ulStatsAsPercentage > 0UL )\r
+ {\r
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
+ {\r
+ sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );\r
+ }\r
+ #else\r
+ {\r
+ /* sizeof( int ) == sizeof( long ) so a smaller\r
+ printf() library can be used. */\r
+ sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
+ }\r
+ #endif\r
+ }\r
+ else\r
+ {\r
+ /* If the percentage is zero here then the task has\r
+ consumed less than 1% of the total run time. */\r
+ #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
+ {\r
+ sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );\r
+ }\r
+ #else\r
+ {\r
+ /* sizeof( int ) == sizeof( long ) so a smaller\r
+ printf() library can be used. */\r
+ sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );\r
+ }\r
+ #endif\r
+ }\r
+\r
+ pcWriteBuffer += strlen( pcWriteBuffer );\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ /* Free the array again. */\r
+ vPortFree( pxTaskStatusArray );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+\r
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */\r
+/*-----------------------------------------------------------*/\r
+\r
+TickType_t uxTaskResetEventItemValue( void )\r
+{\r
+TickType_t uxReturn;\r
+\r
+ uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );\r
+\r
+ /* Reset the event list item to its normal value - so it can be used with\r
+ queues and semaphores. */\r
+ 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. */\r
+\r
+ return uxReturn;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if ( configUSE_MUTEXES == 1 )\r
+\r
+ void *pvTaskIncrementMutexHeldCount( void )\r
+ {\r
+ /* If xSemaphoreCreateMutex() is called before any tasks have been created\r
+ then pxCurrentTCB will be NULL. */\r
+ if( pxCurrentTCB != NULL )\r
+ {\r
+ ( pxCurrentTCB->uxMutexesHeld )++;\r
+ }\r
+\r
+ return pxCurrentTCB;\r
+ }\r
+\r
+#endif /* configUSE_MUTEXES */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ uint32_t ulReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Only block if the notification count is not already non-zero. */\r
+ if( pxCurrentTCB->ulNotifiedValue == 0UL )\r
+ {\r
+ /* Mark this task as waiting for a notification. */\r
+ pxCurrentTCB->eNotifyState = eWaitingNotification;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ /* The task is going to block. First it must be removed\r
+ from the ready list. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead\r
+ of a delayed task list to ensure the task is not\r
+ woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if no notification events occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if the event does not occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ traceTASK_NOTIFY_TAKE_BLOCK();\r
+\r
+ /* All ports are written to allow a yield in a critical\r
+ section (some will yield immediately, others wait until the\r
+ critical section exits) - but it is not something that\r
+ application code should ever do. */\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ traceTASK_NOTIFY_TAKE();\r
+ ulReturn = pxCurrentTCB->ulNotifiedValue;\r
+\r
+ if( ulReturn != 0UL )\r
+ {\r
+ if( xClearCountOnExit != pdFALSE )\r
+ {\r
+ pxCurrentTCB->ulNotifiedValue = 0UL;\r
+ }\r
+ else\r
+ {\r
+ ( pxCurrentTCB->ulNotifiedValue )--;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ pxCurrentTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return ulReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )\r
+ {\r
+ TickType_t xTimeToWake;\r
+ BaseType_t xReturn;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ /* Only block if a notification is not already pending. */\r
+ if( pxCurrentTCB->eNotifyState != eNotified )\r
+ {\r
+ /* Clear bits in the task's notification value as bits may get\r
+ set by the notifying task or interrupt. This can be used to\r
+ clear the value to zero. */\r
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;\r
+\r
+ /* Mark this task as waiting for a notification. */\r
+ pxCurrentTCB->eNotifyState = eWaitingNotification;\r
+\r
+ if( xTicksToWait > ( TickType_t ) 0 )\r
+ {\r
+ /* The task is going to block. First it must be removed\r
+ from the ready list. */\r
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )\r
+ {\r
+ /* The current task must be in a ready list, so there is\r
+ no need to check, and the port reset macro can be called\r
+ directly. */\r
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+\r
+ #if ( INCLUDE_vTaskSuspend == 1 )\r
+ {\r
+ if( xTicksToWait == portMAX_DELAY )\r
+ {\r
+ /* Add the task to the suspended task list instead\r
+ of a delayed task list to ensure the task is not\r
+ woken by a timing event. It will block\r
+ indefinitely. */\r
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );\r
+ }\r
+ else\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if no notification events occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ }\r
+ #else /* INCLUDE_vTaskSuspend */\r
+ {\r
+ /* Calculate the time at which the task should be\r
+ woken if the event does not occur. This may\r
+ overflow but this doesn't matter, the scheduler will\r
+ handle it. */\r
+ xTimeToWake = xTickCount + xTicksToWait;\r
+ prvAddCurrentTaskToDelayedList( xTimeToWake );\r
+ }\r
+ #endif /* INCLUDE_vTaskSuspend */\r
+\r
+ traceTASK_NOTIFY_WAIT_BLOCK();\r
+ \r
+ /* All ports are written to allow a yield in a critical\r
+ section (some will yield immediately, others wait until the\r
+ critical section exits) - but it is not something that\r
+ application code should ever do. */\r
+ portYIELD_WITHIN_API();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ traceTASK_NOTIFY_WAIT();\r
+ \r
+ if( pulNotificationValue != NULL )\r
+ {\r
+ /* Output the current notification value, which may or may not\r
+ have changed. */\r
+ *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;\r
+ }\r
+\r
+ /* If eNotifyValue is set then either the task never entered the\r
+ blocked state (because a notification was already pending) or the\r
+ task unblocked because of a notification. Otherwise the task\r
+ unblocked because of a timeout. */\r
+ if( pxCurrentTCB->eNotifyState == eWaitingNotification )\r
+ {\r
+ /* A notification was not received. */\r
+ xReturn = pdFALSE;\r
+ }\r
+ else\r
+ {\r
+ /* A notification was already pending or a notification was\r
+ received while the task was waiting. */\r
+ pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;\r
+ xReturn = pdTRUE;\r
+ }\r
+\r
+ pxCurrentTCB->eNotifyState = eNotWaitingNotification;\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ BaseType_t xReturn = pdPASS;\r
+\r
+ configASSERT( xTaskToNotify );\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ taskENTER_CRITICAL();\r
+ {\r
+ if( pulPreviousNotificationValue != NULL )\r
+ {\r
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
+ }\r
+\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ switch( eAction )\r
+ {\r
+ case eSetBits :\r
+ pxTCB->ulNotifiedValue |= ulValue;\r
+ break;\r
+\r
+ case eIncrement :\r
+ ( pxTCB->ulNotifiedValue )++;\r
+ break;\r
+\r
+ case eSetValueWithOverwrite :\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ break;\r
+\r
+ case eSetValueWithoutOverwrite :\r
+ if( eOriginalNotifyState != eNotified )\r
+ {\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ }\r
+ else\r
+ {\r
+ /* The value could not be written to the task. */\r
+ xReturn = pdFAIL;\r
+ }\r
+ break;\r
+\r
+ case eNoAction:\r
+ /* The task is being notified without its notify value being\r
+ updated. */\r
+ break;\r
+ }\r
+\r
+ traceTASK_NOTIFY();\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ #if( configUSE_TICKLESS_IDLE != 0 )\r
+ {\r
+ /* If a task is blocked waiting for a notification then\r
+ xNextTaskUnblockTime might be set to the blocked task's time\r
+ out time. If the task is unblocked for a reason other than\r
+ a timeout xNextTaskUnblockTime is normally left unchanged,\r
+ because it will automatically get reset to a new value when\r
+ the tick count equals xNextTaskUnblockTime. However if\r
+ tickless idling is used it might be more important to enter\r
+ sleep mode at the earliest possible time - so reset\r
+ xNextTaskUnblockTime here to ensure it is updated at the\r
+ earliest possible time. */\r
+ prvResetNextTaskUnblockTime();\r
+ }\r
+ #endif\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ taskYIELD_IF_USING_PREEMPTION();\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ taskEXIT_CRITICAL();\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ BaseType_t xReturn = pdPASS;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToNotify );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ if( pulPreviousNotificationValue != NULL )\r
+ {\r
+ *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;\r
+ }\r
+\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ switch( eAction )\r
+ {\r
+ case eSetBits :\r
+ pxTCB->ulNotifiedValue |= ulValue;\r
+ break;\r
+\r
+ case eIncrement :\r
+ ( pxTCB->ulNotifiedValue )++;\r
+ break;\r
+\r
+ case eSetValueWithOverwrite :\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ break;\r
+\r
+ case eSetValueWithoutOverwrite :\r
+ if( eOriginalNotifyState != eNotified )\r
+ {\r
+ pxTCB->ulNotifiedValue = ulValue;\r
+ }\r
+ else\r
+ {\r
+ /* The value could not be written to the task. */\r
+ xReturn = pdFAIL;\r
+ }\r
+ break;\r
+\r
+ case eNoAction :\r
+ /* The task is being notified without its notify value being\r
+ updated. */\r
+ break;\r
+ }\r
+\r
+ traceTASK_NOTIFY_FROM_ISR();\r
+ \r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold\r
+ this task pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+\r
+ return xReturn;\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configUSE_TASK_NOTIFICATIONS == 1 )\r
+\r
+ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )\r
+ {\r
+ TCB_t * pxTCB;\r
+ eNotifyValue eOriginalNotifyState;\r
+ UBaseType_t uxSavedInterruptStatus;\r
+\r
+ configASSERT( xTaskToNotify );\r
+\r
+ /* RTOS ports that support interrupt nesting have the concept of a\r
+ maximum system call (or maximum API call) interrupt priority.\r
+ Interrupts that are above the maximum system call priority are keep\r
+ permanently enabled, even when the RTOS kernel is in a critical section,\r
+ but cannot make any calls to FreeRTOS API functions. If configASSERT()\r
+ is defined in FreeRTOSConfig.h then\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion\r
+ failure if a FreeRTOS API function is called from an interrupt that has\r
+ been assigned a priority above the configured maximum system call\r
+ priority. Only FreeRTOS functions that end in FromISR can be called\r
+ from interrupts that have been assigned a priority at or (logically)\r
+ below the maximum system call interrupt priority. FreeRTOS maintains a\r
+ separate interrupt safe API to ensure interrupt entry is as fast and as\r
+ simple as possible. More information (albeit Cortex-M specific) is\r
+ provided on the following link:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html */\r
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();\r
+\r
+ pxTCB = ( TCB_t * ) xTaskToNotify;\r
+\r
+ uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ eOriginalNotifyState = pxTCB->eNotifyState;\r
+ pxTCB->eNotifyState = eNotified;\r
+\r
+ /* 'Giving' is equivalent to incrementing a count in a counting\r
+ semaphore. */\r
+ ( pxTCB->ulNotifiedValue )++;\r
+ \r
+ traceTASK_NOTIFY_GIVE_FROM_ISR();\r
+\r
+ /* If the task is in the blocked state specifically to wait for a\r
+ notification then unblock it now. */\r
+ if( eOriginalNotifyState == eWaitingNotification )\r
+ {\r
+ /* The task should not have been on an event list. */\r
+ configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );\r
+\r
+ if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )\r
+ {\r
+ ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );\r
+ prvAddTaskToReadyList( pxTCB );\r
+ }\r
+ else\r
+ {\r
+ /* The delayed and ready lists cannot be accessed, so hold\r
+ this task pending until the scheduler is resumed. */\r
+ vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
+ }\r
+\r
+ if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )\r
+ {\r
+ /* The notified task has a priority above the currently\r
+ executing task so a yield is required. */\r
+ if( pxHigherPriorityTaskWoken != NULL )\r
+ {\r
+ *pxHigherPriorityTaskWoken = pdTRUE;\r
+ }\r
+ }\r
+ else\r
+ {\r
+ mtCOVERAGE_TEST_MARKER();\r
+ }\r
+ }\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );\r
+ }\r
+\r
+#endif /* configUSE_TASK_NOTIFICATIONS */\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+#ifdef FREERTOS_MODULE_TEST\r
+ #include "tasks_test_access_functions.h"\r
+#endif\r
+\r