diff --git a/Makefile.common b/Makefile.common index bb230af..e93ebb2 100644 --- a/Makefile.common +++ b/Makefile.common @@ -57,7 +57,7 @@ INCLUDE+=-I$(STMLIB)/CMSIS/Device/ST/STM32F10x/Include INCLUDE+=-I$(STMLIB)/CMSIS/Device/ST/STM32F10x/Source/Templates INCLUDE+=-I$(STMLIB)/STM32F10x_StdPeriph_Driver/inc INCLUDE+=-I$(STMLIB)/STM32_USB-FS-Device_Driver/inc -INCLUDE+=-I$(LIBDIR)/include +INCLUDE+=-I$(LIBDIR)/module COMMONFLAGS=-g -mcpu=cortex-m3 -mthumb -std=c99 COMMONFLAGSlib=$(COMMONFLAGS) #Commands for general Makefile and src Makefile diff --git a/libs/Makefile b/libs/Makefile index 72b2e31..eb4dfd4 100644 --- a/libs/Makefile +++ b/libs/Makefile @@ -12,7 +12,7 @@ libstm32.a: @cd $(STMLIB)/CMSIS/Device/ST/STM32F10x/Source/Templates && \ $(CC) $(CFLAGSlib) \ system_stm32f10x.c - @cd $(LIBDIR)/source && \ + @cd $(LIBDIR)/module && \ $(CC) $(CFLAGSlib) \ -D"assert_param(expr)=((void)0)" \ -I../STM32_USB-FS-Device_Lib_V4.0.0/Libraries/CMSIS/Include \ @@ -28,7 +28,7 @@ libstm32.a: # *.c @$(AR) cr $(LIBDIR)/$@ \ $(STMLIB)/CMSIS/Device/ST/STM32F10x/Source/Templates/system_stm32f10x.o \ - $(LIBDIR)/source/*.o \ + $(LIBDIR)/module/*.o \ # $(STMLIB)/STM32_USB-FS-Device_Driver/src/*.o @echo "done." .PHONY: libs clean tshow @@ -37,7 +37,7 @@ clean: rm -f $(STMLIB)/CMSIS/Device/ST/STM32F10x/Source/Templates/system_stm32f10x.o rm -f $(STMLIB)/STM32F10x_StdPeriph_Driver/src/*.o rm -f $(STMLIB)/STM32_USB-FS-Device_Driver/src/*.o - rm -f $(LIBDIR)/source/*.o + rm -f $(LIBDIR)/module/*.o rm -f $(LIBS) tshow: @echo "######################################################################################################" diff --git a/libs/include/bit.h b/libs/module/avm_bit.h similarity index 84% rename from libs/include/bit.h rename to libs/module/avm_bit.h index b5adbda..7a75b5f 100644 --- a/libs/include/bit.h +++ b/libs/module/avm_bit.h @@ -1,5 +1,5 @@ -#ifndef BIT_H -#define BIT_H +#ifndef _AVM_BIT_H_ +#define _AVM_BIT_H_ #define BITBAND(addr, bitnum) (((addr) & 0xF0000000) + 0x2000000 + (((addr) & 0xFFFFF) << 5) + ((bitnum)<<2)) #define BIT_ADDR(addr, bitnum) *((volatile unsigned long *)(BITBAND((unsigned int)(addr), bitnum))) diff --git a/libs/source/i2c.c b/libs/module/avm_i2c.c similarity index 97% rename from libs/source/i2c.c rename to libs/module/avm_i2c.c index 8a74b1a..857daca 100644 --- a/libs/source/i2c.c +++ b/libs/module/avm_i2c.c @@ -1,7 +1,7 @@ -#include "i2c.h" +#include "avm_i2c.h" #include "stm32f10x.h" -#include "bit.h" +#include "avm_bit.h" void delay_us(volatile unsigned int nus) { for(nus *= 4; nus; nus--); diff --git a/libs/include/i2c.h b/libs/module/avm_i2c.h similarity index 92% rename from libs/include/i2c.h rename to libs/module/avm_i2c.h index 086f9ff..fc5c388 100644 --- a/libs/include/i2c.h +++ b/libs/module/avm_i2c.h @@ -1,6 +1,5 @@ - -#ifndef I2C_H -#define I2C_H +#ifndef _AVM_I2C_H_ +#define _AVM_I2C_H_ #define SCL_PINNUM 15 diff --git a/libs/source/motor.c b/libs/module/avm_motor.c similarity index 98% rename from libs/source/motor.c rename to libs/module/avm_motor.c index 888815a..b9b0d5e 100644 --- a/libs/source/motor.c +++ b/libs/module/avm_motor.c @@ -1,4 +1,4 @@ -#include "motor.h" +#include "avm_motor.h" #include "stm32f10x.h" //A7 diff --git a/libs/include/motor.h b/libs/module/avm_motor.h similarity index 95% rename from libs/include/motor.h rename to libs/module/avm_motor.h index 891bec7..d482139 100644 --- a/libs/include/motor.h +++ b/libs/module/avm_motor.h @@ -1,5 +1,5 @@ -#ifndef MOTOR_H -#define MOTOR_H +#ifndef _AVM_MOTOR_H_ +#define _AVM_MOTOR_H_ #define MOTOR_NORMAL_STARTUP diff --git a/libs/source/mpu6050.c b/libs/module/avm_mpu6050.c similarity index 97% rename from libs/source/mpu6050.c rename to libs/module/avm_mpu6050.c index 94f38af..84c6076 100644 --- a/libs/source/mpu6050.c +++ b/libs/module/avm_mpu6050.c @@ -1,9 +1,9 @@ -#include "mpu6050.h" +#include "avm_mpu6050.h" -#include "bit.h" +#include "avm_bit.h" #include "stm32f10x.h" -#include "i2c.h" -#include "uart.h" +#include "avm_i2c.h" +#include "avm_uart.h" void MPU_Sigle_Write(unsigned char reg_addr, unsigned char reg_data) { IIC_Start(); diff --git a/libs/include/mpu6050.h b/libs/module/avm_mpu6050.h similarity index 97% rename from libs/include/mpu6050.h rename to libs/module/avm_mpu6050.h index e1b918a..8062a8b 100644 --- a/libs/include/mpu6050.h +++ b/libs/module/avm_mpu6050.h @@ -1,5 +1,5 @@ -#ifndef MPU6050_H -#define MPU6050_H +#ifndef _AVM_MPU6050_H_ +#define _AVM_MPU6050_H_ //=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_ #define LED0 BIT_ADDR((GPIOA_BASE+12), 8) diff --git a/libs/source/pid.c b/libs/module/avm_pid.c similarity index 96% rename from libs/source/pid.c rename to libs/module/avm_pid.c index 8f33515..038755e 100644 --- a/libs/source/pid.c +++ b/libs/module/avm_pid.c @@ -1,6 +1,6 @@ #include "stm32f10x.h" -#include "pid.h" -#include "motor.h" +#include "avm_pid.h" +#include "avm_motor.h" void pid_SingleAxis(pid_pst temp, float setPoint) { temp->Error = *temp->Feedback - setPoint; diff --git a/libs/include/pid.h b/libs/module/avm_pid.h similarity index 94% rename from libs/include/pid.h rename to libs/module/avm_pid.h index 8a42f94..eef0328 100644 --- a/libs/include/pid.h +++ b/libs/module/avm_pid.h @@ -1,5 +1,5 @@ -#ifndef PID_H -#define PID_H +#ifndef _AVM_PID_H_ +#define _AVM_PID_H_ extern float g_Yaw, g_Pitch, g_Roll; //eular diff --git a/libs/include/tty.h b/libs/module/avm_tty.h similarity index 96% rename from libs/include/tty.h rename to libs/module/avm_tty.h index 223ac14..e01398a 100644 --- a/libs/include/tty.h +++ b/libs/module/avm_tty.h @@ -1,5 +1,5 @@ -#ifndef TTY_H -#define TTY_H +#ifndef _AVM_TTY_H_ +#define _AVM_TTY_H_ #define TTY_NONE() uart_sendStr("\033[m") #define TTY_RED() uart_sendStr("\033[41;30m") diff --git a/libs/source/uart.c b/libs/module/avm_uart.c similarity index 99% rename from libs/source/uart.c rename to libs/module/avm_uart.c index 3ac6952..750811b 100644 --- a/libs/source/uart.c +++ b/libs/module/avm_uart.c @@ -1,4 +1,4 @@ -#include "uart.h" +#include "avm_uart.h" #include "stm32f10x.h" int top = -1; //Stack Pointer diff --git a/libs/include/uart.h b/libs/module/avm_uart.h similarity index 94% rename from libs/include/uart.h rename to libs/module/avm_uart.h index 1b9cdbf..7273586 100644 --- a/libs/include/uart.h +++ b/libs/module/avm_uart.h @@ -1,5 +1,5 @@ -#ifndef UART_H -#define UART_H +#ifndef _AVM_UART_H_ +#define _AVM_UART_H_ void uart_init(unsigned int pclk2, unsigned int bound); void uart_sendData(unsigned char data); diff --git a/libs/source/wifi.c b/libs/module/avm_wifi.c similarity index 98% rename from libs/source/wifi.c rename to libs/module/avm_wifi.c index 512395a..79e4135 100644 --- a/libs/source/wifi.c +++ b/libs/module/avm_wifi.c @@ -1,4 +1,4 @@ -#include "wifi.h" +#include "avm_wifi.h" #include "stm32f10x.h" diff --git a/libs/include/wifi.h b/libs/module/avm_wifi.h similarity index 86% rename from libs/include/wifi.h rename to libs/module/avm_wifi.h index 5d88285..15a7b76 100644 --- a/libs/include/wifi.h +++ b/libs/module/avm_wifi.h @@ -1,5 +1,5 @@ -#ifndef WIFI_H -#define WIFI_H +#ifndef _AVM_WIFI_H_ +#define _AVM_WIFI_H_ //Only USART1 PCLK2 = 72 #define WIFI_PCLK2 36 #define WIFI_BOUND 115200 diff --git a/libs/source/cli.c b/libs/source/cli.c deleted file mode 100644 index f3162e7..0000000 --- a/libs/source/cli.c +++ /dev/null @@ -1,43 +0,0 @@ -#include "cli.h" -#include "tty.h" -// Command Line Interface - -// 1110 xxxx : 10xx xxxx : 10xx xxxx - UTF-8 -// 0x2800 - braille unicode offset -// 0010 1000 : 0000 0000 - -const char cli_bitmap[BLOCK_HEIGHT][BLOCK_WIDTH] = { - {0x01, 0x08}, - {0x02, 0x10}, - {0x04, 0x20}, - {0x40, 0x80} -}; - -unsigned char cli_cache[CACHE_HEIGHT][CACHE_WIDTH] = {}; - - -void cli_fresh() { - UART_CLEAR(); - for(unsigned char y = 0; y < CACHE_HEIGHT; y++) { - for(unsigned char x = 0; x < CACHE_WIDTH; x++) { - cli_drawBlock(&cli_cache[y][x]); - } - UART_CR(); - } -} - -void cli_drawBlock(unsigned char *uni) { //unicode to UTF-8 - uart_sendData(0xE2); //First byte must be 0xE2 - uart_sendData(0xA0 | ((*uni>>6) & 0b00000011)); - uart_sendData(0x80 | (*uni & 0b00111111)); -} - -void cli_drawSpot(unsigned char x, unsigned char y) { - if((x < WIDTH)&&(y < HEIGHT)) { - // Get offset of block - unsigned char x_offset = x % BLOCK_WIDTH; - unsigned char y_offset = y % BLOCK_HEIGHT; - // Get position of block - cli_cache[GET_HEIGHT(y)][GET_WIDTH(x)] |= cli_bitmap[y_offset][x_offset]; - } -} diff --git a/libs/source/heap_4.c b/libs/source/heap_4.c deleted file mode 100755 index 1091371..0000000 --- a/libs/source/heap_4.c +++ /dev/null @@ -1,478 +0,0 @@ -/* - FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/* - * A sample implementation of pvPortMalloc() and vPortFree() that combines - * (coalescences) adjacent memory blocks as they are freed, and in so doing - * limits memory fragmentation. - * - * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the - * memory management pages of http://www.FreeRTOS.org for more information. - */ -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#include "FreeRTOS.h" -#include "task.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) - #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 -#endif - -/* Block sizes must not get too small. */ -#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) - -/* Assumes 8bit bytes! */ -#define heapBITS_PER_BYTE ( ( size_t ) 8 ) - -/* Allocate the memory for the heap. */ -#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) - /* The application writer has already defined the array used for the RTOS - heap - probably so it can be placed in a special segment or address. */ - extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#else - static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#endif /* configAPPLICATION_ALLOCATED_HEAP */ - -/* Define the linked list structure. This is used to link free blocks in order -of their memory address. */ -typedef struct A_BLOCK_LINK -{ - struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ - size_t xBlockSize; /*<< The size of the free block. */ -} BlockLink_t; - -/*-----------------------------------------------------------*/ - -/* - * Inserts a block of memory that is being freed into the correct position in - * the list of free memory blocks. The block being freed will be merged with - * the block in front it and/or the block behind it if the memory blocks are - * adjacent to each other. - */ -static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); - -/* - * Called automatically to setup the required heap structures the first time - * pvPortMalloc() is called. - */ -static void prvHeapInit( void ); - -/*-----------------------------------------------------------*/ - -/* The size of the structure placed at the beginning of each allocated memory -block must by correctly byte aligned. */ -static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); - -/* Create a couple of list links to mark the start and end of the list. */ -static BlockLink_t xStart, *pxEnd = NULL; - -/* Keeps track of the number of free bytes remaining, but says nothing about -fragmentation. */ -static size_t xFreeBytesRemaining = 0U; -static size_t xMinimumEverFreeBytesRemaining = 0U; - -/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize -member of an BlockLink_t structure is set then the block belongs to the -application. When the bit is free the block is still part of the free heap -space. */ -static size_t xBlockAllocatedBit = 0; - -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; -void *pvReturn = NULL; - - vTaskSuspendAll(); - { - /* If this is the first call to malloc then the heap will require - initialisation to setup the list of free blocks. */ - if( pxEnd == NULL ) - { - prvHeapInit(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Check the requested block size is not so large that the top bit is - set. The top bit of the block size member of the BlockLink_t structure - is used to determine who owns the block - the application or the - kernel, so it must be free. */ - if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) - { - /* The wanted size is increased so it can contain a BlockLink_t - structure in addition to the requested amount of bytes. */ - if( xWantedSize > 0 ) - { - xWantedSize += xHeapStructSize; - - /* Ensure that blocks are always aligned to the required number - of bytes. */ - if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); - configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) - { - /* Traverse the list from the start (lowest address) block until - one of adequate size is found. */ - pxPreviousBlock = &xStart; - pxBlock = xStart.pxNextFreeBlock; - while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) - { - pxPreviousBlock = pxBlock; - pxBlock = pxBlock->pxNextFreeBlock; - } - - /* If the end marker was reached then a block of adequate size - was not found. */ - if( pxBlock != pxEnd ) - { - /* Return the memory space pointed to - jumping over the - BlockLink_t structure at its start. */ - pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); - - /* This block is being returned for use so must be taken out - of the list of free blocks. */ - pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; - - /* If the block is larger than required it can be split into - two. */ - if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) - { - /* This block is to be split into two. Create a new - block following the number of bytes requested. The void - cast is used to prevent byte alignment warnings from the - compiler. */ - pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); - configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 ); - - /* Calculate the sizes of two blocks split from the - single block. */ - pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; - pxBlock->xBlockSize = xWantedSize; - - /* Insert the new block into the list of free blocks. */ - prvInsertBlockIntoFreeList( pxNewBlockLink ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - xFreeBytesRemaining -= pxBlock->xBlockSize; - - if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) - { - xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* The block is being returned - it is allocated and owned - by the application and has no "next" block. */ - pxBlock->xBlockSize |= xBlockAllocatedBit; - pxBlock->pxNextFreeBlock = NULL; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - traceMALLOC( pvReturn, xWantedSize ); - } - ( void ) xTaskResumeAll(); - - #if( configUSE_MALLOC_FAILED_HOOK == 1 ) - { - if( pvReturn == NULL ) - { - extern void vApplicationMallocFailedHook( void ); - vApplicationMallocFailedHook(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif - - configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 ); - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ -uint8_t *puc = ( uint8_t * ) pv; -BlockLink_t *pxLink; - - if( pv != NULL ) - { - /* The memory being freed will have an BlockLink_t structure immediately - before it. */ - puc -= xHeapStructSize; - - /* This casting is to keep the compiler from issuing warnings. */ - pxLink = ( void * ) puc; - - /* Check the block is actually allocated. */ - configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); - configASSERT( pxLink->pxNextFreeBlock == NULL ); - - if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) - { - if( pxLink->pxNextFreeBlock == NULL ) - { - /* The block is being returned to the heap - it is no longer - allocated. */ - pxLink->xBlockSize &= ~xBlockAllocatedBit; - - vTaskSuspendAll(); - { - /* Add this block to the list of free blocks. */ - xFreeBytesRemaining += pxLink->xBlockSize; - traceFREE( pv, pxLink->xBlockSize ); - prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); - } - ( void ) xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } -} -/*-----------------------------------------------------------*/ - -size_t xPortGetFreeHeapSize( void ) -{ - return xFreeBytesRemaining; -} -/*-----------------------------------------------------------*/ - -size_t xPortGetMinimumEverFreeHeapSize( void ) -{ - return xMinimumEverFreeBytesRemaining; -} -/*-----------------------------------------------------------*/ - -void vPortInitialiseBlocks( void ) -{ - /* This just exists to keep the linker quiet. */ -} -/*-----------------------------------------------------------*/ - -static void prvHeapInit( void ) -{ -BlockLink_t *pxFirstFreeBlock; -uint8_t *pucAlignedHeap; -size_t uxAddress; -size_t xTotalHeapSize = configTOTAL_HEAP_SIZE; - - /* Ensure the heap starts on a correctly aligned boundary. */ - uxAddress = ( size_t ) ucHeap; - - if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) - { - uxAddress += ( portBYTE_ALIGNMENT - 1 ); - uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); - xTotalHeapSize -= uxAddress - ( size_t ) ucHeap; - } - - pucAlignedHeap = ( uint8_t * ) uxAddress; - - /* xStart is used to hold a pointer to the first item in the list of free - blocks. The void cast is used to prevent compiler warnings. */ - xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; - xStart.xBlockSize = ( size_t ) 0; - - /* pxEnd is used to mark the end of the list of free blocks and is inserted - at the end of the heap space. */ - uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize; - uxAddress -= xHeapStructSize; - uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); - pxEnd = ( void * ) uxAddress; - pxEnd->xBlockSize = 0; - pxEnd->pxNextFreeBlock = NULL; - - /* To start with there is a single free block that is sized to take up the - entire heap space, minus the space taken by pxEnd. */ - pxFirstFreeBlock = ( void * ) pucAlignedHeap; - pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock; - pxFirstFreeBlock->pxNextFreeBlock = pxEnd; - - /* Only one block exists - and it covers the entire usable heap space. */ - xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; - xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize; - - /* Work out the position of the top bit in a size_t variable. */ - xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); -} -/*-----------------------------------------------------------*/ - -static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) -{ -BlockLink_t *pxIterator; -uint8_t *puc; - - /* Iterate through the list until a block is found that has a higher address - than the block being inserted. */ - for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) - { - /* Nothing to do here, just iterate to the right position. */ - } - - /* Do the block being inserted, and the block it is being inserted after - make a contiguous block of memory? */ - puc = ( uint8_t * ) pxIterator; - if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) - { - pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; - pxBlockToInsert = pxIterator; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Do the block being inserted, and the block it is being inserted before - make a contiguous block of memory? */ - puc = ( uint8_t * ) pxBlockToInsert; - if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) - { - if( pxIterator->pxNextFreeBlock != pxEnd ) - { - /* Form one big block from the two blocks. */ - pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; - } - else - { - pxBlockToInsert->pxNextFreeBlock = pxEnd; - } - } - else - { - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; - } - - /* If the block being inserted plugged a gab, so was merged with the block - before and the block after, then it's pxNextFreeBlock pointer will have - already been set, and should not be set here as that would make it point - to itself. */ - if( pxIterator != pxBlockToInsert ) - { - pxIterator->pxNextFreeBlock = pxBlockToInsert; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} - diff --git a/libs/source/list.c b/libs/source/list.c deleted file mode 100755 index 0c00474..0000000 --- a/libs/source/list.c +++ /dev/null @@ -1,240 +0,0 @@ -/* - FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - - -#include -#include "FreeRTOS.h" -#include "list.h" - -/*----------------------------------------------------------- - * PUBLIC LIST API documented in list.h - *----------------------------------------------------------*/ - -void vListInitialise( List_t * const pxList ) -{ - /* The list structure contains a list item which is used to mark the - end of the list. To initialise the list the list end is inserted - as the only list entry. */ - pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - - /* The list end value is the highest possible value in the list to - ensure it remains at the end of the list. */ - pxList->xListEnd.xItemValue = portMAX_DELAY; - - /* The list end next and previous pointers point to itself so we know - when the list is empty. */ - pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - - pxList->uxNumberOfItems = ( UBaseType_t ) 0U; - - /* Write known values into the list if - configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ); - listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ); -} -/*-----------------------------------------------------------*/ - -void vListInitialiseItem( ListItem_t * const pxItem ) -{ - /* Make sure the list item is not recorded as being on a list. */ - pxItem->pvContainer = NULL; - - /* Write known values into the list item if - configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); - listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ); -} -/*-----------------------------------------------------------*/ - -void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) -{ -ListItem_t * const pxIndex = pxList->pxIndex; - - /* Only effective when configASSERT() is also defined, these tests may catch - the list data structures being overwritten in memory. They will not catch - data errors caused by incorrect configuration or use of FreeRTOS. */ - listTEST_LIST_INTEGRITY( pxList ); - listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); - - /* Insert a new list item into pxList, but rather than sort the list, - makes the new list item the last item to be removed by a call to - listGET_OWNER_OF_NEXT_ENTRY(). */ - pxNewListItem->pxNext = pxIndex; - pxNewListItem->pxPrevious = pxIndex->pxPrevious; - - /* Only used during decision coverage testing. */ - mtCOVERAGE_TEST_DELAY(); - - pxIndex->pxPrevious->pxNext = pxNewListItem; - pxIndex->pxPrevious = pxNewListItem; - - /* Remember which list the item is in. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) -{ -ListItem_t *pxIterator; -const TickType_t xValueOfInsertion = pxNewListItem->xItemValue; - - /* Only effective when configASSERT() is also defined, these tests may catch - the list data structures being overwritten in memory. They will not catch - data errors caused by incorrect configuration or use of FreeRTOS. */ - listTEST_LIST_INTEGRITY( pxList ); - listTEST_LIST_ITEM_INTEGRITY( pxNewListItem ); - - /* Insert the new list item into the list, sorted in xItemValue order. - - If the list already contains a list item with the same item value then the - new list item should be placed after it. This ensures that TCB's which are - stored in ready lists (all of which have the same xItemValue value) get a - share of the CPU. However, if the xItemValue is the same as the back marker - the iteration loop below will not end. Therefore the value is checked - first, and the algorithm slightly modified if necessary. */ - if( xValueOfInsertion == portMAX_DELAY ) - { - pxIterator = pxList->xListEnd.pxPrevious; - } - else - { - /* *** NOTE *********************************************************** - If you find your application is crashing here then likely causes are - listed below. In addition see http://www.freertos.org/FAQHelp.html for - more tips, and ensure configASSERT() is defined! - http://www.freertos.org/a00110.html#configASSERT - - 1) Stack overflow - - see http://www.freertos.org/Stacks-and-stack-overflow-checking.html - 2) Incorrect interrupt priority assignment, especially on Cortex-M - parts where numerically high priority values denote low actual - interrupt priorities, which can seem counter intuitive. See - http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition - of configMAX_SYSCALL_INTERRUPT_PRIORITY on - http://www.freertos.org/a00110.html - 3) Calling an API function from within a critical section or when - the scheduler is suspended, or calling an API function that does - not end in "FromISR" from an interrupt. - 4) Using a queue or semaphore before it has been initialised or - before the scheduler has been started (are interrupts firing - before vTaskStartScheduler() has been called?). - **********************************************************************/ - - for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - { - /* There is nothing to do here, just iterating to the wanted - insertion position. */ - } - } - - pxNewListItem->pxNext = pxIterator->pxNext; - pxNewListItem->pxNext->pxPrevious = pxNewListItem; - pxNewListItem->pxPrevious = pxIterator; - pxIterator->pxNext = pxNewListItem; - - /* Remember which list the item is in. This allows fast removal of the - item later. */ - pxNewListItem->pvContainer = ( void * ) pxList; - - ( pxList->uxNumberOfItems )++; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) -{ -/* The list item knows which list it is in. Obtain the list from the list -item. */ -List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer; - - pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; - pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; - - /* Only used during decision coverage testing. */ - mtCOVERAGE_TEST_DELAY(); - - /* Make sure the index is left pointing to a valid item. */ - if( pxList->pxIndex == pxItemToRemove ) - { - pxList->pxIndex = pxItemToRemove->pxPrevious; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxItemToRemove->pvContainer = NULL; - ( pxList->uxNumberOfItems )--; - - return pxList->uxNumberOfItems; -} -/*-----------------------------------------------------------*/ - diff --git a/libs/source/port.c b/libs/source/port.c deleted file mode 100755 index 6f3611b..0000000 --- a/libs/source/port.c +++ /dev/null @@ -1,710 +0,0 @@ -/* - FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/*----------------------------------------------------------- - * Implementation of functions defined in portable.h for the ARM CM3 port. - *----------------------------------------------------------*/ - -/* Scheduler includes. */ -#include "FreeRTOS.h" -#include "task.h" - -/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is -defined. The value should also ensure backward compatibility. -FreeRTOS.org versions prior to V4.4.0 did not include this definition. */ -#ifndef configKERNEL_INTERRUPT_PRIORITY - #define configKERNEL_INTERRUPT_PRIORITY 255 -#endif - -#ifndef configSYSTICK_CLOCK_HZ - #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ - /* Ensure the SysTick is clocked at the same frequency as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL ) -#else - /* The way the SysTick is clocked is not modified in case it is not the same - as the core. */ - #define portNVIC_SYSTICK_CLK_BIT ( 0 ) -#endif - -/* Constants required to manipulate the core. Registers first... */ -#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) ) -#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) ) -#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) ) -#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) ) -/* ...then bits in the registers. */ -#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL ) -#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL ) -#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL ) -#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL ) -#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL ) - -#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) -#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) - -/* Constants required to check the validity of an interrupt priority. */ -#define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) -#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) -#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) ) -#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff ) -#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 ) -#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 ) -#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) -#define portPRIGROUP_SHIFT ( 8UL ) - -/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */ -#define portVECTACTIVE_MASK ( 0xFFUL ) - -/* Constants required to set up the initial stack. */ -#define portINITIAL_XPSR ( 0x01000000UL ) - -/* The systick is a 24-bit counter. */ -#define portMAX_24_BIT_NUMBER ( 0xffffffUL ) - -/* A fiddle factor to estimate the number of SysTick counts that would have -occurred while the SysTick counter is stopped during tickless idle -calculations. */ -#define portMISSED_COUNTS_FACTOR ( 45UL ) - -/* For strict compliance with the Cortex-M spec the task start address should -have bit-0 clear, as it is loaded into the PC on exit from an ISR. */ -#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL ) - -/* Let the user override the pre-loading of the initial LR with the address of -prvTaskExitError() in case it messes up unwinding of the stack in the -debugger. */ -#ifdef configTASK_RETURN_ADDRESS - #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS -#else - #define portTASK_RETURN_ADDRESS prvTaskExitError -#endif - -/* Each task maintains its own interrupt status in the critical nesting -variable. */ -static UBaseType_t uxCriticalNesting = 0xaaaaaaaa; - -/* - * Setup the timer to generate the tick interrupts. The implementation in this - * file is weak to allow application writers to change the timer used to - * generate the tick interrupt. - */ -void vPortSetupTimerInterrupt( void ); - -/* - * Exception handlers. - */ -void xPortPendSVHandler( void ) __attribute__ (( naked )); -void xPortSysTickHandler( void ); -void vPortSVCHandler( void ) __attribute__ (( naked )); - -/* - * Start first task is a separate function so it can be tested in isolation. - */ -static void prvPortStartFirstTask( void ) __attribute__ (( naked )); - -/* - * Used to catch tasks that attempt to return from their implementing function. - */ -static void prvTaskExitError( void ); - -/*-----------------------------------------------------------*/ - -/* - * The number of SysTick increments that make up one tick period. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulTimerCountsForOneTick = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * The maximum number of tick periods that can be suppressed is limited by the - * 24 bit resolution of the SysTick timer. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t xMaximumPossibleSuppressedTicks = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Compensate for the CPU cycles that pass while the SysTick is stopped (low - * power functionality only. - */ -#if configUSE_TICKLESS_IDLE == 1 - static uint32_t ulStoppedTimerCompensation = 0; -#endif /* configUSE_TICKLESS_IDLE */ - -/* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure - * FreeRTOS API functions are not called from interrupts that have been assigned - * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. - */ -#if ( configASSERT_DEFINED == 1 ) - static uint8_t ucMaxSysCallPriority = 0; - static uint32_t ulMaxPRIGROUPValue = 0; - static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16; -#endif /* configASSERT_DEFINED */ - -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) -{ - /* Simulate the stack frame as it would be created by a context switch - interrupt. */ - pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */ - *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ - pxTopOfStack--; - *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */ - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */ - pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ - *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ - pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ - - return pxTopOfStack; -} -/*-----------------------------------------------------------*/ - -static void prvTaskExitError( void ) -{ - /* A function that implements a task must not exit or attempt to return to - its caller as there is nothing to return to. If a task wants to exit it - should instead call vTaskDelete( NULL ). - - Artificially force an assert() to be triggered if configASSERT() is - defined, then stop here so application writers can catch the error. */ - configASSERT( uxCriticalNesting == ~0UL ); - portDISABLE_INTERRUPTS(); - for( ;; ); -} -/*-----------------------------------------------------------*/ - -void vPortSVCHandler( void ) -{ - __asm volatile ( - " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */ - " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */ - " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldmia r0!, {r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */ - " msr psp, r0 \n" /* Restore the task stack pointer. */ - " isb \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " orr r14, #0xd \n" - " bx r14 \n" - " \n" - " .align 4 \n" - "pxCurrentTCBConst2: .word pxCurrentTCB \n" - ); -} -/*-----------------------------------------------------------*/ - -static void prvPortStartFirstTask( void ) -{ - __asm volatile( - " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */ - " ldr r0, [r0] \n" - " ldr r0, [r0] \n" - " msr msp, r0 \n" /* Set the msp back to the start of the stack. */ - " cpsie i \n" /* Globally enable interrupts. */ - " cpsie f \n" - " dsb \n" - " isb \n" - " svc 0 \n" /* System call to start first task. */ - " nop \n" - ); -} -/*-----------------------------------------------------------*/ - -/* - * See header file for description. - */ -BaseType_t xPortStartScheduler( void ) -{ - /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0. - See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */ - configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY ); - - #if( configASSERT_DEFINED == 1 ) - { - volatile uint32_t ulOriginalPriority; - volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); - volatile uint8_t ucMaxPriorityValue; - - /* Determine the maximum priority from which ISR safe FreeRTOS API - functions can be called. ISR safe functions are those that end in - "FromISR". FreeRTOS maintains separate thread and ISR API functions to - ensure interrupt entry is as fast and simple as possible. - - Save the interrupt priority value that is about to be clobbered. */ - ulOriginalPriority = *pucFirstUserPriorityRegister; - - /* Determine the number of priority bits available. First write to all - possible bits. */ - *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE; - - /* Read the value back to see how many bits stuck. */ - ucMaxPriorityValue = *pucFirstUserPriorityRegister; - - /* Use the same mask on the maximum system call priority. */ - ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; - - /* Calculate the maximum acceptable priority group value for the number - of bits read back. */ - ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; - while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) - { - ulMaxPRIGROUPValue--; - ucMaxPriorityValue <<= ( uint8_t ) 0x01; - } - - /* Shift the priority group value back to its position within the AIRCR - register. */ - ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; - ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; - - /* Restore the clobbered interrupt priority register to its original - value. */ - *pucFirstUserPriorityRegister = ulOriginalPriority; - } - #endif /* conifgASSERT_DEFINED */ - - /* Make PendSV and SysTick the lowest priority interrupts. */ - portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI; - portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI; - - /* Start the timer that generates the tick ISR. Interrupts are disabled - here already. */ - vPortSetupTimerInterrupt(); - - /* Initialise the critical nesting count ready for the first task. */ - uxCriticalNesting = 0; - - /* Start the first task. */ - prvPortStartFirstTask(); - - /* Should never get here as the tasks will now be executing! Call the task - exit error function to prevent compiler warnings about a static function - not being called in the case that the application writer overrides this - functionality by defining configTASK_RETURN_ADDRESS. */ - prvTaskExitError(); - - /* Should not get here! */ - return 0; -} -/*-----------------------------------------------------------*/ - -void vPortEndScheduler( void ) -{ - /* Not implemented in ports where there is nothing to return to. - Artificially force an assert. */ - configASSERT( uxCriticalNesting == 1000UL ); -} -/*-----------------------------------------------------------*/ - -void vPortEnterCritical( void ) -{ - portDISABLE_INTERRUPTS(); - uxCriticalNesting++; - - /* This is not the interrupt safe version of the enter critical function so - assert() if it is being called from an interrupt context. Only API - functions that end in "FromISR" can be used in an interrupt. Only assert if - the critical nesting count is 1 to protect against recursive calls if the - assert function also uses a critical section. */ - if( uxCriticalNesting == 1 ) - { - configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 ); - } -} -/*-----------------------------------------------------------*/ - -void vPortExitCritical( void ) -{ - configASSERT( uxCriticalNesting ); - uxCriticalNesting--; - if( uxCriticalNesting == 0 ) - { - portENABLE_INTERRUPTS(); - } -} -/*-----------------------------------------------------------*/ - -void xPortPendSVHandler( void ) -{ - /* This is a naked function. */ - - __asm volatile - ( - " mrs r0, psp \n" - " isb \n" - " \n" - " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */ - " ldr r2, [r3] \n" - " \n" - " stmdb r0!, {r4-r11} \n" /* Save the remaining registers. */ - " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */ - " \n" - " stmdb sp!, {r3, r14} \n" - " mov r0, %0 \n" - " msr basepri, r0 \n" - " bl vTaskSwitchContext \n" - " mov r0, #0 \n" - " msr basepri, r0 \n" - " ldmia sp!, {r3, r14} \n" - " \n" /* Restore the context, including the critical nesting count. */ - " ldr r1, [r3] \n" - " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */ - " ldmia r0!, {r4-r11} \n" /* Pop the registers. */ - " msr psp, r0 \n" - " isb \n" - " bx r14 \n" - " \n" - " .align 4 \n" - "pxCurrentTCBConst: .word pxCurrentTCB \n" - ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY) - ); -} -/*-----------------------------------------------------------*/ - -void xPortSysTickHandler( void ) -{ - /* The SysTick runs at the lowest interrupt priority, so when this interrupt - executes all interrupts must be unmasked. There is therefore no need to - save and then restore the interrupt mask value as its value is already - known. */ - portDISABLE_INTERRUPTS(); - { - /* Increment the RTOS tick. */ - if( xTaskIncrementTick() != pdFALSE ) - { - /* A context switch is required. Context switching is performed in - the PendSV interrupt. Pend the PendSV interrupt. */ - portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; - } - } - portENABLE_INTERRUPTS(); -} -/*-----------------------------------------------------------*/ - -#if configUSE_TICKLESS_IDLE == 1 - - __attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime ) - { - uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickCTRL; - TickType_t xModifiableIdleTime; - - /* Make sure the SysTick reload value does not overflow the counter. */ - if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks ) - { - xExpectedIdleTime = xMaximumPossibleSuppressedTicks; - } - - /* Stop the SysTick momentarily. The time the SysTick is stopped for - is accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT; - - /* Calculate the reload value required to wait xExpectedIdleTime - tick periods. -1 is used because this code will execute part way - through one of the tick periods. */ - ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) ); - if( ulReloadValue > ulStoppedTimerCompensation ) - { - ulReloadValue -= ulStoppedTimerCompensation; - } - - /* Enter a critical section but don't use the taskENTER_CRITICAL() - method as that will mask interrupts that should exit sleep mode. */ - __asm volatile( "cpsid i" ); - __asm volatile( "dsb" ); - __asm volatile( "isb" ); - - /* If a context switch is pending or a task is waiting for the scheduler - to be unsuspended then abandon the low power entry. */ - if( eTaskConfirmSleepModeStatus() == eAbortSleep ) - { - /* Restart from whatever is left in the count register to complete - this tick period. */ - portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Reset the reload register to the value required for normal tick - periods. */ - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - } - else - { - /* Set the new reload value. */ - portNVIC_SYSTICK_LOAD_REG = ulReloadValue; - - /* Clear the SysTick count flag and set the count value back to - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - - /* Restart SysTick. */ - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - - /* Sleep until something happens. configPRE_SLEEP_PROCESSING() can - set its parameter to 0 to indicate that its implementation contains - its own wait for interrupt or wait for event instruction, and so wfi - should not be executed again. However, the original expected idle - time variable must remain unmodified, so a copy is taken. */ - xModifiableIdleTime = xExpectedIdleTime; - configPRE_SLEEP_PROCESSING( xModifiableIdleTime ); - if( xModifiableIdleTime > 0 ) - { - __asm volatile( "dsb" ); - __asm volatile( "wfi" ); - __asm volatile( "isb" ); - } - configPOST_SLEEP_PROCESSING( xExpectedIdleTime ); - - /* Stop SysTick. Again, the time the SysTick is stopped for is - accounted for as best it can be, but using the tickless mode will - inevitably result in some tiny drift of the time maintained by the - kernel with respect to calendar time. */ - ulSysTickCTRL = portNVIC_SYSTICK_CTRL_REG; - portNVIC_SYSTICK_CTRL_REG = ( ulSysTickCTRL & ~portNVIC_SYSTICK_ENABLE_BIT ); - - /* Re-enable interrupts - see comments above the cpsid instruction() - above. */ - __asm volatile( "cpsie i" ); - - if( ( ulSysTickCTRL & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 ) - { - uint32_t ulCalculatedLoadValue; - - /* The tick interrupt has already executed, and the SysTick - count reloaded with ulReloadValue. Reset the - portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick - period. */ - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG ); - - /* Don't allow a tiny value, or values that have somehow - underflowed because the post sleep hook did something - that took too long. */ - if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) ) - { - ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ); - } - - portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue; - - /* The tick interrupt handler will already have pended the tick - processing in the kernel. As the pending tick will be - processed as soon as this function exits, the tick value - maintained by the tick is stepped forward by one less than the - time spent waiting. */ - ulCompleteTickPeriods = xExpectedIdleTime - 1UL; - } - else - { - /* Something other than the tick interrupt ended the sleep. - Work out how long the sleep lasted rounded to complete tick - periods (not the ulReload value which accounted for part - ticks). */ - ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG; - - /* How many complete tick periods passed while the processor - was waiting? */ - ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick; - - /* The reload value is set to whatever fraction of a single tick - period remains. */ - portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements; - } - - /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG - again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. The critical section is used to ensure the tick interrupt - can only execute once in the case that the reload register is near - zero. */ - portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portENTER_CRITICAL(); - { - portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT; - vTaskStepTick( ulCompleteTickPeriods ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; - } - portEXIT_CRITICAL(); - } - } - -#endif /* #if configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -/* - * Setup the systick timer to generate the tick interrupts at the required - * frequency. - */ -__attribute__(( weak )) void vPortSetupTimerInterrupt( void ) -{ - /* Calculate the constants required to configure the tick interrupt. */ - #if configUSE_TICKLESS_IDLE == 1 - { - ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ); - xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick; - ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ ); - } - #endif /* configUSE_TICKLESS_IDLE */ - - /* Configure SysTick to interrupt at the requested rate. */ - portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; - portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT ); -} -/*-----------------------------------------------------------*/ - -#if( configASSERT_DEFINED == 1 ) - - void vPortValidateInterruptPriority( void ) - { - uint32_t ulCurrentInterrupt; - uint8_t ucCurrentPriority; - - /* Obtain the number of the currently executing interrupt. */ - __asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) ); - - /* Is the interrupt number a user defined interrupt? */ - if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER ) - { - /* Look up the interrupt's priority. */ - ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - - /* The following assertion will fail if a service routine (ISR) for - an interrupt that has been assigned a priority above - configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called - from interrupts that have been assigned a priority at or below - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than - configMAX_SYSCALL_INTERRUPT_PRIORITY. - - Interrupts that use the FreeRTOS API must not be left at their - default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure - interrupt entry is as fast and simple as possible. - - The following links provide detailed information: - http://www.freertos.org/RTOS-Cortex-M3-M4.html - http://www.freertos.org/FAQHelp.html */ - configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); - } - - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that - define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined - to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If the application only uses CMSIS libraries for interrupt - configuration then the correct setting can be achieved on all Cortex-M - devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. Note however that some vendor specific peripheral libraries - assume a non-zero priority group setting, in which cases using a value - of zero will result in unpredicable behaviour. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); - } - -#endif /* configASSERT_DEFINED */ - - - - - - - - - - - - - - - - - - - - - diff --git a/libs/source/tasks.c b/libs/source/tasks.c deleted file mode 100755 index 8aea1cd..0000000 --- a/libs/source/tasks.c +++ /dev/null @@ -1,4807 +0,0 @@ -/* - FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. - All rights reserved - - VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - - This file is part of the FreeRTOS distribution. - - FreeRTOS is free software; you can redistribute it and/or modify it under - the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. - - *************************************************************************** - >>! NOTE: The modification to the GPL is included to allow you to !<< - >>! distribute a combined work that includes FreeRTOS without being !<< - >>! obliged to provide the source code for proprietary components !<< - >>! outside of the FreeRTOS kernel. !<< - *************************************************************************** - - FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY - WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. Full license text is available on the following - link: http://www.freertos.org/a00114.html - - *************************************************************************** - * * - * FreeRTOS provides completely free yet professionally developed, * - * robust, strictly quality controlled, supported, and cross * - * platform software that is more than just the market leader, it * - * is the industry's de facto standard. * - * * - * Help yourself get started quickly while simultaneously helping * - * to support the FreeRTOS project by purchasing a FreeRTOS * - * tutorial book, reference manual, or both: * - * http://www.FreeRTOS.org/Documentation * - * * - *************************************************************************** - - http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading - the FAQ page "My application does not run, what could be wrong?". Have you - defined configASSERT()? - - http://www.FreeRTOS.org/support - In return for receiving this top quality - embedded software for free we request you assist our global community by - participating in the support forum. - - http://www.FreeRTOS.org/training - Investing in training allows your team to - be as productive as possible as early as possible. Now you can receive - FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers - Ltd, and the world's leading authority on the world's leading RTOS. - - http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, a DOS - compatible FAT file system, and our tiny thread aware UDP/IP stack. - - http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. - Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. - - http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High - Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS - licenses offer ticketed support, indemnification and commercial middleware. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and - mission critical applications that require provable dependability. - - 1 tab == 4 spaces! -*/ - -/* Standard includes. */ -#include -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" -#include "timers.h" -#include "StackMacros.h" - -/* Lint e961 and e750 are suppressed as a MISRA exception justified because the -MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the -header files above, but not in this file, in order to generate the correct -privileged Vs unprivileged linkage and placement. */ -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ - -/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting -functions but without including stdio.h here. */ -#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) - /* At the bottom of this file are two optional functions that can be used - to generate human readable text from the raw data generated by the - uxTaskGetSystemState() function. Note the formatting functions are provided - for convenience only, and are NOT considered part of the kernel. */ - #include -#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ - -#if( configUSE_PREEMPTION == 0 ) - /* If the cooperative scheduler is being used then a yield should not be - performed just because a higher priority task has been woken. */ - #define taskYIELD_IF_USING_PREEMPTION() -#else - #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() -#endif - -/* Values that can be assigned to the ucNotifyState member of the TCB. */ -#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) -#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 ) -#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 ) - -/* - * The value used to fill the stack of a task when the task is created. This - * is used purely for checking the high water mark for tasks. - */ -#define tskSTACK_FILL_BYTE ( 0xa5U ) - -/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using -dynamically allocated RAM, in which case when any task is deleted it is known -that both the task's stack and TCB need to be freed. Sometimes the -FreeRTOSConfig.h settings only allow a task to be created using statically -allocated RAM, in which case when any task is deleted it is known that neither -the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h -settings allow a task to be created using either statically or dynamically -allocated RAM, in which case a member of the TCB is used to record whether the -stack and/or TCB were allocated statically or dynamically, so when a task is -deleted the RAM that was allocated dynamically is freed again and no attempt is -made to free the RAM that was allocated statically. -tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a -task to be created using either statically or dynamically allocated RAM. Note -that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with -a statically allocated stack and a dynamically allocated TCB. */ -#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) ) -#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) -#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) -#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) - -/* - * Macros used by vListTask to indicate which state a task is in. - */ -#define tskBLOCKED_CHAR ( 'B' ) -#define tskREADY_CHAR ( 'R' ) -#define tskDELETED_CHAR ( 'D' ) -#define tskSUSPENDED_CHAR ( 'S' ) - -/* - * Some kernel aware debuggers require the data the debugger needs access to be - * global, rather than file scope. - */ -#ifdef portREMOVE_STATIC_QUALIFIER - #define static -#endif - -#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is - performed in a generic way that is not optimised to any particular - microcontroller architecture. */ - - /* uxTopReadyPriority holds the priority of the highest priority ready - state task. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) \ - { \ - if( ( uxPriority ) > uxTopReadyPriority ) \ - { \ - uxTopReadyPriority = ( uxPriority ); \ - } \ - } /* taskRECORD_READY_PRIORITY */ - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - UBaseType_t uxTopPriority = uxTopReadyPriority; \ - \ - /* Find the highest priority queue that contains ready tasks. */ \ - while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \ - { \ - configASSERT( uxTopPriority ); \ - --uxTopPriority; \ - } \ - \ - /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \ - the same priority get an equal share of the processor time. */ \ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ - uxTopReadyPriority = uxTopPriority; \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK */ - - /*-----------------------------------------------------------*/ - - /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as - they are only required when a port optimised method of task selection is - being used. */ - #define taskRESET_READY_PRIORITY( uxPriority ) - #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - -#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - - /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is - performed in a way that is tailored to the particular microcontroller - architecture being used. */ - - /* A port optimised version is provided. Call the port defined macros. */ - #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority ) - - /*-----------------------------------------------------------*/ - - #define taskSELECT_HIGHEST_PRIORITY_TASK() \ - { \ - UBaseType_t uxTopPriority; \ - \ - /* Find the highest priority list that contains ready tasks. */ \ - portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \ - configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \ - } /* taskSELECT_HIGHEST_PRIORITY_TASK() */ - - /*-----------------------------------------------------------*/ - - /* A port optimised version is provided, call it only if the TCB being reset - is being referenced from a ready list. If it is referenced from a delayed - or suspended list then it won't be in a ready list. */ - #define taskRESET_READY_PRIORITY( uxPriority ) \ - { \ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \ - { \ - portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \ - } \ - } - -#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ - -/*-----------------------------------------------------------*/ - -/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick -count overflows. */ -#define taskSWITCH_DELAYED_LISTS() \ -{ \ - List_t *pxTemp; \ - \ - /* The delayed tasks list should be empty when the lists are switched. */ \ - configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \ - \ - pxTemp = pxDelayedTaskList; \ - pxDelayedTaskList = pxOverflowDelayedTaskList; \ - pxOverflowDelayedTaskList = pxTemp; \ - xNumOfOverflows++; \ - prvResetNextTaskUnblockTime(); \ -} - -/*-----------------------------------------------------------*/ - -/* - * Place the task represented by pxTCB into the appropriate ready list for - * the task. It is inserted at the end of the list. - */ -#define prvAddTaskToReadyList( pxTCB ) \ - traceMOVED_TASK_TO_READY_STATE( pxTCB ); \ - taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \ - vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \ - tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) -/*-----------------------------------------------------------*/ - -/* - * Several functions take an TaskHandle_t parameter that can optionally be NULL, - * where NULL is used to indicate that the handle of the currently executing - * task should be used in place of the parameter. This macro simply checks to - * see if the parameter is NULL and returns a pointer to the appropriate TCB. - */ -#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( TCB_t * ) pxCurrentTCB : ( TCB_t * ) ( pxHandle ) ) - -/* The item value of the event list item is normally used to hold the priority -of the task to which it belongs (coded to allow it to be held in reverse -priority order). However, it is occasionally borrowed for other purposes. It -is important its value is not updated due to a task priority change while it is -being used for another purpose. The following bit definition is used to inform -the scheduler that the value should not be changed - in which case it is the -responsibility of whichever module is using the value to ensure it gets set back -to its original value when it is released. */ -#if( configUSE_16_BIT_TICKS == 1 ) - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U -#else - #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL -#endif - -/* - * Task control block. A task control block (TCB) is allocated for each task, - * and stores task state information, including a pointer to the task's context - * (the task's run time environment, including register values) - */ -typedef struct tskTaskControlBlock -{ - volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */ - - #if ( portUSING_MPU_WRAPPERS == 1 ) - xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */ - #endif - - ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */ - ListItem_t xEventListItem; /*< Used to reference a task from an event list. */ - UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */ - StackType_t *pxStack; /*< Points to the start of the stack. */ - char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - - #if ( portSTACK_GROWTH > 0 ) - StackType_t *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */ - #endif - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */ - #endif - - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */ - UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */ - #endif - - #if ( configUSE_MUTEXES == 1 ) - UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */ - UBaseType_t uxMutexesHeld; - #endif - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - TaskHookFunction_t pxTaskTag; - #endif - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) - void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #endif - - #if( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */ - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - /* Allocate a Newlib reent structure that is specific to this task. - Note Newlib support has been included by popular demand, but is not - used by the FreeRTOS maintainers themselves. FreeRTOS is not - responsible for resulting newlib operation. User must be familiar with - newlib and must provide system-wide implementations of the necessary - stubs. Be warned that (at the time of writing) the current newlib design - implements a system-wide malloc() that must be provided with locks. */ - struct _reent xNewLib_reent; - #endif - - #if( configUSE_TASK_NOTIFICATIONS == 1 ) - volatile uint32_t ulNotifiedValue; - volatile uint8_t ucNotifyState; - #endif - - /* See the comments above the definition of - tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */ - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */ - #endif - - #if( INCLUDE_xTaskAbortDelay == 1 ) - uint8_t ucDelayAborted; - #endif - -} tskTCB; - -/* The old tskTCB name is maintained above then typedefed to the new TCB_t name -below to enable the use of older kernel aware debuggers. */ -typedef tskTCB TCB_t; - -/*lint -e956 A manual analysis and inspection has been used to determine which -static variables must be declared volatile. */ - -PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; - -/* Lists for ready and blocked tasks. --------------------*/ -PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */ -PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ -PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ -PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */ - -#if( INCLUDE_vTaskDelete == 1 ) - - PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */ - PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U; - -#endif - -#if ( INCLUDE_vTaskSuspend == 1 ) - - PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */ - -#endif - -/* Other file private variables. --------------------------------*/ -PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) 0U; -PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY; -PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE; -PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE; -PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0; -PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U; -PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */ -PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */ - -/* Context switches are held pending while the scheduler is suspended. Also, -interrupts must not manipulate the xStateListItem of a TCB, or any of the -lists the xStateListItem can be referenced from, if the scheduler is suspended. -If an interrupt needs to unblock a task while the scheduler is suspended then it -moves the task's event list item into the xPendingReadyList, ready for the -kernel to move the task from the pending ready list into the real ready list -when the scheduler is unsuspended. The pending ready list itself can only be -accessed from a critical section. */ -PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE; - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - - PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ - PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */ - -#endif - -/*lint +e956 */ - -/*-----------------------------------------------------------*/ - -/* Callback function prototypes. --------------------------*/ -#if( configCHECK_FOR_STACK_OVERFLOW > 0 ) - extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName ); -#endif - -#if( configUSE_TICK_HOOK > 0 ) - extern void vApplicationTickHook( void ); -#endif - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); -#endif - -/* File private functions. --------------------------------*/ - -/** - * Utility task that simply returns pdTRUE if the task referenced by xTask is - * currently in the Suspended state, or pdFALSE if the task referenced by xTask - * is in any other state. - */ -#if ( INCLUDE_vTaskSuspend == 1 ) - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; -#endif /* INCLUDE_vTaskSuspend */ - -/* - * Utility to ready all the lists used by the scheduler. This is called - * automatically upon the creation of the first task. - */ -static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION; - -/* - * The idle task, which as all tasks is implemented as a never ending loop. - * The idle task is automatically created and added to the ready lists upon - * creation of the first user task. - * - * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); - -/* - * Utility to free all memory allocated by the scheduler to hold a TCB, - * including the stack pointed to by the TCB. - * - * This does not free memory allocated by the task itself (i.e. memory - * allocated by calls to pvPortMalloc from within the tasks application code). - */ -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Used only by the idle task. This checks to see if anything has been placed - * in the list of tasks waiting to be deleted. If so the task is cleaned up - * and its TCB deleted. - */ -static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION; - -/* - * The currently executing task is entering the Blocked state. Add the task to - * either the current or the overflow delayed task list. - */ -static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION; - -/* - * Fills an TaskStatus_t structure with information on each task that is - * referenced from the pxList list (which may be a ready list, a delayed list, - * a suspended list, etc.). - * - * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM - * NORMAL APPLICATION CODE. - */ -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Searches pxList for a task with name pcNameToQuery - returning a handle to - * the task if it is found, or NULL if the task is not found. - */ -#if ( INCLUDE_xTaskGetHandle == 1 ) - - static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION; - -#endif - -/* - * When a task is created, the stack of the task is filled with a known value. - * This function determines the 'high water mark' of the task stack by - * determining how much of the stack remains at the original preset value. - */ -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Return the amount of time, in ticks, that will pass before the kernel will - * next move a task from the Blocked state to the Running state. - * - * This conditional compilation should use inequality to 0, not equality to 1. - * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user - * defined low power mode implementations require configUSE_TICKLESS_IDLE to be - * set to a value other than 1. - */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Set xNextTaskUnblockTime to the time at which the next Blocked state task - * will exit the Blocked state. - */ -static void prvResetNextTaskUnblockTime( void ); - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - /* - * Helper function used to pad task names with spaces when printing out - * human readable tables of task information. - */ - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION; - -#endif - -/* - * Called after a Task_t structure has been allocated either statically or - * dynamically to fill in the structure's members. - */ -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask, - TCB_t *pxNewTCB, - const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - -/* - * Called after a new task has been created and initialised to place the task - * under the control of the scheduler. - */ -static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION; - -/*-----------------------------------------------------------*/ - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - - TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - StackType_t * const puxStackBuffer, - StaticTask_t * const pxTaskBuffer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - TCB_t *pxNewTCB; - TaskHandle_t xReturn; - - configASSERT( puxStackBuffer != NULL ); - configASSERT( pxTaskBuffer != NULL ); - - if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) ) - { - /* The memory used for the task's TCB and stack are passed into this - function - use them. */ - pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */ - pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer; - - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - { - /* Tasks can be created statically or dynamically, so note this - task was created statically in case the task is later deleted. */ - pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB; - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - - prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL ); - prvAddNewTaskToReadyList( pxNewTCB ); - } - else - { - xReturn = NULL; - } - - return xReturn; - } - -#endif /* SUPPORT_STATIC_ALLOCATION */ -/*-----------------------------------------------------------*/ - -#if( portUSING_MPU_WRAPPERS == 1 ) - - BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) - { - TCB_t *pxNewTCB; - BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - - configASSERT( pxTaskDefinition->puxStackBuffer ); - - if( pxTaskDefinition->puxStackBuffer != NULL ) - { - /* Allocate space for the TCB. Where the memory comes from depends - on the implementation of the port malloc function and whether or - not static allocation is being used. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) - { - /* Store the stack location in the TCB. */ - pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer; - - /* Tasks can be created statically or dynamically, so note - this task had a statically allocated stack in case it is - later deleted. The TCB was allocated dynamically. */ - pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY; - - prvInitialiseNewTask( pxTaskDefinition->pvTaskCode, - pxTaskDefinition->pcName, - ( uint32_t ) pxTaskDefinition->usStackDepth, - pxTaskDefinition->pvParameters, - pxTaskDefinition->uxPriority, - pxCreatedTask, pxNewTCB, - pxTaskDefinition->xRegions ); - - prvAddNewTaskToReadyList( pxNewTCB ); - xReturn = pdPASS; - } - } - - return xReturn; - } - -#endif /* portUSING_MPU_WRAPPERS */ -/*-----------------------------------------------------------*/ - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint16_t usStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - TCB_t *pxNewTCB; - BaseType_t xReturn; - - /* If the stack grows down then allocate the stack then the TCB so the stack - does not grow into the TCB. Likewise if the stack grows up then allocate - the TCB then the stack. */ - #if( portSTACK_GROWTH > 0 ) - { - /* Allocate space for the TCB. Where the memory comes from depends on - the implementation of the port malloc function and whether or not static - allocation is being used. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); - - if( pxNewTCB != NULL ) - { - /* Allocate space for the stack used by the task being created. - The base of the stack memory stored in the TCB so the task can - be deleted later if required. */ - pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxNewTCB->pxStack == NULL ) - { - /* Could not allocate the stack. Delete the allocated TCB. */ - vPortFree( pxNewTCB ); - pxNewTCB = NULL; - } - } - } - #else /* portSTACK_GROWTH */ - { - StackType_t *pxStack; - - /* Allocate space for the stack used by the task being created. */ - pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - if( pxStack != NULL ) - { - /* Allocate space for the TCB. */ - pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e961 MISRA exception as the casts are only redundant for some paths. */ - - if( pxNewTCB != NULL ) - { - /* Store the stack location in the TCB. */ - pxNewTCB->pxStack = pxStack; - } - else - { - /* The stack cannot be used as the TCB was not created. Free - it again. */ - vPortFree( pxStack ); - } - } - else - { - pxNewTCB = NULL; - } - } - #endif /* portSTACK_GROWTH */ - - if( pxNewTCB != NULL ) - { - #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - { - /* Tasks can be created statically or dynamically, so note this - task was created dynamically in case it is later deleted. */ - pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB; - } - #endif /* configSUPPORT_STATIC_ALLOCATION */ - - prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL ); - prvAddNewTaskToReadyList( pxNewTCB ); - xReturn = pdPASS; - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - } - - return xReturn; - } - -#endif /* configSUPPORT_DYNAMIC_ALLOCATION */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseNewTask( TaskFunction_t pxTaskCode, - const char * const pcName, - const uint32_t ulStackDepth, - void * const pvParameters, - UBaseType_t uxPriority, - TaskHandle_t * const pxCreatedTask, - TCB_t *pxNewTCB, - const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -StackType_t *pxTopOfStack; -UBaseType_t x; - - #if( portUSING_MPU_WRAPPERS == 1 ) - /* Should the task be created in privileged mode? */ - BaseType_t xRunPrivileged; - if( ( uxPriority & portPRIVILEGE_BIT ) != 0U ) - { - xRunPrivileged = pdTRUE; - } - else - { - xRunPrivileged = pdFALSE; - } - uxPriority &= ~portPRIVILEGE_BIT; - #endif /* portUSING_MPU_WRAPPERS == 1 */ - - /* Avoid dependency on memset() if it is not required. */ - #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - { - /* Fill the stack with a known value to assist debugging. */ - ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) ); - } - #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */ - - /* Calculate the top of stack address. This depends on whether the stack - grows from high memory to low (as per the 80x86) or vice versa. - portSTACK_GROWTH is used to make the result positive or negative as required - by the port. */ - #if( portSTACK_GROWTH < 0 ) - { - pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); - pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */ - - /* Check the alignment of the calculated top of stack is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - } - #else /* portSTACK_GROWTH */ - { - pxTopOfStack = pxNewTCB->pxStack; - - /* Check the alignment of the stack buffer is correct. */ - configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) ); - - /* The other extreme of the stack space is required if stack checking is - performed. */ - pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 ); - } - #endif /* portSTACK_GROWTH */ - - /* Store the task name in the TCB. */ - for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) - { - pxNewTCB->pcTaskName[ x ] = pcName[ x ]; - - /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than - configMAX_TASK_NAME_LEN characters just in case the memory after the - string is not accessible (extremely unlikely). */ - if( pcName[ x ] == 0x00 ) - { - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Ensure the name string is terminated in the case that the string length - was greater or equal to configMAX_TASK_NAME_LEN. */ - pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0'; - - /* This is used as an array index so must ensure it's not too large. First - remove the privilege bit if one is present. */ - if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxNewTCB->uxPriority = uxPriority; - #if ( configUSE_MUTEXES == 1 ) - { - pxNewTCB->uxBasePriority = uxPriority; - pxNewTCB->uxMutexesHeld = 0; - } - #endif /* configUSE_MUTEXES */ - - vListInitialiseItem( &( pxNewTCB->xStateListItem ) ); - vListInitialiseItem( &( pxNewTCB->xEventListItem ) ); - - /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get - back to the containing TCB from a generic item in a list. */ - listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB ); - - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB ); - - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - { - pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U; - } - #endif /* portCRITICAL_NESTING_IN_TCB */ - - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - { - pxNewTCB->pxTaskTag = NULL; - } - #endif /* configUSE_APPLICATION_TASK_TAG */ - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxNewTCB->ulRunTimeCounter = 0UL; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - #if ( portUSING_MPU_WRAPPERS == 1 ) - { - vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth ); - } - #else - { - /* Avoid compiler warning about unreferenced parameter. */ - ( void ) xRegions; - } - #endif - - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - { - for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ ) - { - pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL; - } - } - #endif - - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - { - pxNewTCB->ulNotifiedValue = 0; - pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - #endif - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Initialise this task's Newlib reent structure. */ - _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) ); - } - #endif - - #if( INCLUDE_xTaskAbortDelay == 1 ) - { - pxNewTCB->ucDelayAborted = pdFALSE; - } - #endif - - /* Initialize the TCB stack to look as if the task was already running, - but had been interrupted by the scheduler. The return address is set - to the start of the task function. Once the stack has been initialised - the top of stack variable is updated. */ - #if( portUSING_MPU_WRAPPERS == 1 ) - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged ); - } - #else /* portUSING_MPU_WRAPPERS */ - { - pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters ); - } - #endif /* portUSING_MPU_WRAPPERS */ - - if( ( void * ) pxCreatedTask != NULL ) - { - /* Pass the handle out in an anonymous way. The handle can be used to - change the created task's priority, delete the created task, etc.*/ - *pxCreatedTask = ( TaskHandle_t ) pxNewTCB; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} -/*-----------------------------------------------------------*/ - -static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) -{ - /* Ensure interrupts don't access the task lists while the lists are being - updated. */ - taskENTER_CRITICAL(); - { - uxCurrentNumberOfTasks++; - if( pxCurrentTCB == NULL ) - { - /* There are no other tasks, or all the other tasks are in - the suspended state - make this the current task. */ - pxCurrentTCB = pxNewTCB; - - if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 ) - { - /* This is the first task to be created so do the preliminary - initialisation required. We will not recover if this call - fails, but we will report the failure. */ - prvInitialiseTaskLists(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* If the scheduler is not already running, make this task the - current task if it is the highest priority task to be created - so far. */ - if( xSchedulerRunning == pdFALSE ) - { - if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority ) - { - pxCurrentTCB = pxNewTCB; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - uxTaskNumber++; - - #if ( configUSE_TRACE_FACILITY == 1 ) - { - /* Add a counter into the TCB for tracing only. */ - pxNewTCB->uxTCBNumber = uxTaskNumber; - } - #endif /* configUSE_TRACE_FACILITY */ - traceTASK_CREATE( pxNewTCB ); - - prvAddTaskToReadyList( pxNewTCB ); - - portSETUP_TCB( pxNewTCB ); - } - taskEXIT_CRITICAL(); - - if( xSchedulerRunning != pdFALSE ) - { - /* If the created task is of a higher priority than the current task - then it should run now. */ - if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - void vTaskDelete( TaskHandle_t xTaskToDelete ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the calling task that is - being deleted. */ - pxTCB = prvGetTCBFromHandle( xTaskToDelete ); - - /* Remove task from the ready list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Increment the uxTaskNumber also so kernel aware debuggers can - detect that the task lists need re-generating. This is done before - portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will - not return. */ - uxTaskNumber++; - - if( pxTCB == pxCurrentTCB ) - { - /* A task is deleting itself. This cannot complete within the - task itself, as a context switch to another task is required. - Place the task in the termination list. The idle task will - check the termination list and free up any memory allocated by - the scheduler for the TCB and stack of the deleted task. */ - vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) ); - - /* Increment the ucTasksDeleted variable so the idle task knows - there is a task that has been deleted and that it should therefore - check the xTasksWaitingTermination list. */ - ++uxDeletedTasksWaitingCleanUp; - - /* The pre-delete hook is primarily for the Windows simulator, - in which Windows specific clean up operations are performed, - after which it is not possible to yield away from this task - - hence xYieldPending is used to latch that a context switch is - required. */ - portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending ); - } - else - { - --uxCurrentNumberOfTasks; - prvDeleteTCB( pxTCB ); - - /* Reset the next expected unblock time in case it referred to - the task that has just been deleted. */ - prvResetNextTaskUnblockTime(); - } - - traceTASK_DELETE( pxTCB ); - } - taskEXIT_CRITICAL(); - - /* Force a reschedule if it is the currently running task that has just - been deleted. */ - if( xSchedulerRunning != pdFALSE ) - { - if( pxTCB == pxCurrentTCB ) - { - configASSERT( uxSchedulerSuspended == 0 ); - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelayUntil == 1 ) - - void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) - { - TickType_t xTimeToWake; - BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE; - - configASSERT( pxPreviousWakeTime ); - configASSERT( ( xTimeIncrement > 0U ) ); - configASSERT( uxSchedulerSuspended == 0 ); - - vTaskSuspendAll(); - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount; - - /* Generate the tick time at which the task wants to wake. */ - xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; - - if( xConstTickCount < *pxPreviousWakeTime ) - { - /* The tick count has overflowed since this function was - lasted called. In this case the only time we should ever - actually delay is if the wake time has also overflowed, - and the wake time is greater than the tick time. When this - is the case it is as if neither time had overflowed. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* The tick time has not overflowed. In this case we will - delay if either the wake time has overflowed, and/or the - tick time is less than the wake time. */ - if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) ) - { - xShouldDelay = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Update the wake time ready for the next call. */ - *pxPreviousWakeTime = xTimeToWake; - - if( xShouldDelay != pdFALSE ) - { - traceTASK_DELAY_UNTIL( xTimeToWake ); - - /* prvAddCurrentTaskToDelayedList() needs the block time, not - the time to wake, so subtract the current tick count. */ - prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - xAlreadyYielded = xTaskResumeAll(); - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelayUntil */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelay == 1 ) - - void vTaskDelay( const TickType_t xTicksToDelay ) - { - BaseType_t xAlreadyYielded = pdFALSE; - - /* A delay time of zero just forces a reschedule. */ - if( xTicksToDelay > ( TickType_t ) 0U ) - { - configASSERT( uxSchedulerSuspended == 0 ); - vTaskSuspendAll(); - { - traceTASK_DELAY(); - - /* A task that is removed from the event list while the - scheduler is suspended will not get placed in the ready - list or removed from the blocked list until the scheduler - is resumed. - - This task cannot be in an event list as it is the currently - executing task. */ - prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE ); - } - xAlreadyYielded = xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Force a reschedule if xTaskResumeAll has not already done so, we may - have put ourselves to sleep. */ - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskDelay */ -/*-----------------------------------------------------------*/ - -#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) ) - - eTaskState eTaskGetState( TaskHandle_t xTask ) - { - eTaskState eReturn; - List_t *pxStateList; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - configASSERT( pxTCB ); - - if( pxTCB == pxCurrentTCB ) - { - /* The task calling this function is querying its own state. */ - eReturn = eRunning; - } - else - { - taskENTER_CRITICAL(); - { - pxStateList = ( List_t * ) listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) ); - } - taskEXIT_CRITICAL(); - - if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) ) - { - /* The task being queried is referenced from one of the Blocked - lists. */ - eReturn = eBlocked; - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - else if( pxStateList == &xSuspendedTaskList ) - { - /* The task being queried is referenced from the suspended - list. Is it genuinely suspended or is it block - indefinitely? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ) - { - eReturn = eSuspended; - } - else - { - eReturn = eBlocked; - } - } - #endif - - #if ( INCLUDE_vTaskDelete == 1 ) - else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) ) - { - /* The task being queried is referenced from the deleted - tasks list, or it is not referenced from any lists at - all. */ - eReturn = eDeleted; - } - #endif - - else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */ - { - /* If the task is not in any other state, it must be in the - Ready (including pending ready) state. */ - eReturn = eReady; - } - } - - return eReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_eTaskGetState */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the priority of the that - called uxTaskPriorityGet() that is being queried. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - taskEXIT_CRITICAL(); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskPriorityGet == 1 ) - - UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - UBaseType_t uxReturn, uxSavedInterruptState; - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR(); - { - /* If null is passed in here then it is the priority of the calling - task that is being queried. */ - pxTCB = prvGetTCBFromHandle( xTask ); - uxReturn = pxTCB->uxPriority; - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskPriorityGet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskPrioritySet == 1 ) - - void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) - { - TCB_t *pxTCB; - UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry; - BaseType_t xYieldRequired = pdFALSE; - - configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) ); - - /* Ensure the new priority is valid. */ - if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES ) - { - uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the priority of the calling - task that is being changed. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - traceTASK_PRIORITY_SET( pxTCB, uxNewPriority ); - - #if ( configUSE_MUTEXES == 1 ) - { - uxCurrentBasePriority = pxTCB->uxBasePriority; - } - #else - { - uxCurrentBasePriority = pxTCB->uxPriority; - } - #endif - - if( uxCurrentBasePriority != uxNewPriority ) - { - /* The priority change may have readied a task of higher - priority than the calling task. */ - if( uxNewPriority > uxCurrentBasePriority ) - { - if( pxTCB != pxCurrentTCB ) - { - /* The priority of a task other than the currently - running task is being raised. Is the priority being - raised above that of the running task? */ - if( uxNewPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* The priority of the running task is being raised, - but the running task must already be the highest - priority task able to run so no yield is required. */ - } - } - else if( pxTCB == pxCurrentTCB ) - { - /* Setting the priority of the running task down means - there may now be another task of higher priority that - is ready to execute. */ - xYieldRequired = pdTRUE; - } - else - { - /* Setting the priority of any other task down does not - require a yield as the running task must be above the - new priority of the task being modified. */ - } - - /* Remember the ready list the task might be referenced from - before its uxPriority member is changed so the - taskRESET_READY_PRIORITY() macro can function correctly. */ - uxPriorityUsedOnEntry = pxTCB->uxPriority; - - #if ( configUSE_MUTEXES == 1 ) - { - /* Only change the priority being used if the task is not - currently using an inherited priority. */ - if( pxTCB->uxBasePriority == pxTCB->uxPriority ) - { - pxTCB->uxPriority = uxNewPriority; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* The base priority gets set whatever. */ - pxTCB->uxBasePriority = uxNewPriority; - } - #else - { - pxTCB->uxPriority = uxNewPriority; - } - #endif - - /* Only reset the event list item value if the value is not - being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* If the task is in the blocked or suspended list we need do - nothing more than change it's priority variable. However, if - the task is in a ready list it needs to be removed and placed - in the list appropriate to its new priority. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - /* The task is currently in its ready list - remove before adding - it to it's new ready list. As we are in a critical section we - can do this even if the scheduler is suspended. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - /* It is known that the task is in its ready list so - there is no need to check again and the port level - reset macro can be called directly. */ - portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - prvAddTaskToReadyList( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( xYieldRequired != pdFALSE ) - { - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Remove compiler warning about unused variables when the port - optimised task selection is not being used. */ - ( void ) uxPriorityUsedOnEntry; - } - } - taskEXIT_CRITICAL(); - } - -#endif /* INCLUDE_vTaskPrioritySet */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskSuspend( TaskHandle_t xTaskToSuspend ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - /* If null is passed in here then it is the running task that is - being suspended. */ - pxTCB = prvGetTCBFromHandle( xTaskToSuspend ); - - traceTASK_SUSPEND( pxTCB ); - - /* Remove task from the ready/delayed list and place in the - suspended list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Is the task waiting on an event also? */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ); - } - taskEXIT_CRITICAL(); - - if( xSchedulerRunning != pdFALSE ) - { - /* Reset the next expected unblock time in case it referred to the - task that is now in the Suspended state. */ - taskENTER_CRITICAL(); - { - prvResetNextTaskUnblockTime(); - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( pxTCB == pxCurrentTCB ) - { - if( xSchedulerRunning != pdFALSE ) - { - /* The current task has just been suspended. */ - configASSERT( uxSchedulerSuspended == 0 ); - portYIELD_WITHIN_API(); - } - else - { - /* The scheduler is not running, but the task that was pointed - to by pxCurrentTCB has just been suspended and pxCurrentTCB - must be adjusted to point to a different task. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) - { - /* No other tasks are ready, so set pxCurrentTCB back to - NULL so when the next task is created pxCurrentTCB will - be set to point to it no matter what its relative priority - is. */ - pxCurrentTCB = NULL; - } - else - { - vTaskSwitchContext(); - } - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) - { - BaseType_t xReturn = pdFALSE; - const TCB_t * const pxTCB = ( TCB_t * ) xTask; - - /* Accesses xPendingReadyList so must be called from a critical - section. */ - - /* It does not make sense to check if the calling task is suspended. */ - configASSERT( xTask ); - - /* Is the task being resumed actually in the suspended list? */ - if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - /* Has the task already been resumed from within an ISR? */ - if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE ) - { - /* Is it in the suspended list because it is in the Suspended - state, or because is is blocked with no timeout? */ - if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) - { - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */ - -#endif /* INCLUDE_vTaskSuspend */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskSuspend == 1 ) - - void vTaskResume( TaskHandle_t xTaskToResume ) - { - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - - /* It does not make sense to resume the calling task. */ - configASSERT( xTaskToResume ); - - /* The parameter cannot be NULL as it is impossible to resume the - currently executing task. */ - if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) - { - taskENTER_CRITICAL(); - { - if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) - { - traceTASK_RESUME( pxTCB ); - - /* As we are in a critical section we can access the ready - lists even if the scheduler is suspended. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* We may have just resumed a higher priority task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - /* This yield may not cause the task just resumed to run, - but will leave the lists in the correct state for the - next yield. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* INCLUDE_vTaskSuspend */ - -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) - - BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) - { - BaseType_t xYieldRequired = pdFALSE; - TCB_t * const pxTCB = ( TCB_t * ) xTaskToResume; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToResume ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE ) - { - traceTASK_RESUME_FROM_ISR( pxTCB ); - - /* Check the ready lists can be accessed. */ - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Ready lists can be accessed so move the task from the - suspended list to the ready list directly. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed or ready lists cannot be accessed so the task - is held in the pending ready list until the scheduler is - unsuspended. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xYieldRequired; - } - -#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */ -/*-----------------------------------------------------------*/ - -void vTaskStartScheduler( void ) -{ -BaseType_t xReturn; - - /* Add the idle task at the lowest priority. */ - #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - { - StaticTask_t *pxIdleTaskTCBBuffer = NULL; - StackType_t *pxIdleTaskStackBuffer = NULL; - uint32_t ulIdleTaskStackSize; - - /* The Idle task is created using user provided RAM - obtain the - address of the RAM then create the idle task. */ - vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize ); - xIdleTaskHandle = xTaskCreateStatic( prvIdleTask, - "IDLE", - ulIdleTaskStackSize, - ( void * ) NULL, - ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), - pxIdleTaskStackBuffer, - pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - - if( xIdleTaskHandle != NULL ) - { - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - } - #else - { - /* The Idle task is being created using dynamically allocated RAM. */ - xReturn = xTaskCreate( prvIdleTask, - "IDLE", configMINIMAL_STACK_SIZE, - ( void * ) NULL, - ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), - &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */ - } - #endif /* configSUPPORT_STATIC_ALLOCATION */ - - #if ( configUSE_TIMERS == 1 ) - { - if( xReturn == pdPASS ) - { - xReturn = xTimerCreateTimerTask(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TIMERS */ - - if( xReturn == pdPASS ) - { - /* Interrupts are turned off here, to ensure a tick does not occur - before or during the call to xPortStartScheduler(). The stacks of - the created tasks contain a status word with interrupts switched on - so interrupts will automatically get re-enabled when the first task - starts to run. */ - portDISABLE_INTERRUPTS(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to the task that will run first. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - xNextTaskUnblockTime = portMAX_DELAY; - xSchedulerRunning = pdTRUE; - xTickCount = ( TickType_t ) 0U; - - /* If configGENERATE_RUN_TIME_STATS is defined then the following - macro must be defined to configure the timer/counter used to generate - the run time counter time base. */ - portCONFIGURE_TIMER_FOR_RUN_TIME_STATS(); - - /* Setting up the timer tick is hardware specific and thus in the - portable interface. */ - if( xPortStartScheduler() != pdFALSE ) - { - /* Should not reach here as if the scheduler is running the - function will not return. */ - } - else - { - /* Should only reach here if a task calls xTaskEndScheduler(). */ - } - } - else - { - /* This line will only be reached if the kernel could not be started, - because there was not enough FreeRTOS heap to create the idle task - or the timer task. */ - configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ); - } - - /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, - meaning xIdleTaskHandle is not used anywhere else. */ - ( void ) xIdleTaskHandle; -} -/*-----------------------------------------------------------*/ - -void vTaskEndScheduler( void ) -{ - /* Stop the scheduler interrupts and call the portable scheduler end - routine so the original ISRs can be restored if necessary. The port - layer must ensure interrupts enable bit is left in the correct state. */ - portDISABLE_INTERRUPTS(); - xSchedulerRunning = pdFALSE; - vPortEndScheduler(); -} -/*----------------------------------------------------------*/ - -void vTaskSuspendAll( void ) -{ - /* A critical section is not required as the variable is of type - BaseType_t. Please read Richard Barry's reply in the following link to a - post in the FreeRTOS support forum before reporting this as a bug! - - http://goo.gl/wu4acr */ - ++uxSchedulerSuspended; -} -/*----------------------------------------------------------*/ - -#if ( configUSE_TICKLESS_IDLE != 0 ) - - static TickType_t prvGetExpectedIdleTime( void ) - { - TickType_t xReturn; - UBaseType_t uxHigherPriorityReadyTasks = pdFALSE; - - /* uxHigherPriorityReadyTasks takes care of the case where - configUSE_PREEMPTION is 0, so there may be tasks above the idle priority - task that are in the Ready state, even though the idle task is - running. */ - #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) - { - if( uxTopReadyPriority > tskIDLE_PRIORITY ) - { - uxHigherPriorityReadyTasks = pdTRUE; - } - } - #else - { - const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01; - - /* When port optimised task selection is used the uxTopReadyPriority - variable is used as a bit map. If bits other than the least - significant bit are set then there are tasks that have a priority - above the idle priority that are in the Ready state. This takes - care of the case where the co-operative scheduler is in use. */ - if( uxTopReadyPriority > uxLeastSignificantBit ) - { - uxHigherPriorityReadyTasks = pdTRUE; - } - } - #endif - - if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY ) - { - xReturn = 0; - } - else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 ) - { - /* There are other idle priority tasks in the ready state. If - time slicing is used then the very next tick interrupt must be - processed. */ - xReturn = 0; - } - else if( uxHigherPriorityReadyTasks != pdFALSE ) - { - /* There are tasks in the Ready state that have a priority above the - idle priority. This path can only be reached if - configUSE_PREEMPTION is 0. */ - xReturn = 0; - } - else - { - xReturn = xNextTaskUnblockTime - xTickCount; - } - - return xReturn; - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskResumeAll( void ) -{ -TCB_t *pxTCB = NULL; -BaseType_t xAlreadyYielded = pdFALSE; - - /* If uxSchedulerSuspended is zero then this function does not match a - previous call to vTaskSuspendAll(). */ - configASSERT( uxSchedulerSuspended ); - - /* It is possible that an ISR caused a task to be removed from an event - list while the scheduler was suspended. If this was the case then the - removed task will have been added to the xPendingReadyList. Once the - scheduler has been resumed it is safe to move all the pending ready - tasks from this list into their appropriate ready list. */ - taskENTER_CRITICAL(); - { - --uxSchedulerSuspended; - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U ) - { - /* Move any readied tasks from the pending list into the - appropriate ready list. */ - while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE ) - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* If the moved task has a priority higher than the current - task then a yield must be performed. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( pxTCB != NULL ) - { - /* A task was unblocked while the scheduler was suspended, - which may have prevented the next unblock time from being - re-calculated, in which case re-calculate it now. Mainly - important for low power tickless implementations, where - this can prevent an unnecessary exit from low power - state. */ - prvResetNextTaskUnblockTime(); - } - - /* If any ticks occurred while the scheduler was suspended then - they should be processed now. This ensures the tick count does - not slip, and that any delayed tasks are resumed at the correct - time. */ - { - UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */ - - if( uxPendedCounts > ( UBaseType_t ) 0U ) - { - do - { - if( xTaskIncrementTick() != pdFALSE ) - { - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - --uxPendedCounts; - } while( uxPendedCounts > ( UBaseType_t ) 0U ); - - uxPendedTicks = 0; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( xYieldPending != pdFALSE ) - { - #if( configUSE_PREEMPTION != 0 ) - { - xAlreadyYielded = pdTRUE; - } - #endif - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xAlreadyYielded; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCount( void ) -{ -TickType_t xTicks; - - /* Critical section required if running on a 16 bit processor. */ - portTICK_TYPE_ENTER_CRITICAL(); - { - xTicks = xTickCount; - } - portTICK_TYPE_EXIT_CRITICAL(); - - return xTicks; -} -/*-----------------------------------------------------------*/ - -TickType_t xTaskGetTickCountFromISR( void ) -{ -TickType_t xReturn; -UBaseType_t uxSavedInterruptStatus; - - /* RTOS ports that support interrupt nesting have the concept of a maximum - system call (or maximum API call) interrupt priority. Interrupts that are - above the maximum system call priority are kept permanently enabled, even - when the RTOS kernel is in a critical section, but cannot make any calls to - FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h - then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has been - assigned a priority above the configured maximum system call priority. - Only FreeRTOS functions that end in FromISR can be called from interrupts - that have been assigned a priority at or (logically) below the maximum - system call interrupt priority. FreeRTOS maintains a separate interrupt - safe API to ensure interrupt entry is as fast and as simple as possible. - More information (albeit Cortex-M specific) is provided on the following - link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR(); - { - xReturn = xTickCount; - } - portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -UBaseType_t uxTaskGetNumberOfTasks( void ) -{ - /* A critical section is not required because the variables are of type - BaseType_t. */ - return uxCurrentNumberOfTasks; -} -/*-----------------------------------------------------------*/ - -char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ -{ -TCB_t *pxTCB; - - /* If null is passed in here then the name of the calling task is being - queried. */ - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - configASSERT( pxTCB ); - return &( pxTCB->pcTaskName[ 0 ] ); -} -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetHandle == 1 ) - - static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) - { - TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL; - UBaseType_t x; - char cNextChar; - - /* This function is called with the scheduler suspended. */ - - if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - - /* Check each character in the name looking for a match or - mismatch. */ - for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ ) - { - cNextChar = pxNextTCB->pcTaskName[ x ]; - - if( cNextChar != pcNameToQuery[ x ] ) - { - /* Characters didn't match. */ - break; - } - else if( cNextChar == 0x00 ) - { - /* Both strings terminated, a match must have been - found. */ - pxReturn = pxNextTCB; - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - if( pxReturn != NULL ) - { - /* The handle has been found. */ - break; - } - - } while( pxNextTCB != pxFirstTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return pxReturn; - } - -#endif /* INCLUDE_xTaskGetHandle */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetHandle == 1 ) - - TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - { - UBaseType_t uxQueue = configMAX_PRIORITIES; - TCB_t* pxTCB; - - /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */ - configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN ); - - vTaskSuspendAll(); - { - /* Search the ready lists. */ - do - { - uxQueue--; - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery ); - - if( pxTCB != NULL ) - { - /* Found the handle. */ - break; - } - - } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - /* Search the delayed lists. */ - if( pxTCB == NULL ) - { - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery ); - } - - if( pxTCB == NULL ) - { - pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery ); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( pxTCB == NULL ) - { - /* Search the suspended list. */ - pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery ); - } - } - #endif - - #if( INCLUDE_vTaskDelete == 1 ) - { - if( pxTCB == NULL ) - { - /* Search the deleted list. */ - pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery ); - } - } - #endif - } - ( void ) xTaskResumeAll(); - - return ( TaskHandle_t ) pxTCB; - } - -#endif /* INCLUDE_xTaskGetHandle */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) - { - UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES; - - vTaskSuspendAll(); - { - /* Is there a space in the array for each task in the system? */ - if( uxArraySize >= uxCurrentNumberOfTasks ) - { - /* Fill in an TaskStatus_t structure with information on each - task in the Ready state. */ - do - { - uxQueue--; - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ); - - } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - /* Fill in an TaskStatus_t structure with information on each - task in the Blocked state. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ); - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ); - - #if( INCLUDE_vTaskDelete == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task that has been deleted but not yet cleaned up. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ); - } - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* Fill in an TaskStatus_t structure with information on - each task in the Suspended state. */ - uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ); - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1) - { - if( pulTotalRunTime != NULL ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) ); - #else - *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - } - } - #else - { - if( pulTotalRunTime != NULL ) - { - *pulTotalRunTime = 0; - } - } - #endif - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) - - TaskHandle_t xTaskGetIdleTaskHandle( void ) - { - /* If xTaskGetIdleTaskHandle() is called before the scheduler has been - started, then xIdleTaskHandle will be NULL. */ - configASSERT( ( xIdleTaskHandle != NULL ) ); - return xIdleTaskHandle; - } - -#endif /* INCLUDE_xTaskGetIdleTaskHandle */ -/*----------------------------------------------------------*/ - -/* This conditional compilation should use inequality to 0, not equality to 1. -This is to ensure vTaskStepTick() is available when user defined low power mode -implementations require configUSE_TICKLESS_IDLE to be set to a value other than -1. */ -#if ( configUSE_TICKLESS_IDLE != 0 ) - - void vTaskStepTick( const TickType_t xTicksToJump ) - { - /* Correct the tick count value after a period during which the tick - was suppressed. Note this does *not* call the tick hook function for - each stepped tick. */ - configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ); - xTickCount += xTicksToJump; - traceINCREASE_TICK_COUNT( xTicksToJump ); - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*----------------------------------------------------------*/ - -#if ( INCLUDE_xTaskAbortDelay == 1 ) - - BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) - { - TCB_t *pxTCB = ( TCB_t * ) xTask; - BaseType_t xReturn = pdFALSE; - - configASSERT( pxTCB ); - - vTaskSuspendAll(); - { - /* A task can only be prematurely removed from the Blocked state if - it is actually in the Blocked state. */ - if( eTaskGetState( xTask ) == eBlocked ) - { - /* Remove the reference to the task from the blocked list. An - interrupt won't touch the xStateListItem because the - scheduler is suspended. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - - /* Is the task waiting on an event also? If so remove it from - the event list too. Interrupts can touch the event list item, - even though the scheduler is suspended, so a critical section - is used. */ - taskENTER_CRITICAL(); - { - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - pxTCB->ucDelayAborted = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - /* Place the unblocked task into the appropriate ready list. */ - prvAddTaskToReadyList( pxTCB ); - - /* A task being unblocked cannot cause an immediate context - switch if preemption is turned off. */ - #if ( configUSE_PREEMPTION == 1 ) - { - /* Preemption is on, but a context switch should only be - performed if the unblocked task has a priority that is - equal to or higher than the currently executing task. */ - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Pend the yield to be performed when the scheduler - is unsuspended. */ - xYieldPending = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - xTaskResumeAll(); - - return xReturn; - } - -#endif /* INCLUDE_xTaskAbortDelay */ -/*----------------------------------------------------------*/ - -BaseType_t xTaskIncrementTick( void ) -{ -TCB_t * pxTCB; -TickType_t xItemValue; -BaseType_t xSwitchRequired = pdFALSE; - - /* Called by the portable layer each time a tick interrupt occurs. - Increments the tick then checks to see if the new tick value will cause any - tasks to be unblocked. */ - traceTASK_INCREMENT_TICK( xTickCount ); - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - /* Minor optimisation. The tick count cannot change in this - block. */ - const TickType_t xConstTickCount = xTickCount + 1; - - /* Increment the RTOS tick, switching the delayed and overflowed - delayed lists if it wraps to 0. */ - xTickCount = xConstTickCount; - - if( xConstTickCount == ( TickType_t ) 0U ) - { - taskSWITCH_DELAYED_LISTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* See if this tick has made a timeout expire. Tasks are stored in - the queue in the order of their wake time - meaning once one task - has been found whose block time has not expired there is no need to - look any further down the list. */ - if( xConstTickCount >= xNextTaskUnblockTime ) - { - for( ;; ) - { - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) - { - /* The delayed list is empty. Set xNextTaskUnblockTime - to the maximum possible value so it is extremely - unlikely that the - if( xTickCount >= xNextTaskUnblockTime ) test will pass - next time through. */ - xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - break; - } - else - { - /* The delayed list is not empty, get the value of the - item at the head of the delayed list. This is the time - at which the task at the head of the delayed list must - be removed from the Blocked state. */ - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) ); - - if( xConstTickCount < xItemValue ) - { - /* It is not time to unblock this item yet, but the - item value is the time at which the task at the head - of the blocked list must be removed from the Blocked - state - so record the item value in - xNextTaskUnblockTime. */ - xNextTaskUnblockTime = xItemValue; - break; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* It is time to remove the item from the Blocked state. */ - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - - /* Is the task waiting on an event also? If so remove - it from the event list. */ - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - ( void ) uxListRemove( &( pxTCB->xEventListItem ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Place the unblocked task into the appropriate ready - list. */ - prvAddTaskToReadyList( pxTCB ); - - /* A task being unblocked cannot cause an immediate - context switch if preemption is turned off. */ - #if ( configUSE_PREEMPTION == 1 ) - { - /* Preemption is on, but a context switch should - only be performed if the unblocked task has a - priority that is equal to or higher than the - currently executing task. */ - if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - } - } - } - - /* Tasks of equal priority to the currently running task will share - processing time (time slice) if preemption is on, and the application - writer has not explicitly turned time slicing off. */ - #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) - { - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */ - - #if ( configUSE_TICK_HOOK == 1 ) - { - /* Guard against the tick hook being called when the pended tick - count is being unwound (when the scheduler is being unlocked). */ - if( uxPendedTicks == ( UBaseType_t ) 0U ) - { - vApplicationTickHook(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICK_HOOK */ - } - else - { - ++uxPendedTicks; - - /* The tick hook gets called at regular intervals, even if the - scheduler is locked. */ - #if ( configUSE_TICK_HOOK == 1 ) - { - vApplicationTickHook(); - } - #endif - } - - #if ( configUSE_PREEMPTION == 1 ) - { - if( xYieldPending != pdFALSE ) - { - xSwitchRequired = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_PREEMPTION */ - - return xSwitchRequired; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) - { - TCB_t *xTCB; - - /* If xTask is NULL then it is the task hook of the calling task that is - getting set. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - xTCB->pxTaskTag = pxHookFunction; - taskEXIT_CRITICAL(); - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) - { - TCB_t *xTCB; - TaskHookFunction_t xReturn; - - /* If xTask is NULL then we are setting our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - /* Save the hook function in the TCB. A critical section is required as - the value can be accessed from an interrupt. */ - taskENTER_CRITICAL(); - { - xReturn = xTCB->pxTaskTag; - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_APPLICATION_TASK_TAG == 1 ) - - BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) - { - TCB_t *xTCB; - BaseType_t xReturn; - - /* If xTask is NULL then we are calling our own task hook. */ - if( xTask == NULL ) - { - xTCB = ( TCB_t * ) pxCurrentTCB; - } - else - { - xTCB = ( TCB_t * ) xTask; - } - - if( xTCB->pxTaskTag != NULL ) - { - xReturn = xTCB->pxTaskTag( pvParameter ); - } - else - { - xReturn = pdFAIL; - } - - return xReturn; - } - -#endif /* configUSE_APPLICATION_TASK_TAG */ -/*-----------------------------------------------------------*/ - -void vTaskSwitchContext( void ) -{ - if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE ) - { - /* The scheduler is currently suspended - do not allow a context - switch. */ - xYieldPending = pdTRUE; - } - else - { - xYieldPending = pdFALSE; - traceTASK_SWITCHED_OUT(); - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE - portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime ); - #else - ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE(); - #endif - - /* Add the amount of time the task has been running to the - accumulated time so far. The time the task started running was - stored in ulTaskSwitchedInTime. Note that there is no overflow - protection here so count values are only valid until the timer - overflows. The guard against negative values is to protect - against suspect run time stat counter implementations - which - are provided by the application, not the kernel. */ - if( ulTotalRunTime > ulTaskSwitchedInTime ) - { - pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - ulTaskSwitchedInTime = ulTotalRunTime; - } - #endif /* configGENERATE_RUN_TIME_STATS */ - - /* Check for stack overflow, if configured. */ - taskCHECK_FOR_STACK_OVERFLOW(); - - /* Select a new task to run using either the generic C or port - optimised asm code. */ - taskSELECT_HIGHEST_PRIORITY_TASK(); - traceTASK_SWITCHED_IN(); - - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - /* Switch Newlib's _impure_ptr variable to point to the _reent - structure specific to this task. */ - _impure_ptr = &( pxCurrentTCB->xNewLib_reent ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - } -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) -{ - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE - SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */ - - /* Place the event list item of the TCB in the appropriate event list. - This is placed in the list in priority order so the highest priority task - is the first to be woken by the event. The queue that contains the event - list is locked, preventing simultaneous access from interrupts. */ - vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); -} -/*-----------------------------------------------------------*/ - -void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) -{ - configASSERT( pxEventList ); - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event groups implementation. */ - configASSERT( uxSchedulerSuspended != 0 ); - - /* Store the item value in the event list item. It is safe to access the - event list item here as interrupts won't access the event list item of a - task that is not in the Blocked state. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Place the event list item of the TCB at the end of the appropriate event - list. It is safe to access the event list here because it is part of an - event group implementation - and interrupts don't access event groups - directly (instead they access them indirectly by pending function calls to - the task level). */ - vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TIMERS == 1 ) - - void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) - { - configASSERT( pxEventList ); - - /* This function should not be called by application code hence the - 'Restricted' in its name. It is not part of the public API. It is - designed for use by kernel code, and has special calling requirements - - it should be called with the scheduler suspended. */ - - - /* Place the event list item of the TCB in the appropriate event list. - In this case it is assume that this is the only task that is going to - be waiting on this event list, so the faster vListInsertEnd() function - can be used in place of vListInsert. */ - vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) ); - - /* If the task should block indefinitely then set the block time to a - value that will be recognised as an indefinite delay inside the - prvAddCurrentTaskToDelayedList() function. */ - if( xWaitIndefinitely != pdFALSE ) - { - xTicksToWait = portMAX_DELAY; - } - - traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) ); - prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely ); - } - -#endif /* configUSE_TIMERS */ -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be - called from a critical section within an ISR. */ - - /* The event list is sorted in priority order, so the first in the list can - be removed as it is known to be the highest priority. Remove the TCB from - the delayed list, and add it to the ready list. - - If an event is for a queue that is locked then this function will never - get called - the lock count on the queue will get modified instead. This - means exclusive access to the event list is guaranteed here. - - This function assumes that a check has already been made to ensure that - pxEventList is not empty. */ - pxUnblockedTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold this task - pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); - } - - if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has a higher - priority than the calling task. This allows the calling task to know if - it should force a context switch now. */ - xReturn = pdTRUE; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - #if( configUSE_TICKLESS_IDLE != 0 ) - { - /* If a task is blocked on a kernel object then xNextTaskUnblockTime - might be set to the blocked task's time out time. If the task is - unblocked for a reason other than a timeout xNextTaskUnblockTime is - normally left unchanged, because it is automatically reset to a new - value when the tick count equals xNextTaskUnblockTime. However if - tickless idling is used it might be more important to enter sleep mode - at the earliest possible time - so reset xNextTaskUnblockTime here to - ensure it is updated at the earliest possible time. */ - prvResetNextTaskUnblockTime(); - } - #endif - - return xReturn; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) -{ -TCB_t *pxUnblockedTCB; -BaseType_t xReturn; - - /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by - the event flags implementation. */ - configASSERT( uxSchedulerSuspended != pdFALSE ); - - /* Store the new item value in the event list. */ - listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE ); - - /* Remove the event list form the event flag. Interrupts do not access - event flags. */ - pxUnblockedTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxEventListItem ); - configASSERT( pxUnblockedTCB ); - ( void ) uxListRemove( pxEventListItem ); - - /* Remove the task from the delayed list and add it to the ready list. The - scheduler is suspended so interrupts will not be accessing the ready - lists. */ - ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxUnblockedTCB ); - - if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* Return true if the task removed from the event list has - a higher priority than the calling task. This allows - the calling task to know if it should force a context - switch now. */ - xReturn = pdTRUE; - - /* Mark that a yield is pending in case the user is not using the - "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - else - { - xReturn = pdFALSE; - } - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) -{ - configASSERT( pxTimeOut ); - pxTimeOut->xOverflowCount = xNumOfOverflows; - pxTimeOut->xTimeOnEntering = xTickCount; -} -/*-----------------------------------------------------------*/ - -BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) -{ -BaseType_t xReturn; - - configASSERT( pxTimeOut ); - configASSERT( pxTicksToWait ); - - taskENTER_CRITICAL(); - { - /* Minor optimisation. The tick count cannot change in this block. */ - const TickType_t xConstTickCount = xTickCount; - - #if( INCLUDE_xTaskAbortDelay == 1 ) - if( pxCurrentTCB->ucDelayAborted != pdFALSE ) - { - /* The delay was aborted, which is not the same as a time out, - but has the same result. */ - pxCurrentTCB->ucDelayAborted = pdFALSE; - xReturn = pdTRUE; - } - else - #endif - - #if ( INCLUDE_vTaskSuspend == 1 ) - if( *pxTicksToWait == portMAX_DELAY ) - { - /* If INCLUDE_vTaskSuspend is set to 1 and the block time - specified is the maximum block time then the task should block - indefinitely, and therefore never time out. */ - xReturn = pdFALSE; - } - else - #endif - - if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */ - { - /* The tick count is greater than the time at which - vTaskSetTimeout() was called, but has also overflowed since - vTaskSetTimeOut() was called. It must have wrapped all the way - around and gone past again. This passed since vTaskSetTimeout() - was called. */ - xReturn = pdTRUE; - } - else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */ - { - /* Not a genuine timeout. Adjust parameters for time remaining. */ - *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering ); - vTaskSetTimeOutState( pxTimeOut ); - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - } - taskEXIT_CRITICAL(); - - return xReturn; -} -/*-----------------------------------------------------------*/ - -void vTaskMissedYield( void ) -{ - xYieldPending = pdTRUE; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) - { - UBaseType_t uxReturn; - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - uxReturn = pxTCB->uxTaskNumber; - } - else - { - uxReturn = 0U; - } - - return uxReturn; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) - { - TCB_t *pxTCB; - - if( xTask != NULL ) - { - pxTCB = ( TCB_t * ) xTask; - pxTCB->uxTaskNumber = uxHandle; - } - } - -#endif /* configUSE_TRACE_FACILITY */ - -/* - * ----------------------------------------------------------- - * The Idle task. - * ---------------------------------------------------------- - * - * The portTASK_FUNCTION() macro is used to allow port/compiler specific - * language extensions. The equivalent prototype for this function is: - * - * void prvIdleTask( void *pvParameters ); - * - */ -static portTASK_FUNCTION( prvIdleTask, pvParameters ) -{ - /* Stop warnings. */ - ( void ) pvParameters; - - /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE - SCHEDULER IS STARTED. **/ - - for( ;; ) - { - /* See if any tasks have deleted themselves - if so then the idle task - is responsible for freeing the deleted task's TCB and stack. */ - prvCheckTasksWaitingTermination(); - - #if ( configUSE_PREEMPTION == 0 ) - { - /* If we are not using preemption we keep forcing a task switch to - see if any other task has become available. If we are using - preemption we don't need to do this as any task becoming available - will automatically get the processor anyway. */ - taskYIELD(); - } - #endif /* configUSE_PREEMPTION */ - - #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) - { - /* When using preemption tasks of equal priority will be - timesliced. If a task that is sharing the idle priority is ready - to run then the idle task should yield before the end of the - timeslice. - - A critical region is not required here as we are just reading from - the list, and an occasional incorrect value will not matter. If - the ready list at the idle priority contains more than one task - then a task other than the idle task is ready to execute. */ - if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 ) - { - taskYIELD(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */ - - #if ( configUSE_IDLE_HOOK == 1 ) - { - extern void vApplicationIdleHook( void ); - - /* Call the user defined function from within the idle task. This - allows the application designer to add background functionality - without the overhead of a separate task. - NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, - CALL A FUNCTION THAT MIGHT BLOCK. */ - vApplicationIdleHook(); - } - #endif /* configUSE_IDLE_HOOK */ - - /* This conditional compilation should use inequality to 0, not equality - to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when - user defined low power mode implementations require - configUSE_TICKLESS_IDLE to be set to a value other than 1. */ - #if ( configUSE_TICKLESS_IDLE != 0 ) - { - TickType_t xExpectedIdleTime; - - /* It is not desirable to suspend then resume the scheduler on - each iteration of the idle task. Therefore, a preliminary - test of the expected idle time is performed without the - scheduler suspended. The result here is not necessarily - valid. */ - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - vTaskSuspendAll(); - { - /* Now the scheduler is suspended, the expected idle - time can be sampled again, and this time its value can - be used. */ - configASSERT( xNextTaskUnblockTime >= xTickCount ); - xExpectedIdleTime = prvGetExpectedIdleTime(); - - if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP ) - { - traceLOW_POWER_IDLE_BEGIN(); - portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ); - traceLOW_POWER_IDLE_END(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - ( void ) xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configUSE_TICKLESS_IDLE */ - } -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TICKLESS_IDLE != 0 ) - - eSleepModeStatus eTaskConfirmSleepModeStatus( void ) - { - /* The idle task exists in addition to the application tasks. */ - const UBaseType_t uxNonApplicationTasks = 1; - eSleepModeStatus eReturn = eStandardSleep; - - if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 ) - { - /* A task was made ready while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else if( xYieldPending != pdFALSE ) - { - /* A yield was pended while the scheduler was suspended. */ - eReturn = eAbortSleep; - } - else - { - /* If all the tasks are in the suspended list (which might mean they - have an infinite block time rather than actually being suspended) - then it is safe to turn all clocks off and just wait for external - interrupts. */ - if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) ) - { - eReturn = eNoTasksWaitingTimeout; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - return eReturn; - } - -#endif /* configUSE_TICKLESS_IDLE */ -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) - { - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToSet ); - pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue; - } - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) - - void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) - { - void *pvReturn = NULL; - TCB_t *pxTCB; - - if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) - { - pxTCB = prvGetTCBFromHandle( xTaskToQuery ); - pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ]; - } - else - { - pvReturn = NULL; - } - - return pvReturn; - } - -#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */ -/*-----------------------------------------------------------*/ - -#if ( portUSING_MPU_WRAPPERS == 1 ) - - void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions ) - { - TCB_t *pxTCB; - - /* If null is passed in here then we are modifying the MPU settings of - the calling task. */ - pxTCB = prvGetTCBFromHandle( xTaskToModify ); - - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); - } - -#endif /* portUSING_MPU_WRAPPERS */ -/*-----------------------------------------------------------*/ - -static void prvInitialiseTaskLists( void ) -{ -UBaseType_t uxPriority; - - for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ ) - { - vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) ); - } - - vListInitialise( &xDelayedTaskList1 ); - vListInitialise( &xDelayedTaskList2 ); - vListInitialise( &xPendingReadyList ); - - #if ( INCLUDE_vTaskDelete == 1 ) - { - vListInitialise( &xTasksWaitingTermination ); - } - #endif /* INCLUDE_vTaskDelete */ - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - vListInitialise( &xSuspendedTaskList ); - } - #endif /* INCLUDE_vTaskSuspend */ - - /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList - using list2. */ - pxDelayedTaskList = &xDelayedTaskList1; - pxOverflowDelayedTaskList = &xDelayedTaskList2; -} -/*-----------------------------------------------------------*/ - -static void prvCheckTasksWaitingTermination( void ) -{ - - /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/ - - #if ( INCLUDE_vTaskDelete == 1 ) - { - BaseType_t xListIsEmpty; - - /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called - too often in the idle task. */ - while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U ) - { - vTaskSuspendAll(); - { - xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); - } - ( void ) xTaskResumeAll(); - - if( xListIsEmpty == pdFALSE ) - { - TCB_t *pxTCB; - - taskENTER_CRITICAL(); - { - pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - --uxCurrentNumberOfTasks; - --uxDeletedTasksWaitingCleanUp; - } - taskEXIT_CRITICAL(); - - prvDeleteTCB( pxTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - #endif /* INCLUDE_vTaskDelete */ -} -/*-----------------------------------------------------------*/ - -#if( configUSE_TRACE_FACILITY == 1 ) - - void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) - { - TCB_t *pxTCB; - - /* xTask is NULL then get the state of the calling task. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB; - pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] ); - pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority; - pxTaskStatus->pxStackBase = pxTCB->pxStack; - pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber; - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - /* If the task is in the suspended list then there is a chance it is - actually just blocked indefinitely - so really it should be reported as - being in the Blocked state. */ - if( pxTaskStatus->eCurrentState == eSuspended ) - { - vTaskSuspendAll(); - { - if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL ) - { - pxTaskStatus->eCurrentState = eBlocked; - } - } - xTaskResumeAll(); - } - } - #endif /* INCLUDE_vTaskSuspend */ - - #if ( configUSE_MUTEXES == 1 ) - { - pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority; - } - #else - { - pxTaskStatus->uxBasePriority = 0; - } - #endif - - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - { - pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter; - } - #else - { - pxTaskStatus->ulRunTimeCounter = 0; - } - #endif - - /* Obtaining the task state is a little fiddly, so is only done if the value - of eState passed into this function is eInvalid - otherwise the state is - just set to whatever is passed in. */ - if( eState != eInvalid ) - { - pxTaskStatus->eCurrentState = eState; - } - else - { - pxTaskStatus->eCurrentState = eTaskGetState( xTask ); - } - - /* Obtaining the stack space takes some time, so the xGetFreeStackSpace - parameter is provided to allow it to be skipped. */ - if( xGetFreeStackSpace != pdFALSE ) - { - #if ( portSTACK_GROWTH > 0 ) - { - pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack ); - } - #else - { - pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack ); - } - #endif - } - else - { - pxTaskStatus->usStackHighWaterMark = 0; - } - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_TRACE_FACILITY == 1 ) - - static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) - { - volatile TCB_t *pxNextTCB, *pxFirstTCB; - UBaseType_t uxTask = 0; - - if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 ) - { - listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); - - /* Populate an TaskStatus_t structure within the - pxTaskStatusArray array for each task that is referenced from - pxList. See the definition of TaskStatus_t in task.h for the - meaning of each TaskStatus_t structure member. */ - do - { - listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); - vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState ); - uxTask++; - } while( pxNextTCB != pxFirstTCB ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return uxTask; - } - -#endif /* configUSE_TRACE_FACILITY */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) - - static uint16_t prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) - { - uint32_t ulCount = 0U; - - while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE ) - { - pucStackByte -= portSTACK_GROWTH; - ulCount++; - } - - ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */ - - return ( uint16_t ) ulCount; - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) - - UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - uint8_t *pucEndOfStack; - UBaseType_t uxReturn; - - pxTCB = prvGetTCBFromHandle( xTask ); - - #if portSTACK_GROWTH < 0 - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxStack; - } - #else - { - pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack; - } - #endif - - uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack ); - - return uxReturn; - } - -#endif /* INCLUDE_uxTaskGetStackHighWaterMark */ -/*-----------------------------------------------------------*/ - -#if ( INCLUDE_vTaskDelete == 1 ) - - static void prvDeleteTCB( TCB_t *pxTCB ) - { - /* This call is required specifically for the TriCore port. It must be - above the vPortFree() calls. The call is also used by ports/demos that - want to allocate and clean RAM statically. */ - portCLEAN_UP_TCB( pxTCB ); - - /* Free up the memory allocated by the scheduler for the task. It is up - to the task to free any memory allocated at the application level. */ - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - { - _reclaim_reent( &( pxTCB->xNewLib_reent ) ); - } - #endif /* configUSE_NEWLIB_REENTRANT */ - - #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) - { - /* The task can only have been allocated dynamically - free both - the stack and TCB. */ - vPortFree( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 ) - { - /* The task could have been allocated statically or dynamically, so - check what was statically allocated before trying to free the - memory. */ - if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ) - { - /* Both the stack and TCB were allocated dynamically, so both - must be freed. */ - vPortFree( pxTCB->pxStack ); - vPortFree( pxTCB ); - } - else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY ) - { - /* Only the stack was statically allocated, so the TCB is the - only memory that must be freed. */ - vPortFree( pxTCB ); - } - else - { - /* Neither the stack nor the TCB were allocated dynamically, so - nothing needs to be freed. */ - configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB ) - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - } - -#endif /* INCLUDE_vTaskDelete */ -/*-----------------------------------------------------------*/ - -static void prvResetNextTaskUnblockTime( void ) -{ -TCB_t *pxTCB; - - if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) - { - /* The new current delayed list is empty. Set xNextTaskUnblockTime to - the maximum possible value so it is extremely unlikely that the - if( xTickCount >= xNextTaskUnblockTime ) test will pass until - there is an item in the delayed list. */ - xNextTaskUnblockTime = portMAX_DELAY; - } - else - { - /* The new current delayed list is not empty, get the value of - the item at the head of the delayed list. This is the time at - which the task at the head of the delayed list should be removed - from the Blocked state. */ - ( pxTCB ) = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); - xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) ); - } -} -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) - - TaskHandle_t xTaskGetCurrentTaskHandle( void ) - { - TaskHandle_t xReturn; - - /* A critical section is not required as this is not called from - an interrupt and the current TCB will always be the same for any - individual execution thread. */ - xReturn = pxCurrentTCB; - - return xReturn; - } - -#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - - BaseType_t xTaskGetSchedulerState( void ) - { - BaseType_t xReturn; - - if( xSchedulerRunning == pdFALSE ) - { - xReturn = taskSCHEDULER_NOT_STARTED; - } - else - { - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - xReturn = taskSCHEDULER_RUNNING; - } - else - { - xReturn = taskSCHEDULER_SUSPENDED; - } - } - - return xReturn; - } - -#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - - /* If the mutex was given back by an interrupt while the queue was - locked then the mutex holder might now be NULL. */ - if( pxMutexHolder != NULL ) - { - /* If the holder of the mutex has a priority below the priority of - the task attempting to obtain the mutex then it will temporarily - inherit the priority of the task attempting to obtain the mutex. */ - if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) - { - /* Adjust the mutex holder state to account for its new - priority. Only reset the event list item value if the value is - not being used for anything else. */ - if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL ) - { - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* If the task being modified is in the ready state it will need - to be moved into a new list. */ - if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE ) - { - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Inherit the priority before being moved into the new list. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* Just inherit the priority. */ - pxTCB->uxPriority = pxCurrentTCB->uxPriority; - } - - traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) - { - TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder; - BaseType_t xReturn = pdFALSE; - - if( pxMutexHolder != NULL ) - { - /* A task can only have an inherited priority if it holds the mutex. - If the mutex is held by a task then it cannot be given from an - interrupt, and if a mutex is given by the holding task then it must - be the running state task. */ - configASSERT( pxTCB == pxCurrentTCB ); - - configASSERT( pxTCB->uxMutexesHeld ); - ( pxTCB->uxMutexesHeld )--; - - /* Has the holder of the mutex inherited the priority of another - task? */ - if( pxTCB->uxPriority != pxTCB->uxBasePriority ) - { - /* Only disinherit if no other mutexes are held. */ - if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 ) - { - /* A task can only have an inherited priority if it holds - the mutex. If the mutex is held by a task then it cannot be - given from an interrupt, and if a mutex is given by the - holding task then it must be the running state task. Remove - the holding task from the ready list. */ - if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - taskRESET_READY_PRIORITY( pxTCB->uxPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Disinherit the priority before adding the task into the - new ready list. */ - traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority ); - pxTCB->uxPriority = pxTCB->uxBasePriority; - - /* Reset the event list item value. It cannot be in use for - any other purpose if this task is running, and it must be - running to give back the mutex. */ - listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - prvAddTaskToReadyList( pxTCB ); - - /* Return true to indicate that a context switch is required. - This is only actually required in the corner case whereby - multiple mutexes were held and the mutexes were given back - in an order different to that in which they were taken. - If a context switch did not occur when the first mutex was - returned, even if a task was waiting on it, then a context - switch should occur when the last mutex is returned whether - a task is waiting on it or not. */ - xReturn = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - return xReturn; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskEnterCritical( void ) - { - portDISABLE_INTERRUPTS(); - - if( xSchedulerRunning != pdFALSE ) - { - ( pxCurrentTCB->uxCriticalNesting )++; - - /* This is not the interrupt safe version of the enter critical - function so assert() if it is being called from an interrupt - context. Only API functions that end in "FromISR" can be used in an - interrupt. Only assert if the critical nesting count is 1 to - protect against recursive calls if the assert function also uses a - critical section. */ - if( pxCurrentTCB->uxCriticalNesting == 1 ) - { - portASSERT_IF_IN_ISR(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( portCRITICAL_NESTING_IN_TCB == 1 ) - - void vTaskExitCritical( void ) - { - if( xSchedulerRunning != pdFALSE ) - { - if( pxCurrentTCB->uxCriticalNesting > 0U ) - { - ( pxCurrentTCB->uxCriticalNesting )--; - - if( pxCurrentTCB->uxCriticalNesting == 0U ) - { - portENABLE_INTERRUPTS(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* portCRITICAL_NESTING_IN_TCB */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) - { - size_t x; - - /* Start by copying the entire string. */ - strcpy( pcBuffer, pcTaskName ); - - /* Pad the end of the string with spaces to ensure columns line up when - printed out. */ - for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ ) - { - pcBuffer[ x ] = ' '; - } - - /* Terminate. */ - pcBuffer[ x ] = 0x00; - - /* Return the new end of string. */ - return &( pcBuffer[ x ] ); - } - -#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */ -/*-----------------------------------------------------------*/ - -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskList( char * pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - char cStatus; - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskList() calls uxTaskGetSystemState(), then formats part of the - * uxTaskGetSystemState() output into a human readable table that - * displays task names, states and stack usage. - * - * vTaskList() has a dependency on the sprintf() C library function that - * might bloat the code size, use a lot of stack, and provide different - * results on different platforms. An alternative, tiny, third party, - * and limited functionality implementation of sprintf() is provided in - * many of the FreeRTOS/Demo sub-directories in a file called - * printf-stdarg.c (note printf-stdarg.c does not provide a full - * snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskList(). - */ - - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. NOTE! if - configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will - equate to NULL. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL ); - - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - switch( pxTaskStatusArray[ x ].eCurrentState ) - { - case eReady: cStatus = tskREADY_CHAR; - break; - - case eBlocked: cStatus = tskBLOCKED_CHAR; - break; - - case eSuspended: cStatus = tskSUSPENDED_CHAR; - break; - - case eDeleted: cStatus = tskDELETED_CHAR; - break; - - default: /* Should not get here, but it is included - to prevent static checking errors. */ - cStatus = 0x00; - break; - } - - /* Write the task name to the string, padding with spaces so it - can be printed in tabular form more easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - /* Write the rest of the string. */ - sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); - pcWriteBuffer += strlen( pcWriteBuffer ); - } - - /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION - is 0 then vPortFree() will be #defined to nothing. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*----------------------------------------------------------*/ - -#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) - - void vTaskGetRunTimeStats( char *pcWriteBuffer ) - { - TaskStatus_t *pxTaskStatusArray; - volatile UBaseType_t uxArraySize, x; - uint32_t ulTotalTime, ulStatsAsPercentage; - - #if( configUSE_TRACE_FACILITY != 1 ) - { - #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats(). - } - #endif - - /* - * PLEASE NOTE: - * - * This function is provided for convenience only, and is used by many - * of the demo applications. Do not consider it to be part of the - * scheduler. - * - * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part - * of the uxTaskGetSystemState() output into a human readable table that - * displays the amount of time each task has spent in the Running state - * in both absolute and percentage terms. - * - * vTaskGetRunTimeStats() has a dependency on the sprintf() C library - * function that might bloat the code size, use a lot of stack, and - * provide different results on different platforms. An alternative, - * tiny, third party, and limited functionality implementation of - * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in - * a file called printf-stdarg.c (note printf-stdarg.c does not provide - * a full snprintf() implementation!). - * - * It is recommended that production systems call uxTaskGetSystemState() - * directly to get access to raw stats data, rather than indirectly - * through a call to vTaskGetRunTimeStats(). - */ - - /* Make sure the write buffer does not contain a string. */ - *pcWriteBuffer = 0x00; - - /* Take a snapshot of the number of tasks in case it changes while this - function is executing. */ - uxArraySize = uxCurrentNumberOfTasks; - - /* Allocate an array index for each task. NOTE! If - configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will - equate to NULL. */ - pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); - - if( pxTaskStatusArray != NULL ) - { - /* Generate the (binary) data. */ - uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime ); - - /* For percentage calculations. */ - ulTotalTime /= 100UL; - - /* Avoid divide by zero errors. */ - if( ulTotalTime > 0 ) - { - /* Create a human readable table from the binary data. */ - for( x = 0; x < uxArraySize; x++ ) - { - /* What percentage of the total run time has the task used? - This will always be rounded down to the nearest integer. - ulTotalRunTimeDiv100 has already been divided by 100. */ - ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime; - - /* Write the task name to the string, padding with - spaces so it can be printed in tabular form more - easily. */ - pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName ); - - if( ulStatsAsPercentage > 0UL ) - { - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); - } - #endif - } - else - { - /* If the percentage is zero here then the task has - consumed less than 1% of the total run time. */ - #ifdef portLU_PRINTF_SPECIFIER_REQUIRED - { - sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #else - { - /* sizeof( int ) == sizeof( long ) so a smaller - printf() library can be used. */ - sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); - } - #endif - } - - pcWriteBuffer += strlen( pcWriteBuffer ); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION - is 0 then vPortFree() will be #defined to nothing. */ - vPortFree( pxTaskStatusArray ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - -#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */ -/*-----------------------------------------------------------*/ - -TickType_t uxTaskResetEventItemValue( void ) -{ -TickType_t uxReturn; - - uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) ); - - /* Reset the event list item to its normal value - so it can be used with - queues and semaphores. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */ - - return uxReturn; -} -/*-----------------------------------------------------------*/ - -#if ( configUSE_MUTEXES == 1 ) - - void *pvTaskIncrementMutexHeldCount( void ) - { - /* If xSemaphoreCreateMutex() is called before any tasks have been created - then pxCurrentTCB will be NULL. */ - if( pxCurrentTCB != NULL ) - { - ( pxCurrentTCB->uxMutexesHeld )++; - } - - return pxCurrentTCB; - } - -#endif /* configUSE_MUTEXES */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) - { - uint32_t ulReturn; - - taskENTER_CRITICAL(); - { - /* Only block if the notification count is not already non-zero. */ - if( pxCurrentTCB->ulNotifiedValue == 0UL ) - { - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); - traceTASK_NOTIFY_TAKE_BLOCK(); - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - traceTASK_NOTIFY_TAKE(); - ulReturn = pxCurrentTCB->ulNotifiedValue; - - if( ulReturn != 0UL ) - { - if( xClearCountOnExit != pdFALSE ) - { - pxCurrentTCB->ulNotifiedValue = 0UL; - } - else - { - pxCurrentTCB->ulNotifiedValue = ulReturn - 1; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - taskEXIT_CRITICAL(); - - return ulReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) - { - BaseType_t xReturn; - - taskENTER_CRITICAL(); - { - /* Only block if a notification is not already pending. */ - if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED ) - { - /* Clear bits in the task's notification value as bits may get - set by the notifying task or interrupt. This can be used to - clear the value to zero. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry; - - /* Mark this task as waiting for a notification. */ - pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION; - - if( xTicksToWait > ( TickType_t ) 0 ) - { - prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE ); - traceTASK_NOTIFY_WAIT_BLOCK(); - - /* All ports are written to allow a yield in a critical - section (some will yield immediately, others wait until the - critical section exits) - but it is not something that - application code should ever do. */ - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - taskENTER_CRITICAL(); - { - traceTASK_NOTIFY_WAIT(); - - if( pulNotificationValue != NULL ) - { - /* Output the current notification value, which may or may not - have changed. */ - *pulNotificationValue = pxCurrentTCB->ulNotifiedValue; - } - - /* If ucNotifyValue is set then either the task never entered the - blocked state (because a notification was already pending) or the - task unblocked because of a notification. Otherwise the task - unblocked because of a timeout. */ - if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION ) - { - /* A notification was not received. */ - xReturn = pdFALSE; - } - else - { - /* A notification was already pending or a notification was - received while the task was waiting. */ - pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit; - xReturn = pdTRUE; - } - - pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) - { - TCB_t * pxTCB; - BaseType_t xReturn = pdPASS; - uint8_t ucOriginalNotifyState; - - configASSERT( xTaskToNotify ); - pxTCB = ( TCB_t * ) xTaskToNotify; - - taskENTER_CRITICAL(); - { - if( pulPreviousNotificationValue != NULL ) - { - *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; - } - - ucOriginalNotifyState = pxTCB->ucNotifyState; - - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction: - /* The task is being notified without its notify value being - updated. */ - break; - } - - traceTASK_NOTIFY(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - #if( configUSE_TICKLESS_IDLE != 0 ) - { - /* If a task is blocked waiting for a notification then - xNextTaskUnblockTime might be set to the blocked task's time - out time. If the task is unblocked for a reason other than - a timeout xNextTaskUnblockTime is normally left unchanged, - because it will automatically get reset to a new value when - the tick count equals xNextTaskUnblockTime. However if - tickless idling is used it might be more important to enter - sleep mode at the earliest possible time - so reset - xNextTaskUnblockTime here to ensure it is updated at the - earliest possible time. */ - prvResetNextTaskUnblockTime(); - } - #endif - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - taskYIELD_IF_USING_PREEMPTION(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - uint8_t ucOriginalNotifyState; - BaseType_t xReturn = pdPASS; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - if( pulPreviousNotificationValue != NULL ) - { - *pulPreviousNotificationValue = pxTCB->ulNotifiedValue; - } - - ucOriginalNotifyState = pxTCB->ucNotifyState; - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - switch( eAction ) - { - case eSetBits : - pxTCB->ulNotifiedValue |= ulValue; - break; - - case eIncrement : - ( pxTCB->ulNotifiedValue )++; - break; - - case eSetValueWithOverwrite : - pxTCB->ulNotifiedValue = ulValue; - break; - - case eSetValueWithoutOverwrite : - if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED ) - { - pxTCB->ulNotifiedValue = ulValue; - } - else - { - /* The value could not be written to the task. */ - xReturn = pdFAIL; - } - break; - - case eNoAction : - /* The task is being notified without its notify value being - updated. */ - break; - } - - traceTASK_NOTIFY_FROM_ISR(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - /* Mark that a yield is pending in case the user is not - using the "xHigherPriorityTaskWoken" parameter to an ISR - safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) - { - TCB_t * pxTCB; - uint8_t ucOriginalNotifyState; - UBaseType_t uxSavedInterruptStatus; - - configASSERT( xTaskToNotify ); - - /* RTOS ports that support interrupt nesting have the concept of a - maximum system call (or maximum API call) interrupt priority. - Interrupts that are above the maximum system call priority are keep - permanently enabled, even when the RTOS kernel is in a critical section, - but cannot make any calls to FreeRTOS API functions. If configASSERT() - is defined in FreeRTOSConfig.h then - portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion - failure if a FreeRTOS API function is called from an interrupt that has - been assigned a priority above the configured maximum system call - priority. Only FreeRTOS functions that end in FromISR can be called - from interrupts that have been assigned a priority at or (logically) - below the maximum system call interrupt priority. FreeRTOS maintains a - separate interrupt safe API to ensure interrupt entry is as fast and as - simple as possible. More information (albeit Cortex-M specific) is - provided on the following link: - http://www.freertos.org/RTOS-Cortex-M3-M4.html */ - portASSERT_IF_INTERRUPT_PRIORITY_INVALID(); - - pxTCB = ( TCB_t * ) xTaskToNotify; - - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - ucOriginalNotifyState = pxTCB->ucNotifyState; - pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED; - - /* 'Giving' is equivalent to incrementing a count in a counting - semaphore. */ - ( pxTCB->ulNotifiedValue )++; - - traceTASK_NOTIFY_GIVE_FROM_ISR(); - - /* If the task is in the blocked state specifically to wait for a - notification then unblock it now. */ - if( ucOriginalNotifyState == taskWAITING_NOTIFICATION ) - { - /* The task should not have been on an event list. */ - configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL ); - - if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) - { - ( void ) uxListRemove( &( pxTCB->xStateListItem ) ); - prvAddTaskToReadyList( pxTCB ); - } - else - { - /* The delayed and ready lists cannot be accessed, so hold - this task pending until the scheduler is resumed. */ - vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); - } - - if( pxTCB->uxPriority > pxCurrentTCB->uxPriority ) - { - /* The notified task has a priority above the currently - executing task so a yield is required. */ - if( pxHigherPriorityTaskWoken != NULL ) - { - *pxHigherPriorityTaskWoken = pdTRUE; - } - else - { - /* Mark that a yield is pending in case the user is not - using the "xHigherPriorityTaskWoken" parameter in an ISR - safe FreeRTOS function. */ - xYieldPending = pdTRUE; - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ - -/*-----------------------------------------------------------*/ - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask ) - { - TCB_t *pxTCB; - BaseType_t xReturn; - - /* If null is passed in here then it is the calling task that is having - its notification state cleared. */ - pxTCB = prvGetTCBFromHandle( xTask ); - - taskENTER_CRITICAL(); - { - if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED ) - { - pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION; - xReturn = pdPASS; - } - else - { - xReturn = pdFAIL; - } - } - taskEXIT_CRITICAL(); - - return xReturn; - } - -#endif /* configUSE_TASK_NOTIFICATIONS */ -/*-----------------------------------------------------------*/ - - -static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) -{ -TickType_t xTimeToWake; -const TickType_t xConstTickCount = xTickCount; - - #if( INCLUDE_xTaskAbortDelay == 1 ) - { - /* About to enter a delayed list, so ensure the ucDelayAborted flag is - reset to pdFALSE so it can be detected as having been set to pdTRUE - when the task leaves the Blocked state. */ - pxCurrentTCB->ucDelayAborted = pdFALSE; - } - #endif - - /* Remove the task from the ready list before adding it to the blocked list - as the same list item is used for both lists. */ - if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 ) - { - /* The current task must be in a ready list, so there is no need to - check, and the port reset macro can be called directly. */ - portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - #if ( INCLUDE_vTaskSuspend == 1 ) - { - if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) ) - { - /* Add the task to the suspended task list instead of a delayed task - list to ensure it is not woken by a timing event. It will block - indefinitely. */ - vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* Calculate the time at which the task should be woken if the event - does not occur. This may overflow but this doesn't matter, the - kernel will manage it correctly. */ - xTimeToWake = xConstTickCount + xTicksToWait; - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); - - if( xTimeToWake < xConstTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow - list. */ - vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* The wake time has not overflowed, so the current block list - is used. */ - vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - - /* If the task entering the blocked state was placed at the - head of the list of blocked tasks then xNextTaskUnblockTime - needs to be updated too. */ - if( xTimeToWake < xNextTaskUnblockTime ) - { - xNextTaskUnblockTime = xTimeToWake; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - } - } - #else /* INCLUDE_vTaskSuspend */ - { - /* Calculate the time at which the task should be woken if the event - does not occur. This may overflow but this doesn't matter, the kernel - will manage it correctly. */ - xTimeToWake = xConstTickCount + xTicksToWait; - - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake ); - - if( xTimeToWake < xConstTickCount ) - { - /* Wake time has overflowed. Place this item in the overflow list. */ - vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - } - else - { - /* The wake time has not overflowed, so the current block list is used. */ - vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) ); - - /* If the task entering the blocked state was placed at the head of the - list of blocked tasks then xNextTaskUnblockTime needs to be updated - too. */ - if( xTimeToWake < xNextTaskUnblockTime ) - { - xNextTaskUnblockTime = xTimeToWake; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - - /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */ - ( void ) xCanBlockIndefinitely; - } - #endif /* INCLUDE_vTaskSuspend */ -} - - -#ifdef FREERTOS_MODULE_TEST - #include "tasks_test_access_functions.h" -#endif - diff --git a/src/main.c b/src/main.c index 9cd8b40..8be3094 100644 --- a/src/main.c +++ b/src/main.c @@ -1,15 +1,12 @@ -#include "FreeRTOS.h" -#include "task.h" - #include #include "stm32f10x.h" -#include "bit.h" -#include "mpu6050.h" -#include "motor.h" -#include "uart.h" -#include "wifi.h" -#include "pid.h" -#include "tty.h" +#include "avm_bit.h" +#include "avm_mpu6050.h" +#include "avm_motor.h" +#include "avm_uart.h" +#include "avm_wifi.h" +#include "avm_pid.h" +#include "avm_tty.h" #define ISP_ADDR 0x1FFFF000 @@ -70,7 +67,7 @@ void mpu_task() { while(1) { MPU6050_getStructData(&sourceData); IMU_Comput(sourceData); - vTaskDelay(10); + // vTaskDelay(10); } } @@ -78,7 +75,7 @@ void mpu_task() { void pid_task() { while(1) { pid_SingleAxis(&g_pid_roll, 0); - vTaskDelay(10); + // vTaskDelay(10); } } #endif @@ -96,7 +93,7 @@ void uart_task() { UART_CR(); - vTaskDelay(100); + // vTaskDelay(100); } } @@ -138,7 +135,7 @@ void uart_debugPID() { uart_showData(g_pid_roll.output); TTY_NONE(); uart_sendStr("\n\r"); - vTaskDelay(100); + // vTaskDelay(100); } } @@ -155,10 +152,8 @@ int main() { uart_sendStr("MPU6050 Connect Success!"); UART_CR(); - xTaskCreate(uart_task, "UART_TASK", 100, NULL, 1, NULL); - xTaskCreate(mpu_task, "MPU_TASK", 100, NULL, 3, NULL); - xTaskCreate(pid_task, "PID_TASK", 100, NULL, 2, NULL); - vTaskStartScheduler(); - uart_sendStr("Stack Overflow..."); + // xTaskCreate(uart_task, "UART_TASK", 100, NULL, 1, NULL); + // xTaskCreate(mpu_task, "MPU_TASK", 100, NULL, 3, NULL); + // xTaskCreate(pid_task, "PID_TASK", 100, NULL, 2, NULL); while(1); }