1 /*
2 * FreeRTOS Kernel V11.0.1
3 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
4 *
5 * SPDX-License-Identifier: MIT
6 *
7 * Permission is hereby granted, free of charge, to any person obtaining a copy of
8 * this software and associated documentation files (the "Software"), to deal in
9 * the Software without restriction, including without limitation the rights to
10 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
11 * the Software, and to permit persons to whom the Software is furnished to do so,
12 * subject to the following conditions:
13 *
14 * The above copyright notice and this permission notice shall be included in all
15 * copies or substantial portions of the Software.
16 *
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
19 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
20 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
21 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
22 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 *
24 * https://www.FreeRTOS.org
25 * https://github.com/FreeRTOS
26 *
27 */
28
29 /* Standard includes. */
30 #include <stdlib.h>
31 #include <string.h>
32
33 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
34 * all the API functions to use the MPU wrappers. That should only be done when
35 * task.h is included from an application file. */
36 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
37
38 /* FreeRTOS includes. */
39 #include "FreeRTOS.h"
40 #include "task.h"
41 #include "timers.h"
42 #include "stack_macros.h"
43
44 /* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
45 * for the header files above, but not in this file, in order to generate the
46 * correct privileged Vs unprivileged linkage and placement. */
47 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
48
49 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
50 * functions but without including stdio.h here. */
51 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
52
53 /* At the bottom of this file are two optional functions that can be used
54 * to generate human readable text from the raw data generated by the
55 * uxTaskGetSystemState() function. Note the formatting functions are provided
56 * for convenience only, and are NOT considered part of the kernel. */
57 #include <stdio.h>
58 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
59
60 #if ( configUSE_PREEMPTION == 0 )
61
62 /* If the cooperative scheduler is being used then a yield should not be
63 * performed just because a higher priority task has been woken. */
64 #define taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB )
65 #define taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB )
66 #else
67
68 #if ( configNUMBER_OF_CORES == 1 )
69
70 /* This macro requests the running task pxTCB to yield. In single core
71 * scheduler, a running task always runs on core 0 and portYIELD_WITHIN_API()
72 * can be used to request the task running on core 0 to yield. Therefore, pxTCB
73 * is not used in this macro. */
74 #define taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB ) \
75 do { \
76 ( void ) ( pxTCB ); \
77 portYIELD_WITHIN_API(); \
78 } while( 0 )
79
80 #define taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB ) \
81 do { \
82 if( pxCurrentTCB->uxPriority < ( pxTCB )->uxPriority ) \
83 { \
84 portYIELD_WITHIN_API(); \
85 } \
86 else \
87 { \
88 mtCOVERAGE_TEST_MARKER(); \
89 } \
90 } while( 0 )
91
92 #else /* if ( configNUMBER_OF_CORES == 1 ) */
93
94 /* Yield the core on which this task is running. */
95 #define taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB ) prvYieldCore( ( pxTCB )->xTaskRunState )
96
97 /* Yield for the task if a running task has priority lower than this task. */
98 #define taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB ) prvYieldForTask( pxTCB )
99
100 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
101
102 #endif /* if ( configUSE_PREEMPTION == 0 ) */
103
104 /* Values that can be assigned to the ucNotifyState member of the TCB. */
105 #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
106 #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
107 #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
108
109 /*
110 * The value used to fill the stack of a task when the task is created. This
111 * is used purely for checking the high water mark for tasks.
112 */
113 #define tskSTACK_FILL_BYTE ( 0xa5U )
114
115 /* Bits used to record how a task's stack and TCB were allocated. */
116 #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
117 #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
118 #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
119
120 /* If any of the following are set then task stacks are filled with a known
121 * value so the high water mark can be determined. If none of the following are
122 * set then don't fill the stack so there is no unnecessary dependency on memset. */
123 #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
124 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
125 #else
126 #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
127 #endif
128
129 /*
130 * Macros used by vListTask to indicate which state a task is in.
131 */
132 #define tskRUNNING_CHAR ( 'X' )
133 #define tskBLOCKED_CHAR ( 'B' )
134 #define tskREADY_CHAR ( 'R' )
135 #define tskDELETED_CHAR ( 'D' )
136 #define tskSUSPENDED_CHAR ( 'S' )
137
138 /*
139 * Some kernel aware debuggers require the data the debugger needs access to to
140 * be global, rather than file scope.
141 */
142 #ifdef portREMOVE_STATIC_QUALIFIER
143 #define static
144 #endif
145
146 /* The name allocated to the Idle task. This can be overridden by defining
147 * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
148 #ifndef configIDLE_TASK_NAME
149 #define configIDLE_TASK_NAME "IDLE"
150 #endif
151
152 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
153
154 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
155 * performed in a generic way that is not optimised to any particular
156 * microcontroller architecture. */
157
158 /* uxTopReadyPriority holds the priority of the highest priority ready
159 * state task. */
160 #define taskRECORD_READY_PRIORITY( uxPriority ) \
161 do { \
162 if( ( uxPriority ) > uxTopReadyPriority ) \
163 { \
164 uxTopReadyPriority = ( uxPriority ); \
165 } \
166 } while( 0 ) /* taskRECORD_READY_PRIORITY */
167
168 /*-----------------------------------------------------------*/
169
170 #if ( configNUMBER_OF_CORES == 1 )
171 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
172 do { \
173 UBaseType_t uxTopPriority = uxTopReadyPriority; \
174 \
175 /* Find the highest priority queue that contains ready tasks. */ \
176 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
177 { \
178 configASSERT( uxTopPriority ); \
179 --uxTopPriority; \
180 } \
181 \
182 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
183 * the same priority get an equal share of the processor time. */ \
184 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
185 uxTopReadyPriority = uxTopPriority; \
186 } while( 0 ) /* taskSELECT_HIGHEST_PRIORITY_TASK */
187 #else /* if ( configNUMBER_OF_CORES == 1 ) */
188
189 #define taskSELECT_HIGHEST_PRIORITY_TASK( xCoreID ) prvSelectHighestPriorityTask( xCoreID )
190
191 #endif /* if ( configNUMBER_OF_CORES == 1 ) */
192
193 /*-----------------------------------------------------------*/
194
195 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
196 * they are only required when a port optimised method of task selection is
197 * being used. */
198 #define taskRESET_READY_PRIORITY( uxPriority )
199 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
200
201 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
202
203 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
204 * performed in a way that is tailored to the particular microcontroller
205 * architecture being used. */
206
207 /* A port optimised version is provided. Call the port defined macros. */
208 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( ( uxPriority ), uxTopReadyPriority )
209
210 /*-----------------------------------------------------------*/
211
212 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
213 do { \
214 UBaseType_t uxTopPriority; \
215 \
216 /* Find the highest priority list that contains ready tasks. */ \
217 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
218 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
219 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
220 } while( 0 )
221
222 /*-----------------------------------------------------------*/
223
224 /* A port optimised version is provided, call it only if the TCB being reset
225 * is being referenced from a ready list. If it is referenced from a delayed
226 * or suspended list then it won't be in a ready list. */
227 #define taskRESET_READY_PRIORITY( uxPriority ) \
228 do { \
229 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
230 { \
231 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
232 } \
233 } while( 0 )
234
235 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
236
237 /*-----------------------------------------------------------*/
238
239 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
240 * count overflows. */
241 #define taskSWITCH_DELAYED_LISTS() \
242 do { \
243 List_t * pxTemp; \
244 \
245 /* The delayed tasks list should be empty when the lists are switched. */ \
246 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
247 \
248 pxTemp = pxDelayedTaskList; \
249 pxDelayedTaskList = pxOverflowDelayedTaskList; \
250 pxOverflowDelayedTaskList = pxTemp; \
251 xNumOfOverflows++; \
252 prvResetNextTaskUnblockTime(); \
253 } while( 0 )
254
255 /*-----------------------------------------------------------*/
256
257 /*
258 * Place the task represented by pxTCB into the appropriate ready list for
259 * the task. It is inserted at the end of the list.
260 */
261 #define prvAddTaskToReadyList( pxTCB ) \
262 do { \
263 traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
264 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
265 listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
266 tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ); \
267 } while( 0 )
268 /*-----------------------------------------------------------*/
269
270 /*
271 * Several functions take a TaskHandle_t parameter that can optionally be NULL,
272 * where NULL is used to indicate that the handle of the currently executing
273 * task should be used in place of the parameter. This macro simply checks to
274 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
275 */
276 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
277
278 /* The item value of the event list item is normally used to hold the priority
279 * of the task to which it belongs (coded to allow it to be held in reverse
280 * priority order). However, it is occasionally borrowed for other purposes. It
281 * is important its value is not updated due to a task priority change while it is
282 * being used for another purpose. The following bit definition is used to inform
283 * the scheduler that the value should not be changed - in which case it is the
284 * responsibility of whichever module is using the value to ensure it gets set back
285 * to its original value when it is released. */
286 #if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
287 #define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint16_t ) 0x8000U )
288 #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
289 #define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint32_t ) 0x80000000UL )
290 #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
291 #define taskEVENT_LIST_ITEM_VALUE_IN_USE ( ( uint64_t ) 0x8000000000000000ULL )
292 #endif
293
294 /* Indicates that the task is not actively running on any core. */
295 #define taskTASK_NOT_RUNNING ( ( BaseType_t ) ( -1 ) )
296
297 /* Indicates that the task is actively running but scheduled to yield. */
298 #define taskTASK_SCHEDULED_TO_YIELD ( ( BaseType_t ) ( -2 ) )
299
300 /* Returns pdTRUE if the task is actively running and not scheduled to yield. */
301 #if ( configNUMBER_OF_CORES == 1 )
302 #define taskTASK_IS_RUNNING( pxTCB ) ( ( ( pxTCB ) == pxCurrentTCB ) ? ( pdTRUE ) : ( pdFALSE ) )
303 #define taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) ( ( ( pxTCB ) == pxCurrentTCB ) ? ( pdTRUE ) : ( pdFALSE ) )
304 #else
305 #define taskTASK_IS_RUNNING( pxTCB ) ( ( ( ( pxTCB )->xTaskRunState >= ( BaseType_t ) 0 ) && ( ( pxTCB )->xTaskRunState < ( BaseType_t ) configNUMBER_OF_CORES ) ) ? ( pdTRUE ) : ( pdFALSE ) )
306 #define taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) ( ( ( pxTCB )->xTaskRunState != taskTASK_NOT_RUNNING ) ? ( pdTRUE ) : ( pdFALSE ) )
307 #endif
308
309 /* Indicates that the task is an Idle task. */
310 #define taskATTRIBUTE_IS_IDLE ( UBaseType_t ) ( 1UL << 0UL )
311
312 #if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) )
313 #define portGET_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting )
314 #define portSET_CRITICAL_NESTING_COUNT( x ) ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting = ( x ) )
315 #define portINCREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting++ )
316 #define portDECREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting-- )
317 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) ) */
318
319 #define taskBITS_PER_BYTE ( ( size_t ) 8 )
320
321 #if ( configNUMBER_OF_CORES > 1 )
322
323 /* Yields the given core. This must be called from a critical section and xCoreID
324 * must be valid. This macro is not required in single core since there is only
325 * one core to yield. */
326 #define prvYieldCore( xCoreID ) \
327 do { \
328 if( ( xCoreID ) == ( BaseType_t ) portGET_CORE_ID() ) \
329 { \
330 /* Pending a yield for this core since it is in the critical section. */ \
331 xYieldPendings[ ( xCoreID ) ] = pdTRUE; \
332 } \
333 else \
334 { \
335 /* Request other core to yield if it is not requested before. */ \
336 if( pxCurrentTCBs[ ( xCoreID ) ]->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD ) \
337 { \
338 portYIELD_CORE( xCoreID ); \
339 pxCurrentTCBs[ ( xCoreID ) ]->xTaskRunState = taskTASK_SCHEDULED_TO_YIELD; \
340 } \
341 } \
342 } while( 0 )
343 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
344 /*-----------------------------------------------------------*/
345
346 /*
347 * Task control block. A task control block (TCB) is allocated for each task,
348 * and stores task state information, including a pointer to the task's context
349 * (the task's run time environment, including register values)
350 */
351 typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
352 {
353 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. */
354
355 #if ( portUSING_MPU_WRAPPERS == 1 )
356 xMPU_SETTINGS xMPUSettings; /**< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
357 #endif
358
359 #if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 )
360 UBaseType_t uxCoreAffinityMask; /**< Used to link the task to certain cores. UBaseType_t must have greater than or equal to the number of bits as configNUMBER_OF_CORES. */
361 #endif
362
363 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 ). */
364 ListItem_t xEventListItem; /**< Used to reference a task from an event list. */
365 UBaseType_t uxPriority; /**< The priority of the task. 0 is the lowest priority. */
366 StackType_t * pxStack; /**< Points to the start of the stack. */
367 #if ( configNUMBER_OF_CORES > 1 )
368 volatile BaseType_t xTaskRunState; /**< Used to identify the core the task is running on, if the task is running. Otherwise, identifies the task's state - not running or yielding. */
369 UBaseType_t uxTaskAttributes; /**< Task's attributes - currently used to identify the idle tasks. */
370 #endif
371 char pcTaskName[ configMAX_TASK_NAME_LEN ]; /**< Descriptive name given to the task when created. Facilitates debugging only. */
372
373 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
374 BaseType_t xPreemptionDisable; /**< Used to prevent the task from being preempted. */
375 #endif
376
377 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
378 StackType_t * pxEndOfStack; /**< Points to the highest valid address for the stack. */
379 #endif
380
381 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
382 UBaseType_t uxCriticalNesting; /**< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
383 #endif
384
385 #if ( configUSE_TRACE_FACILITY == 1 )
386 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. */
387 UBaseType_t uxTaskNumber; /**< Stores a number specifically for use by third party trace code. */
388 #endif
389
390 #if ( configUSE_MUTEXES == 1 )
391 UBaseType_t uxBasePriority; /**< The priority last assigned to the task - used by the priority inheritance mechanism. */
392 UBaseType_t uxMutexesHeld;
393 #endif
394
395 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
396 TaskHookFunction_t pxTaskTag;
397 #endif
398
399 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
400 void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
401 #endif
402
403 #if ( configGENERATE_RUN_TIME_STATS == 1 )
404 configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /**< Stores the amount of time the task has spent in the Running state. */
405 #endif
406
407 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
408 configTLS_BLOCK_TYPE xTLSBlock; /**< Memory block used as Thread Local Storage (TLS) Block for the task. */
409 #endif
410
411 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
412 volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
413 volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
414 #endif
415
416 /* See the comments in FreeRTOS.h with the definition of
417 * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
418 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
419 uint8_t ucStaticallyAllocated; /**< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
420 #endif
421
422 #if ( INCLUDE_xTaskAbortDelay == 1 )
423 uint8_t ucDelayAborted;
424 #endif
425
426 #if ( configUSE_POSIX_ERRNO == 1 )
427 int iTaskErrno;
428 #endif
429 } tskTCB;
430
431 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
432 * below to enable the use of older kernel aware debuggers. */
433 typedef tskTCB TCB_t;
434
435 #if ( configNUMBER_OF_CORES == 1 )
436 /* MISRA Ref 8.4.1 [Declaration shall be visible] */
437 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-84 */
438 /* coverity[misra_c_2012_rule_8_4_violation] */
439 portDONT_DISCARD PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
440 #else
441 /* MISRA Ref 8.4.1 [Declaration shall be visible] */
442 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-84 */
443 /* coverity[misra_c_2012_rule_8_4_violation] */
444 portDONT_DISCARD PRIVILEGED_DATA TCB_t * volatile pxCurrentTCBs[ configNUMBER_OF_CORES ];
445 #define pxCurrentTCB xTaskGetCurrentTaskHandle()
446 #endif
447
448 /* Lists for ready and blocked tasks. --------------------
449 * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
450 * doing so breaks some kernel aware debuggers and debuggers that rely on removing
451 * the static qualifier. */
452 PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /**< Prioritised ready tasks. */
453 PRIVILEGED_DATA static List_t xDelayedTaskList1; /**< Delayed tasks. */
454 PRIVILEGED_DATA static List_t xDelayedTaskList2; /**< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
455 PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /**< Points to the delayed task list currently being used. */
456 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. */
457 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. */
458
459 #if ( INCLUDE_vTaskDelete == 1 )
460
461 PRIVILEGED_DATA static List_t xTasksWaitingTermination; /**< Tasks that have been deleted - but their memory not yet freed. */
462 PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
463
464 #endif
465
466 #if ( INCLUDE_vTaskSuspend == 1 )
467
468 PRIVILEGED_DATA static List_t xSuspendedTaskList; /**< Tasks that are currently suspended. */
469
470 #endif
471
472 /* Global POSIX errno. Its value is changed upon context switching to match
473 * the errno of the currently running task. */
474 #if ( configUSE_POSIX_ERRNO == 1 )
475 int FreeRTOS_errno = 0;
476 #endif
477
478 /* Other file private variables. --------------------------------*/
479 PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
480 PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
481 PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
482 PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
483 PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
484 PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
485 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
486 PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
487 PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
488 PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandles[ configNUMBER_OF_CORES ]; /**< Holds the handles of the idle tasks. The idle tasks are created automatically when the scheduler is started. */
489
490 /* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
491 * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
492 * to determine the number of priority lists to read back from the remote target. */
493 static const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
494
495 /* Context switches are held pending while the scheduler is suspended. Also,
496 * interrupts must not manipulate the xStateListItem of a TCB, or any of the
497 * lists the xStateListItem can be referenced from, if the scheduler is suspended.
498 * If an interrupt needs to unblock a task while the scheduler is suspended then it
499 * moves the task's event list item into the xPendingReadyList, ready for the
500 * kernel to move the task from the pending ready list into the real ready list
501 * when the scheduler is unsuspended. The pending ready list itself can only be
502 * accessed from a critical section.
503 *
504 * Updates to uxSchedulerSuspended must be protected by both the task lock and the ISR lock
505 * and must not be done from an ISR. Reads must be protected by either lock and may be done
506 * from either an ISR or a task. */
507 PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) 0U;
508
509 #if ( configGENERATE_RUN_TIME_STATS == 1 )
510
511 /* Do not move these variables to function scope as doing so prevents the
512 * code working with debuggers that need to remove the static qualifier. */
513 PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the value of a timer/counter the last time a task was switched in. */
514 PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the total amount of execution time as defined by the run time counter clock. */
515
516 #endif
517
518 /*-----------------------------------------------------------*/
519
520 /* File private functions. --------------------------------*/
521
522 /*
523 * Creates the idle tasks during scheduler start.
524 */
525 static BaseType_t prvCreateIdleTasks( void );
526
527 #if ( configNUMBER_OF_CORES > 1 )
528
529 /*
530 * Checks to see if another task moved the current task out of the ready
531 * list while it was waiting to enter a critical section and yields, if so.
532 */
533 static void prvCheckForRunStateChange( void );
534 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
535
536 #if ( configNUMBER_OF_CORES > 1 )
537
538 /*
539 * Yields a core, or cores if multiple priorities are not allowed to run
540 * simultaneously, to allow the task pxTCB to run.
541 */
542 static void prvYieldForTask( const TCB_t * pxTCB );
543 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
544
545 #if ( configNUMBER_OF_CORES > 1 )
546
547 /*
548 * Selects the highest priority available task for the given core.
549 */
550 static void prvSelectHighestPriorityTask( BaseType_t xCoreID );
551 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
552
553 /**
554 * Utility task that simply returns pdTRUE if the task referenced by xTask is
555 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
556 * is in any other state.
557 */
558 #if ( INCLUDE_vTaskSuspend == 1 )
559
560 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
561
562 #endif /* INCLUDE_vTaskSuspend */
563
564 /*
565 * Utility to ready all the lists used by the scheduler. This is called
566 * automatically upon the creation of the first task.
567 */
568 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
569
570 /*
571 * The idle task, which as all tasks is implemented as a never ending loop.
572 * The idle task is automatically created and added to the ready lists upon
573 * creation of the first user task.
574 *
575 * In the FreeRTOS SMP, configNUMBER_OF_CORES - 1 passive idle tasks are also
576 * created to ensure that each core has an idle task to run when no other
577 * task is available to run.
578 *
579 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
580 * language extensions. The equivalent prototype for these functions are:
581 *
582 * void prvIdleTask( void *pvParameters );
583 * void prvPassiveIdleTask( void *pvParameters );
584 *
585 */
586 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
587 #if ( configNUMBER_OF_CORES > 1 )
588 static portTASK_FUNCTION_PROTO( prvPassiveIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
589 #endif
590
591 /*
592 * Utility to free all memory allocated by the scheduler to hold a TCB,
593 * including the stack pointed to by the TCB.
594 *
595 * This does not free memory allocated by the task itself (i.e. memory
596 * allocated by calls to pvPortMalloc from within the tasks application code).
597 */
598 #if ( INCLUDE_vTaskDelete == 1 )
599
600 static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
601
602 #endif
603
604 /*
605 * Used only by the idle task. This checks to see if anything has been placed
606 * in the list of tasks waiting to be deleted. If so the task is cleaned up
607 * and its TCB deleted.
608 */
609 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
610
611 /*
612 * The currently executing task is entering the Blocked state. Add the task to
613 * either the current or the overflow delayed task list.
614 */
615 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
616 const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
617
618 /*
619 * Fills an TaskStatus_t structure with information on each task that is
620 * referenced from the pxList list (which may be a ready list, a delayed list,
621 * a suspended list, etc.).
622 *
623 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
624 * NORMAL APPLICATION CODE.
625 */
626 #if ( configUSE_TRACE_FACILITY == 1 )
627
628 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
629 List_t * pxList,
630 eTaskState eState ) PRIVILEGED_FUNCTION;
631
632 #endif
633
634 /*
635 * Searches pxList for a task with name pcNameToQuery - returning a handle to
636 * the task if it is found, or NULL if the task is not found.
637 */
638 #if ( INCLUDE_xTaskGetHandle == 1 )
639
640 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
641 const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
642
643 #endif
644
645 /*
646 * When a task is created, the stack of the task is filled with a known value.
647 * This function determines the 'high water mark' of the task stack by
648 * determining how much of the stack remains at the original preset value.
649 */
650 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
651
652 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
653
654 #endif
655
656 /*
657 * Return the amount of time, in ticks, that will pass before the kernel will
658 * next move a task from the Blocked state to the Running state.
659 *
660 * This conditional compilation should use inequality to 0, not equality to 1.
661 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
662 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
663 * set to a value other than 1.
664 */
665 #if ( configUSE_TICKLESS_IDLE != 0 )
666
667 static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
668
669 #endif
670
671 /*
672 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
673 * will exit the Blocked state.
674 */
675 static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
676
677 #if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
678
679 /*
680 * Helper function used to pad task names with spaces when printing out
681 * human readable tables of task information.
682 */
683 static char * prvWriteNameToBuffer( char * pcBuffer,
684 const char * pcTaskName ) PRIVILEGED_FUNCTION;
685
686 #endif
687
688 /*
689 * Called after a Task_t structure has been allocated either statically or
690 * dynamically to fill in the structure's members.
691 */
692 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
693 const char * const pcName,
694 const uint32_t ulStackDepth,
695 void * const pvParameters,
696 UBaseType_t uxPriority,
697 TaskHandle_t * const pxCreatedTask,
698 TCB_t * pxNewTCB,
699 const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
700
701 /*
702 * Called after a new task has been created and initialised to place the task
703 * under the control of the scheduler.
704 */
705 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
706
707 /*
708 * Create a task with static buffer for both TCB and stack. Returns a handle to
709 * the task if it is created successfully. Otherwise, returns NULL.
710 */
711 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
712 static TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
713 const char * const pcName,
714 const uint32_t ulStackDepth,
715 void * const pvParameters,
716 UBaseType_t uxPriority,
717 StackType_t * const puxStackBuffer,
718 StaticTask_t * const pxTaskBuffer,
719 TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
720 #endif /* #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
721
722 /*
723 * Create a restricted task with static buffer for both TCB and stack. Returns
724 * a handle to the task if it is created successfully. Otherwise, returns NULL.
725 */
726 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
727 static TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
728 TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
729 #endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
730
731 /*
732 * Create a restricted task with static buffer for task stack and allocated buffer
733 * for TCB. Returns a handle to the task if it is created successfully. Otherwise,
734 * returns NULL.
735 */
736 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
737 static TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
738 TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
739 #endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
740
741 /*
742 * Create a task with allocated buffer for both TCB and stack. Returns a handle to
743 * the task if it is created successfully. Otherwise, returns NULL.
744 */
745 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
746 static TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
747 const char * const pcName,
748 const configSTACK_DEPTH_TYPE usStackDepth,
749 void * const pvParameters,
750 UBaseType_t uxPriority,
751 TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
752 #endif /* #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
753
754 /*
755 * freertos_tasks_c_additions_init() should only be called if the user definable
756 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
757 * called by the function.
758 */
759 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
760
761 static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
762
763 #endif
764
765 #if ( configUSE_PASSIVE_IDLE_HOOK == 1 )
766 extern void vApplicationPassiveIdleHook( void );
767 #endif /* #if ( configUSE_PASSIVE_IDLE_HOOK == 1 ) */
768
769 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
770
771 /*
772 * Convert the snprintf return value to the number of characters
773 * written. The following are the possible cases:
774 *
775 * 1. The buffer supplied to snprintf is large enough to hold the
776 * generated string. The return value in this case is the number
777 * of characters actually written, not counting the terminating
778 * null character.
779 * 2. The buffer supplied to snprintf is NOT large enough to hold
780 * the generated string. The return value in this case is the
781 * number of characters that would have been written if the
782 * buffer had been sufficiently large, not counting the
783 * terminating null character.
784 * 3. Encoding error. The return value in this case is a negative
785 * number.
786 *
787 * From 1 and 2 above ==> Only when the return value is non-negative
788 * and less than the supplied buffer length, the string has been
789 * completely written.
790 */
791 static size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
792 size_t n );
793
794 #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
795 /*-----------------------------------------------------------*/
796
797 #if ( configNUMBER_OF_CORES > 1 )
prvCheckForRunStateChange(void)798 static void prvCheckForRunStateChange( void )
799 {
800 UBaseType_t uxPrevCriticalNesting;
801 const TCB_t * pxThisTCB;
802
803 /* This must only be called from within a task. */
804 portASSERT_IF_IN_ISR();
805
806 /* This function is always called with interrupts disabled
807 * so this is safe. */
808 pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
809
810 while( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD )
811 {
812 /* We are only here if we just entered a critical section
813 * or if we just suspended the scheduler, and another task
814 * has requested that we yield.
815 *
816 * This is slightly complicated since we need to save and restore
817 * the suspension and critical nesting counts, as well as release
818 * and reacquire the correct locks. And then, do it all over again
819 * if our state changed again during the reacquisition. */
820 uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT();
821
822 if( uxPrevCriticalNesting > 0U )
823 {
824 portSET_CRITICAL_NESTING_COUNT( 0U );
825 portRELEASE_ISR_LOCK();
826 }
827 else
828 {
829 /* The scheduler is suspended. uxSchedulerSuspended is updated
830 * only when the task is not requested to yield. */
831 mtCOVERAGE_TEST_MARKER();
832 }
833
834 portRELEASE_TASK_LOCK();
835 portMEMORY_BARRIER();
836 configASSERT( pxThisTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD );
837
838 portENABLE_INTERRUPTS();
839
840 /* Enabling interrupts should cause this core to immediately
841 * service the pending interrupt and yield. If the run state is still
842 * yielding here then that is a problem. */
843 configASSERT( pxThisTCB->xTaskRunState != taskTASK_SCHEDULED_TO_YIELD );
844
845 portDISABLE_INTERRUPTS();
846 portGET_TASK_LOCK();
847 portGET_ISR_LOCK();
848
849 portSET_CRITICAL_NESTING_COUNT( uxPrevCriticalNesting );
850
851 if( uxPrevCriticalNesting == 0U )
852 {
853 portRELEASE_ISR_LOCK();
854 }
855 }
856 }
857 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
858
859 /*-----------------------------------------------------------*/
860
861 #if ( configNUMBER_OF_CORES > 1 )
prvYieldForTask(const TCB_t * pxTCB)862 static void prvYieldForTask( const TCB_t * pxTCB )
863 {
864 BaseType_t xLowestPriorityToPreempt;
865 BaseType_t xCurrentCoreTaskPriority;
866 BaseType_t xLowestPriorityCore = ( BaseType_t ) -1;
867 BaseType_t xCoreID;
868
869 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
870 BaseType_t xYieldCount = 0;
871 #endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
872
873 /* This must be called from a critical section. */
874 configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
875
876 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
877
878 /* No task should yield for this one if it is a lower priority
879 * than priority level of currently ready tasks. */
880 if( pxTCB->uxPriority >= uxTopReadyPriority )
881 #else
882 /* Yield is not required for a task which is already running. */
883 if( taskTASK_IS_RUNNING( pxTCB ) == pdFALSE )
884 #endif
885 {
886 xLowestPriorityToPreempt = ( BaseType_t ) pxTCB->uxPriority;
887
888 /* xLowestPriorityToPreempt will be decremented to -1 if the priority of pxTCB
889 * is 0. This is ok as we will give system idle tasks a priority of -1 below. */
890 --xLowestPriorityToPreempt;
891
892 for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
893 {
894 xCurrentCoreTaskPriority = ( BaseType_t ) pxCurrentTCBs[ xCoreID ]->uxPriority;
895
896 /* System idle tasks are being assigned a priority of tskIDLE_PRIORITY - 1 here. */
897 if( ( pxCurrentTCBs[ xCoreID ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
898 {
899 xCurrentCoreTaskPriority = xCurrentCoreTaskPriority - 1;
900 }
901
902 if( ( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCoreID ] ) != pdFALSE ) && ( xYieldPendings[ xCoreID ] == pdFALSE ) )
903 {
904 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
905 if( taskTASK_IS_RUNNING( pxTCB ) == pdFALSE )
906 #endif
907 {
908 if( xCurrentCoreTaskPriority <= xLowestPriorityToPreempt )
909 {
910 #if ( configUSE_CORE_AFFINITY == 1 )
911 if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
912 #endif
913 {
914 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
915 if( pxCurrentTCBs[ xCoreID ]->xPreemptionDisable == pdFALSE )
916 #endif
917 {
918 xLowestPriorityToPreempt = xCurrentCoreTaskPriority;
919 xLowestPriorityCore = xCoreID;
920 }
921 }
922 }
923 else
924 {
925 mtCOVERAGE_TEST_MARKER();
926 }
927 }
928
929 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
930 {
931 /* Yield all currently running non-idle tasks with a priority lower than
932 * the task that needs to run. */
933 if( ( xCurrentCoreTaskPriority > ( ( BaseType_t ) tskIDLE_PRIORITY - 1 ) ) &&
934 ( xCurrentCoreTaskPriority < ( BaseType_t ) pxTCB->uxPriority ) )
935 {
936 prvYieldCore( xCoreID );
937 xYieldCount++;
938 }
939 else
940 {
941 mtCOVERAGE_TEST_MARKER();
942 }
943 }
944 #endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
945 }
946 else
947 {
948 mtCOVERAGE_TEST_MARKER();
949 }
950 }
951
952 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
953 if( ( xYieldCount == 0 ) && ( xLowestPriorityCore >= 0 ) )
954 #else /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
955 if( xLowestPriorityCore >= 0 )
956 #endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
957 {
958 prvYieldCore( xLowestPriorityCore );
959 }
960
961 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
962 /* Verify that the calling core always yields to higher priority tasks. */
963 if( ( ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0U ) &&
964 ( pxTCB->uxPriority > pxCurrentTCBs[ portGET_CORE_ID() ]->uxPriority ) )
965 {
966 configASSERT( ( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE ) ||
967 ( taskTASK_IS_RUNNING( pxCurrentTCBs[ portGET_CORE_ID() ] ) == pdFALSE ) );
968 }
969 #endif
970 }
971 }
972 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
973 /*-----------------------------------------------------------*/
974
975 #if ( configNUMBER_OF_CORES > 1 )
prvSelectHighestPriorityTask(BaseType_t xCoreID)976 static void prvSelectHighestPriorityTask( BaseType_t xCoreID )
977 {
978 UBaseType_t uxCurrentPriority = uxTopReadyPriority;
979 BaseType_t xTaskScheduled = pdFALSE;
980 BaseType_t xDecrementTopPriority = pdTRUE;
981
982 #if ( configUSE_CORE_AFFINITY == 1 )
983 const TCB_t * pxPreviousTCB = NULL;
984 #endif
985 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
986 BaseType_t xPriorityDropped = pdFALSE;
987 #endif
988
989 /* This function should be called when scheduler is running. */
990 configASSERT( xSchedulerRunning == pdTRUE );
991
992 /* A new task is created and a running task with the same priority yields
993 * itself to run the new task. When a running task yields itself, it is still
994 * in the ready list. This running task will be selected before the new task
995 * since the new task is always added to the end of the ready list.
996 * The other problem is that the running task still in the same position of
997 * the ready list when it yields itself. It is possible that it will be selected
998 * earlier then other tasks which waits longer than this task.
999 *
1000 * To fix these problems, the running task should be put to the end of the
1001 * ready list before searching for the ready task in the ready list. */
1002 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ),
1003 &pxCurrentTCBs[ xCoreID ]->xStateListItem ) == pdTRUE )
1004 {
1005 ( void ) uxListRemove( &pxCurrentTCBs[ xCoreID ]->xStateListItem );
1006 vListInsertEnd( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ),
1007 &pxCurrentTCBs[ xCoreID ]->xStateListItem );
1008 }
1009
1010 while( xTaskScheduled == pdFALSE )
1011 {
1012 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
1013 {
1014 if( uxCurrentPriority < uxTopReadyPriority )
1015 {
1016 /* We can't schedule any tasks, other than idle, that have a
1017 * priority lower than the priority of a task currently running
1018 * on another core. */
1019 uxCurrentPriority = tskIDLE_PRIORITY;
1020 }
1021 }
1022 #endif
1023
1024 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurrentPriority ] ) ) == pdFALSE )
1025 {
1026 const List_t * const pxReadyList = &( pxReadyTasksLists[ uxCurrentPriority ] );
1027 const ListItem_t * pxEndMarker = listGET_END_MARKER( pxReadyList );
1028 ListItem_t * pxIterator;
1029
1030 /* The ready task list for uxCurrentPriority is not empty, so uxTopReadyPriority
1031 * must not be decremented any further. */
1032 xDecrementTopPriority = pdFALSE;
1033
1034 for( pxIterator = listGET_HEAD_ENTRY( pxReadyList ); pxIterator != pxEndMarker; pxIterator = listGET_NEXT( pxIterator ) )
1035 {
1036 /* MISRA Ref 11.5.3 [Void pointer assignment] */
1037 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1038 /* coverity[misra_c_2012_rule_11_5_violation] */
1039 TCB_t * pxTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxIterator );
1040
1041 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
1042 {
1043 /* When falling back to the idle priority because only one priority
1044 * level is allowed to run at a time, we should ONLY schedule the true
1045 * idle tasks, not user tasks at the idle priority. */
1046 if( uxCurrentPriority < uxTopReadyPriority )
1047 {
1048 if( ( pxTCB->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0U )
1049 {
1050 continue;
1051 }
1052 }
1053 }
1054 #endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
1055
1056 if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
1057 {
1058 #if ( configUSE_CORE_AFFINITY == 1 )
1059 if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
1060 #endif
1061 {
1062 /* If the task is not being executed by any core swap it in. */
1063 pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
1064 #if ( configUSE_CORE_AFFINITY == 1 )
1065 pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
1066 #endif
1067 pxTCB->xTaskRunState = xCoreID;
1068 pxCurrentTCBs[ xCoreID ] = pxTCB;
1069 xTaskScheduled = pdTRUE;
1070 }
1071 }
1072 else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
1073 {
1074 configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_SCHEDULED_TO_YIELD ) );
1075
1076 #if ( configUSE_CORE_AFFINITY == 1 )
1077 if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
1078 #endif
1079 {
1080 /* The task is already running on this core, mark it as scheduled. */
1081 pxTCB->xTaskRunState = xCoreID;
1082 xTaskScheduled = pdTRUE;
1083 }
1084 }
1085 else
1086 {
1087 /* This task is running on the core other than xCoreID. */
1088 mtCOVERAGE_TEST_MARKER();
1089 }
1090
1091 if( xTaskScheduled != pdFALSE )
1092 {
1093 /* A task has been selected to run on this core. */
1094 break;
1095 }
1096 }
1097 }
1098 else
1099 {
1100 if( xDecrementTopPriority != pdFALSE )
1101 {
1102 uxTopReadyPriority--;
1103 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
1104 {
1105 xPriorityDropped = pdTRUE;
1106 }
1107 #endif
1108 }
1109 }
1110
1111 /* There are configNUMBER_OF_CORES Idle tasks created when scheduler started.
1112 * The scheduler should be able to select a task to run when uxCurrentPriority
1113 * is tskIDLE_PRIORITY. uxCurrentPriority is never decreased to value blow
1114 * tskIDLE_PRIORITY. */
1115 if( uxCurrentPriority > tskIDLE_PRIORITY )
1116 {
1117 uxCurrentPriority--;
1118 }
1119 else
1120 {
1121 /* This function is called when idle task is not created. Break the
1122 * loop to prevent uxCurrentPriority overrun. */
1123 break;
1124 }
1125 }
1126
1127 #if ( configRUN_MULTIPLE_PRIORITIES == 0 )
1128 {
1129 if( xTaskScheduled == pdTRUE )
1130 {
1131 if( xPriorityDropped != pdFALSE )
1132 {
1133 /* There may be several ready tasks that were being prevented from running because there was
1134 * a higher priority task running. Now that the last of the higher priority tasks is no longer
1135 * running, make sure all the other idle tasks yield. */
1136 BaseType_t x;
1137
1138 for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configNUMBER_OF_CORES; x++ )
1139 {
1140 if( ( pxCurrentTCBs[ x ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
1141 {
1142 prvYieldCore( x );
1143 }
1144 }
1145 }
1146 }
1147 }
1148 #endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
1149
1150 #if ( configUSE_CORE_AFFINITY == 1 )
1151 {
1152 if( xTaskScheduled == pdTRUE )
1153 {
1154 if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) )
1155 {
1156 /* A ready task was just evicted from this core. See if it can be
1157 * scheduled on any other core. */
1158 UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask;
1159 BaseType_t xLowestPriority = ( BaseType_t ) pxPreviousTCB->uxPriority;
1160 BaseType_t xLowestPriorityCore = -1;
1161 BaseType_t x;
1162
1163 if( ( pxPreviousTCB->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
1164 {
1165 xLowestPriority = xLowestPriority - 1;
1166 }
1167
1168 if( ( uxCoreMap & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
1169 {
1170 /* pxPreviousTCB was removed from this core and this core is not excluded
1171 * from it's core affinity mask.
1172 *
1173 * pxPreviousTCB is preempted by the new higher priority task
1174 * pxCurrentTCBs[ xCoreID ]. When searching a new core for pxPreviousTCB,
1175 * we do not need to look at the cores on which pxCurrentTCBs[ xCoreID ]
1176 * is allowed to run. The reason is - when more than one cores are
1177 * eligible for an incoming task, we preempt the core with the minimum
1178 * priority task. Because this core (i.e. xCoreID) was preempted for
1179 * pxCurrentTCBs[ xCoreID ], this means that all the others cores
1180 * where pxCurrentTCBs[ xCoreID ] can run, are running tasks with priority
1181 * no lower than pxPreviousTCB's priority. Therefore, the only cores where
1182 * which can be preempted for pxPreviousTCB are the ones where
1183 * pxCurrentTCBs[ xCoreID ] is not allowed to run (and obviously,
1184 * pxPreviousTCB is allowed to run).
1185 *
1186 * This is an optimization which reduces the number of cores needed to be
1187 * searched for pxPreviousTCB to run. */
1188 uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask );
1189 }
1190 else
1191 {
1192 /* pxPreviousTCB's core affinity mask is changed and it is no longer
1193 * allowed to run on this core. Searching all the cores in pxPreviousTCB's
1194 * new core affinity mask to find a core on which it can run. */
1195 }
1196
1197 uxCoreMap &= ( ( 1U << configNUMBER_OF_CORES ) - 1U );
1198
1199 for( x = ( ( BaseType_t ) configNUMBER_OF_CORES - 1 ); x >= ( BaseType_t ) 0; x-- )
1200 {
1201 UBaseType_t uxCore = ( UBaseType_t ) x;
1202 BaseType_t xTaskPriority;
1203
1204 if( ( uxCoreMap & ( ( UBaseType_t ) 1U << uxCore ) ) != 0U )
1205 {
1206 xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority;
1207
1208 if( ( pxCurrentTCBs[ uxCore ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
1209 {
1210 xTaskPriority = xTaskPriority - ( BaseType_t ) 1;
1211 }
1212
1213 uxCoreMap &= ~( ( UBaseType_t ) 1U << uxCore );
1214
1215 if( ( xTaskPriority < xLowestPriority ) &&
1216 ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ] ) != pdFALSE ) &&
1217 ( xYieldPendings[ uxCore ] == pdFALSE ) )
1218 {
1219 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
1220 if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE )
1221 #endif
1222 {
1223 xLowestPriority = xTaskPriority;
1224 xLowestPriorityCore = ( BaseType_t ) uxCore;
1225 }
1226 }
1227 }
1228 }
1229
1230 if( xLowestPriorityCore >= 0 )
1231 {
1232 prvYieldCore( xLowestPriorityCore );
1233 }
1234 }
1235 }
1236 }
1237 #endif /* #if ( configUSE_CORE_AFFINITY == 1 ) */
1238 }
1239
1240 #endif /* ( configNUMBER_OF_CORES > 1 ) */
1241
1242 /*-----------------------------------------------------------*/
1243
1244 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
1245
prvCreateStaticTask(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,TaskHandle_t * const pxCreatedTask)1246 static TCB_t * prvCreateStaticTask( TaskFunction_t pxTaskCode,
1247 const char * const pcName,
1248 const uint32_t ulStackDepth,
1249 void * const pvParameters,
1250 UBaseType_t uxPriority,
1251 StackType_t * const puxStackBuffer,
1252 StaticTask_t * const pxTaskBuffer,
1253 TaskHandle_t * const pxCreatedTask )
1254 {
1255 TCB_t * pxNewTCB;
1256
1257 configASSERT( puxStackBuffer != NULL );
1258 configASSERT( pxTaskBuffer != NULL );
1259
1260 #if ( configASSERT_DEFINED == 1 )
1261 {
1262 /* Sanity check that the size of the structure used to declare a
1263 * variable of type StaticTask_t equals the size of the real task
1264 * structure. */
1265 volatile size_t xSize = sizeof( StaticTask_t );
1266 configASSERT( xSize == sizeof( TCB_t ) );
1267 ( void ) xSize; /* Prevent unused variable warning when configASSERT() is not used. */
1268 }
1269 #endif /* configASSERT_DEFINED */
1270
1271 if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
1272 {
1273 /* The memory used for the task's TCB and stack are passed into this
1274 * function - use them. */
1275 /* MISRA Ref 11.3.1 [Misaligned access] */
1276 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-113 */
1277 /* coverity[misra_c_2012_rule_11_3_violation] */
1278 pxNewTCB = ( TCB_t * ) pxTaskBuffer;
1279 ( void ) memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
1280 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
1281
1282 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
1283 {
1284 /* Tasks can be created statically or dynamically, so note this
1285 * task was created statically in case the task is later deleted. */
1286 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
1287 }
1288 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
1289
1290 prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
1291 }
1292 else
1293 {
1294 pxNewTCB = NULL;
1295 }
1296
1297 return pxNewTCB;
1298 }
1299 /*-----------------------------------------------------------*/
1300
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)1301 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
1302 const char * const pcName,
1303 const uint32_t ulStackDepth,
1304 void * const pvParameters,
1305 UBaseType_t uxPriority,
1306 StackType_t * const puxStackBuffer,
1307 StaticTask_t * const pxTaskBuffer )
1308 {
1309 TaskHandle_t xReturn = NULL;
1310 TCB_t * pxNewTCB;
1311
1312 traceENTER_xTaskCreateStatic( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer );
1313
1314 pxNewTCB = prvCreateStaticTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, &xReturn );
1315
1316 if( pxNewTCB != NULL )
1317 {
1318 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
1319 {
1320 /* Set the task's affinity before scheduling it. */
1321 pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
1322 }
1323 #endif
1324
1325 prvAddNewTaskToReadyList( pxNewTCB );
1326 }
1327 else
1328 {
1329 mtCOVERAGE_TEST_MARKER();
1330 }
1331
1332 traceRETURN_xTaskCreateStatic( xReturn );
1333
1334 return xReturn;
1335 }
1336 /*-----------------------------------------------------------*/
1337
1338 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
xTaskCreateStaticAffinitySet(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,UBaseType_t uxCoreAffinityMask)1339 TaskHandle_t xTaskCreateStaticAffinitySet( TaskFunction_t pxTaskCode,
1340 const char * const pcName,
1341 const uint32_t ulStackDepth,
1342 void * const pvParameters,
1343 UBaseType_t uxPriority,
1344 StackType_t * const puxStackBuffer,
1345 StaticTask_t * const pxTaskBuffer,
1346 UBaseType_t uxCoreAffinityMask )
1347 {
1348 TaskHandle_t xReturn = NULL;
1349 TCB_t * pxNewTCB;
1350
1351 traceENTER_xTaskCreateStaticAffinitySet( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask );
1352
1353 pxNewTCB = prvCreateStaticTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, &xReturn );
1354
1355 if( pxNewTCB != NULL )
1356 {
1357 /* Set the task's affinity before scheduling it. */
1358 pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
1359
1360 prvAddNewTaskToReadyList( pxNewTCB );
1361 }
1362 else
1363 {
1364 mtCOVERAGE_TEST_MARKER();
1365 }
1366
1367 traceRETURN_xTaskCreateStaticAffinitySet( xReturn );
1368
1369 return xReturn;
1370 }
1371 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
1372
1373 #endif /* SUPPORT_STATIC_ALLOCATION */
1374 /*-----------------------------------------------------------*/
1375
1376 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
prvCreateRestrictedStaticTask(const TaskParameters_t * const pxTaskDefinition,TaskHandle_t * const pxCreatedTask)1377 static TCB_t * prvCreateRestrictedStaticTask( const TaskParameters_t * const pxTaskDefinition,
1378 TaskHandle_t * const pxCreatedTask )
1379 {
1380 TCB_t * pxNewTCB;
1381
1382 configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
1383 configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
1384
1385 if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
1386 {
1387 /* Allocate space for the TCB. Where the memory comes from depends
1388 * on the implementation of the port malloc function and whether or
1389 * not static allocation is being used. */
1390 pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
1391 ( void ) memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
1392
1393 /* Store the stack location in the TCB. */
1394 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
1395
1396 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
1397 {
1398 /* Tasks can be created statically or dynamically, so note this
1399 * task was created statically in case the task is later deleted. */
1400 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
1401 }
1402 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
1403
1404 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
1405 pxTaskDefinition->pcName,
1406 ( uint32_t ) pxTaskDefinition->usStackDepth,
1407 pxTaskDefinition->pvParameters,
1408 pxTaskDefinition->uxPriority,
1409 pxCreatedTask, pxNewTCB,
1410 pxTaskDefinition->xRegions );
1411 }
1412 else
1413 {
1414 pxNewTCB = NULL;
1415 }
1416
1417 return pxNewTCB;
1418 }
1419 /*-----------------------------------------------------------*/
1420
xTaskCreateRestrictedStatic(const TaskParameters_t * const pxTaskDefinition,TaskHandle_t * pxCreatedTask)1421 BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
1422 TaskHandle_t * pxCreatedTask )
1423 {
1424 TCB_t * pxNewTCB;
1425 BaseType_t xReturn;
1426
1427 traceENTER_xTaskCreateRestrictedStatic( pxTaskDefinition, pxCreatedTask );
1428
1429 configASSERT( pxTaskDefinition != NULL );
1430
1431 pxNewTCB = prvCreateRestrictedStaticTask( pxTaskDefinition, pxCreatedTask );
1432
1433 if( pxNewTCB != NULL )
1434 {
1435 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
1436 {
1437 /* Set the task's affinity before scheduling it. */
1438 pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
1439 }
1440 #endif
1441
1442 prvAddNewTaskToReadyList( pxNewTCB );
1443 xReturn = pdPASS;
1444 }
1445 else
1446 {
1447 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1448 }
1449
1450 traceRETURN_xTaskCreateRestrictedStatic( xReturn );
1451
1452 return xReturn;
1453 }
1454 /*-----------------------------------------------------------*/
1455
1456 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
xTaskCreateRestrictedStaticAffinitySet(const TaskParameters_t * const pxTaskDefinition,UBaseType_t uxCoreAffinityMask,TaskHandle_t * pxCreatedTask)1457 BaseType_t xTaskCreateRestrictedStaticAffinitySet( const TaskParameters_t * const pxTaskDefinition,
1458 UBaseType_t uxCoreAffinityMask,
1459 TaskHandle_t * pxCreatedTask )
1460 {
1461 TCB_t * pxNewTCB;
1462 BaseType_t xReturn;
1463
1464 traceENTER_xTaskCreateRestrictedStaticAffinitySet( pxTaskDefinition, uxCoreAffinityMask, pxCreatedTask );
1465
1466 configASSERT( pxTaskDefinition != NULL );
1467
1468 pxNewTCB = prvCreateRestrictedStaticTask( pxTaskDefinition, pxCreatedTask );
1469
1470 if( pxNewTCB != NULL )
1471 {
1472 /* Set the task's affinity before scheduling it. */
1473 pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
1474
1475 prvAddNewTaskToReadyList( pxNewTCB );
1476 xReturn = pdPASS;
1477 }
1478 else
1479 {
1480 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1481 }
1482
1483 traceRETURN_xTaskCreateRestrictedStaticAffinitySet( xReturn );
1484
1485 return xReturn;
1486 }
1487 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
1488
1489 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
1490 /*-----------------------------------------------------------*/
1491
1492 #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
prvCreateRestrictedTask(const TaskParameters_t * const pxTaskDefinition,TaskHandle_t * const pxCreatedTask)1493 static TCB_t * prvCreateRestrictedTask( const TaskParameters_t * const pxTaskDefinition,
1494 TaskHandle_t * const pxCreatedTask )
1495 {
1496 TCB_t * pxNewTCB;
1497
1498 configASSERT( pxTaskDefinition->puxStackBuffer );
1499
1500 if( pxTaskDefinition->puxStackBuffer != NULL )
1501 {
1502 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
1503 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1504 /* coverity[misra_c_2012_rule_11_5_violation] */
1505 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
1506
1507 if( pxNewTCB != NULL )
1508 {
1509 ( void ) memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
1510
1511 /* Store the stack location in the TCB. */
1512 pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
1513
1514 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
1515 {
1516 /* Tasks can be created statically or dynamically, so note
1517 * this task had a statically allocated stack in case it is
1518 * later deleted. The TCB was allocated dynamically. */
1519 pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
1520 }
1521 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
1522
1523 prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
1524 pxTaskDefinition->pcName,
1525 ( uint32_t ) pxTaskDefinition->usStackDepth,
1526 pxTaskDefinition->pvParameters,
1527 pxTaskDefinition->uxPriority,
1528 pxCreatedTask, pxNewTCB,
1529 pxTaskDefinition->xRegions );
1530 }
1531 }
1532 else
1533 {
1534 pxNewTCB = NULL;
1535 }
1536
1537 return pxNewTCB;
1538 }
1539 /*-----------------------------------------------------------*/
1540
xTaskCreateRestricted(const TaskParameters_t * const pxTaskDefinition,TaskHandle_t * pxCreatedTask)1541 BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
1542 TaskHandle_t * pxCreatedTask )
1543 {
1544 TCB_t * pxNewTCB;
1545 BaseType_t xReturn;
1546
1547 traceENTER_xTaskCreateRestricted( pxTaskDefinition, pxCreatedTask );
1548
1549 pxNewTCB = prvCreateRestrictedTask( pxTaskDefinition, pxCreatedTask );
1550
1551 if( pxNewTCB != NULL )
1552 {
1553 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
1554 {
1555 /* Set the task's affinity before scheduling it. */
1556 pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
1557 }
1558 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
1559
1560 prvAddNewTaskToReadyList( pxNewTCB );
1561
1562 xReturn = pdPASS;
1563 }
1564 else
1565 {
1566 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1567 }
1568
1569 traceRETURN_xTaskCreateRestricted( xReturn );
1570
1571 return xReturn;
1572 }
1573 /*-----------------------------------------------------------*/
1574
1575 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
xTaskCreateRestrictedAffinitySet(const TaskParameters_t * const pxTaskDefinition,UBaseType_t uxCoreAffinityMask,TaskHandle_t * pxCreatedTask)1576 BaseType_t xTaskCreateRestrictedAffinitySet( const TaskParameters_t * const pxTaskDefinition,
1577 UBaseType_t uxCoreAffinityMask,
1578 TaskHandle_t * pxCreatedTask )
1579 {
1580 TCB_t * pxNewTCB;
1581 BaseType_t xReturn;
1582
1583 traceENTER_xTaskCreateRestrictedAffinitySet( pxTaskDefinition, uxCoreAffinityMask, pxCreatedTask );
1584
1585 pxNewTCB = prvCreateRestrictedTask( pxTaskDefinition, pxCreatedTask );
1586
1587 if( pxNewTCB != NULL )
1588 {
1589 /* Set the task's affinity before scheduling it. */
1590 pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
1591
1592 prvAddNewTaskToReadyList( pxNewTCB );
1593
1594 xReturn = pdPASS;
1595 }
1596 else
1597 {
1598 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1599 }
1600
1601 traceRETURN_xTaskCreateRestrictedAffinitySet( xReturn );
1602
1603 return xReturn;
1604 }
1605 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
1606
1607
1608 #endif /* portUSING_MPU_WRAPPERS */
1609 /*-----------------------------------------------------------*/
1610
1611 #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
prvCreateTask(TaskFunction_t pxTaskCode,const char * const pcName,const configSTACK_DEPTH_TYPE usStackDepth,void * const pvParameters,UBaseType_t uxPriority,TaskHandle_t * const pxCreatedTask)1612 static TCB_t * prvCreateTask( TaskFunction_t pxTaskCode,
1613 const char * const pcName,
1614 const configSTACK_DEPTH_TYPE usStackDepth,
1615 void * const pvParameters,
1616 UBaseType_t uxPriority,
1617 TaskHandle_t * const pxCreatedTask )
1618 {
1619 TCB_t * pxNewTCB;
1620
1621 /* If the stack grows down then allocate the stack then the TCB so the stack
1622 * does not grow into the TCB. Likewise if the stack grows up then allocate
1623 * the TCB then the stack. */
1624 #if ( portSTACK_GROWTH > 0 )
1625 {
1626 /* Allocate space for the TCB. Where the memory comes from depends on
1627 * the implementation of the port malloc function and whether or not static
1628 * allocation is being used. */
1629 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
1630 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1631 /* coverity[misra_c_2012_rule_11_5_violation] */
1632 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
1633
1634 if( pxNewTCB != NULL )
1635 {
1636 ( void ) memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
1637
1638 /* Allocate space for the stack used by the task being created.
1639 * The base of the stack memory stored in the TCB so the task can
1640 * be deleted later if required. */
1641 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
1642 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1643 /* coverity[misra_c_2012_rule_11_5_violation] */
1644 pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) );
1645
1646 if( pxNewTCB->pxStack == NULL )
1647 {
1648 /* Could not allocate the stack. Delete the allocated TCB. */
1649 vPortFree( pxNewTCB );
1650 pxNewTCB = NULL;
1651 }
1652 }
1653 }
1654 #else /* portSTACK_GROWTH */
1655 {
1656 StackType_t * pxStack;
1657
1658 /* Allocate space for the stack used by the task being created. */
1659 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
1660 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1661 /* coverity[misra_c_2012_rule_11_5_violation] */
1662 pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) );
1663
1664 if( pxStack != NULL )
1665 {
1666 /* Allocate space for the TCB. */
1667 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
1668 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
1669 /* coverity[misra_c_2012_rule_11_5_violation] */
1670 pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
1671
1672 if( pxNewTCB != NULL )
1673 {
1674 ( void ) memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
1675
1676 /* Store the stack location in the TCB. */
1677 pxNewTCB->pxStack = pxStack;
1678 }
1679 else
1680 {
1681 /* The stack cannot be used as the TCB was not created. Free
1682 * it again. */
1683 vPortFreeStack( pxStack );
1684 }
1685 }
1686 else
1687 {
1688 pxNewTCB = NULL;
1689 }
1690 }
1691 #endif /* portSTACK_GROWTH */
1692
1693 if( pxNewTCB != NULL )
1694 {
1695 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
1696 {
1697 /* Tasks can be created statically or dynamically, so note this
1698 * task was created dynamically in case it is later deleted. */
1699 pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
1700 }
1701 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
1702
1703 prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
1704 }
1705
1706 return pxNewTCB;
1707 }
1708 /*-----------------------------------------------------------*/
1709
xTaskCreate(TaskFunction_t pxTaskCode,const char * const pcName,const configSTACK_DEPTH_TYPE usStackDepth,void * const pvParameters,UBaseType_t uxPriority,TaskHandle_t * const pxCreatedTask)1710 BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
1711 const char * const pcName,
1712 const configSTACK_DEPTH_TYPE usStackDepth,
1713 void * const pvParameters,
1714 UBaseType_t uxPriority,
1715 TaskHandle_t * const pxCreatedTask )
1716 {
1717 TCB_t * pxNewTCB;
1718 BaseType_t xReturn;
1719
1720 traceENTER_xTaskCreate( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask );
1721
1722 pxNewTCB = prvCreateTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask );
1723
1724 if( pxNewTCB != NULL )
1725 {
1726 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
1727 {
1728 /* Set the task's affinity before scheduling it. */
1729 pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
1730 }
1731 #endif
1732
1733 prvAddNewTaskToReadyList( pxNewTCB );
1734 xReturn = pdPASS;
1735 }
1736 else
1737 {
1738 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1739 }
1740
1741 traceRETURN_xTaskCreate( xReturn );
1742
1743 return xReturn;
1744 }
1745 /*-----------------------------------------------------------*/
1746
1747 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
xTaskCreateAffinitySet(TaskFunction_t pxTaskCode,const char * const pcName,const configSTACK_DEPTH_TYPE usStackDepth,void * const pvParameters,UBaseType_t uxPriority,UBaseType_t uxCoreAffinityMask,TaskHandle_t * const pxCreatedTask)1748 BaseType_t xTaskCreateAffinitySet( TaskFunction_t pxTaskCode,
1749 const char * const pcName,
1750 const configSTACK_DEPTH_TYPE usStackDepth,
1751 void * const pvParameters,
1752 UBaseType_t uxPriority,
1753 UBaseType_t uxCoreAffinityMask,
1754 TaskHandle_t * const pxCreatedTask )
1755 {
1756 TCB_t * pxNewTCB;
1757 BaseType_t xReturn;
1758
1759 traceENTER_xTaskCreateAffinitySet( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask );
1760
1761 pxNewTCB = prvCreateTask( pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask );
1762
1763 if( pxNewTCB != NULL )
1764 {
1765 /* Set the task's affinity before scheduling it. */
1766 pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
1767
1768 prvAddNewTaskToReadyList( pxNewTCB );
1769 xReturn = pdPASS;
1770 }
1771 else
1772 {
1773 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
1774 }
1775
1776 traceRETURN_xTaskCreateAffinitySet( xReturn );
1777
1778 return xReturn;
1779 }
1780 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
1781
1782 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
1783 /*-----------------------------------------------------------*/
1784
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)1785 static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
1786 const char * const pcName,
1787 const uint32_t ulStackDepth,
1788 void * const pvParameters,
1789 UBaseType_t uxPriority,
1790 TaskHandle_t * const pxCreatedTask,
1791 TCB_t * pxNewTCB,
1792 const MemoryRegion_t * const xRegions )
1793 {
1794 StackType_t * pxTopOfStack;
1795 UBaseType_t x;
1796
1797 #if ( portUSING_MPU_WRAPPERS == 1 )
1798 /* Should the task be created in privileged mode? */
1799 BaseType_t xRunPrivileged;
1800
1801 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
1802 {
1803 xRunPrivileged = pdTRUE;
1804 }
1805 else
1806 {
1807 xRunPrivileged = pdFALSE;
1808 }
1809 uxPriority &= ~portPRIVILEGE_BIT;
1810 #endif /* portUSING_MPU_WRAPPERS == 1 */
1811
1812 /* Avoid dependency on memset() if it is not required. */
1813 #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
1814 {
1815 /* Fill the stack with a known value to assist debugging. */
1816 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
1817 }
1818 #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
1819
1820 /* Calculate the top of stack address. This depends on whether the stack
1821 * grows from high memory to low (as per the 80x86) or vice versa.
1822 * portSTACK_GROWTH is used to make the result positive or negative as required
1823 * by the port. */
1824 #if ( portSTACK_GROWTH < 0 )
1825 {
1826 pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
1827 pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
1828
1829 /* Check the alignment of the calculated top of stack is correct. */
1830 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
1831
1832 #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
1833 {
1834 /* Also record the stack's high address, which may assist
1835 * debugging. */
1836 pxNewTCB->pxEndOfStack = pxTopOfStack;
1837 }
1838 #endif /* configRECORD_STACK_HIGH_ADDRESS */
1839 }
1840 #else /* portSTACK_GROWTH */
1841 {
1842 pxTopOfStack = pxNewTCB->pxStack;
1843 pxTopOfStack = ( StackType_t * ) ( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) + portBYTE_ALIGNMENT_MASK ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
1844
1845 /* Check the alignment of the calculated top of stack is correct. */
1846 configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
1847
1848 /* The other extreme of the stack space is required if stack checking is
1849 * performed. */
1850 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
1851 }
1852 #endif /* portSTACK_GROWTH */
1853
1854 /* Store the task name in the TCB. */
1855 if( pcName != NULL )
1856 {
1857 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
1858 {
1859 pxNewTCB->pcTaskName[ x ] = pcName[ x ];
1860
1861 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
1862 * configMAX_TASK_NAME_LEN characters just in case the memory after the
1863 * string is not accessible (extremely unlikely). */
1864 if( pcName[ x ] == ( char ) 0x00 )
1865 {
1866 break;
1867 }
1868 else
1869 {
1870 mtCOVERAGE_TEST_MARKER();
1871 }
1872 }
1873
1874 /* Ensure the name string is terminated in the case that the string length
1875 * was greater or equal to configMAX_TASK_NAME_LEN. */
1876 pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1U ] = '\0';
1877 }
1878 else
1879 {
1880 mtCOVERAGE_TEST_MARKER();
1881 }
1882
1883 /* This is used as an array index so must ensure it's not too large. */
1884 configASSERT( uxPriority < configMAX_PRIORITIES );
1885
1886 if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
1887 {
1888 uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
1889 }
1890 else
1891 {
1892 mtCOVERAGE_TEST_MARKER();
1893 }
1894
1895 pxNewTCB->uxPriority = uxPriority;
1896 #if ( configUSE_MUTEXES == 1 )
1897 {
1898 pxNewTCB->uxBasePriority = uxPriority;
1899 }
1900 #endif /* configUSE_MUTEXES */
1901
1902 vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
1903 vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
1904
1905 /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
1906 * back to the containing TCB from a generic item in a list. */
1907 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
1908
1909 /* Event lists are always in priority order. */
1910 listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority );
1911 listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
1912
1913 #if ( portUSING_MPU_WRAPPERS == 1 )
1914 {
1915 vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
1916 }
1917 #else
1918 {
1919 /* Avoid compiler warning about unreferenced parameter. */
1920 ( void ) xRegions;
1921 }
1922 #endif
1923
1924 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
1925 {
1926 /* Allocate and initialize memory for the task's TLS Block. */
1927 configINIT_TLS_BLOCK( pxNewTCB->xTLSBlock, pxTopOfStack );
1928 }
1929 #endif
1930
1931 /* Initialize the TCB stack to look as if the task was already running,
1932 * but had been interrupted by the scheduler. The return address is set
1933 * to the start of the task function. Once the stack has been initialised
1934 * the top of stack variable is updated. */
1935 #if ( portUSING_MPU_WRAPPERS == 1 )
1936 {
1937 /* If the port has capability to detect stack overflow,
1938 * pass the stack end address to the stack initialization
1939 * function as well. */
1940 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
1941 {
1942 #if ( portSTACK_GROWTH < 0 )
1943 {
1944 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
1945 }
1946 #else /* portSTACK_GROWTH */
1947 {
1948 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
1949 }
1950 #endif /* portSTACK_GROWTH */
1951 }
1952 #else /* portHAS_STACK_OVERFLOW_CHECKING */
1953 {
1954 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
1955 }
1956 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
1957 }
1958 #else /* portUSING_MPU_WRAPPERS */
1959 {
1960 /* If the port has capability to detect stack overflow,
1961 * pass the stack end address to the stack initialization
1962 * function as well. */
1963 #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
1964 {
1965 #if ( portSTACK_GROWTH < 0 )
1966 {
1967 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
1968 }
1969 #else /* portSTACK_GROWTH */
1970 {
1971 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
1972 }
1973 #endif /* portSTACK_GROWTH */
1974 }
1975 #else /* portHAS_STACK_OVERFLOW_CHECKING */
1976 {
1977 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
1978 }
1979 #endif /* portHAS_STACK_OVERFLOW_CHECKING */
1980 }
1981 #endif /* portUSING_MPU_WRAPPERS */
1982
1983 /* Initialize task state and task attributes. */
1984 #if ( configNUMBER_OF_CORES > 1 )
1985 {
1986 pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
1987
1988 /* Is this an idle task? */
1989 if( ( ( TaskFunction_t ) pxTaskCode == ( TaskFunction_t ) prvIdleTask ) || ( ( TaskFunction_t ) pxTaskCode == ( TaskFunction_t ) prvPassiveIdleTask ) )
1990 {
1991 pxNewTCB->uxTaskAttributes |= taskATTRIBUTE_IS_IDLE;
1992 }
1993 }
1994 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
1995
1996 if( pxCreatedTask != NULL )
1997 {
1998 /* Pass the handle out in an anonymous way. The handle can be used to
1999 * change the created task's priority, delete the created task, etc.*/
2000 *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
2001 }
2002 else
2003 {
2004 mtCOVERAGE_TEST_MARKER();
2005 }
2006 }
2007 /*-----------------------------------------------------------*/
2008
2009 #if ( configNUMBER_OF_CORES == 1 )
2010
prvAddNewTaskToReadyList(TCB_t * pxNewTCB)2011 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
2012 {
2013 /* Ensure interrupts don't access the task lists while the lists are being
2014 * updated. */
2015 taskENTER_CRITICAL();
2016 {
2017 uxCurrentNumberOfTasks++;
2018
2019 if( pxCurrentTCB == NULL )
2020 {
2021 /* There are no other tasks, or all the other tasks are in
2022 * the suspended state - make this the current task. */
2023 pxCurrentTCB = pxNewTCB;
2024
2025 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
2026 {
2027 /* This is the first task to be created so do the preliminary
2028 * initialisation required. We will not recover if this call
2029 * fails, but we will report the failure. */
2030 prvInitialiseTaskLists();
2031 }
2032 else
2033 {
2034 mtCOVERAGE_TEST_MARKER();
2035 }
2036 }
2037 else
2038 {
2039 /* If the scheduler is not already running, make this task the
2040 * current task if it is the highest priority task to be created
2041 * so far. */
2042 if( xSchedulerRunning == pdFALSE )
2043 {
2044 if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
2045 {
2046 pxCurrentTCB = pxNewTCB;
2047 }
2048 else
2049 {
2050 mtCOVERAGE_TEST_MARKER();
2051 }
2052 }
2053 else
2054 {
2055 mtCOVERAGE_TEST_MARKER();
2056 }
2057 }
2058
2059 uxTaskNumber++;
2060
2061 #if ( configUSE_TRACE_FACILITY == 1 )
2062 {
2063 /* Add a counter into the TCB for tracing only. */
2064 pxNewTCB->uxTCBNumber = uxTaskNumber;
2065 }
2066 #endif /* configUSE_TRACE_FACILITY */
2067 traceTASK_CREATE( pxNewTCB );
2068
2069 prvAddTaskToReadyList( pxNewTCB );
2070
2071 portSETUP_TCB( pxNewTCB );
2072 }
2073 taskEXIT_CRITICAL();
2074
2075 if( xSchedulerRunning != pdFALSE )
2076 {
2077 /* If the created task is of a higher priority than the current task
2078 * then it should run now. */
2079 taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxNewTCB );
2080 }
2081 else
2082 {
2083 mtCOVERAGE_TEST_MARKER();
2084 }
2085 }
2086
2087 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
2088
prvAddNewTaskToReadyList(TCB_t * pxNewTCB)2089 static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
2090 {
2091 /* Ensure interrupts don't access the task lists while the lists are being
2092 * updated. */
2093 taskENTER_CRITICAL();
2094 {
2095 uxCurrentNumberOfTasks++;
2096
2097 if( xSchedulerRunning == pdFALSE )
2098 {
2099 if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
2100 {
2101 /* This is the first task to be created so do the preliminary
2102 * initialisation required. We will not recover if this call
2103 * fails, but we will report the failure. */
2104 prvInitialiseTaskLists();
2105 }
2106 else
2107 {
2108 mtCOVERAGE_TEST_MARKER();
2109 }
2110
2111 if( ( pxNewTCB->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
2112 {
2113 BaseType_t xCoreID;
2114
2115 /* Check if a core is free. */
2116 for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
2117 {
2118 if( pxCurrentTCBs[ xCoreID ] == NULL )
2119 {
2120 pxNewTCB->xTaskRunState = xCoreID;
2121 pxCurrentTCBs[ xCoreID ] = pxNewTCB;
2122 break;
2123 }
2124 else
2125 {
2126 mtCOVERAGE_TEST_MARKER();
2127 }
2128 }
2129 }
2130 else
2131 {
2132 mtCOVERAGE_TEST_MARKER();
2133 }
2134 }
2135
2136 uxTaskNumber++;
2137
2138 #if ( configUSE_TRACE_FACILITY == 1 )
2139 {
2140 /* Add a counter into the TCB for tracing only. */
2141 pxNewTCB->uxTCBNumber = uxTaskNumber;
2142 }
2143 #endif /* configUSE_TRACE_FACILITY */
2144 traceTASK_CREATE( pxNewTCB );
2145
2146 prvAddTaskToReadyList( pxNewTCB );
2147
2148 portSETUP_TCB( pxNewTCB );
2149
2150 if( xSchedulerRunning != pdFALSE )
2151 {
2152 /* If the created task is of a higher priority than another
2153 * currently running task and preemption is on then it should
2154 * run now. */
2155 taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxNewTCB );
2156 }
2157 else
2158 {
2159 mtCOVERAGE_TEST_MARKER();
2160 }
2161 }
2162 taskEXIT_CRITICAL();
2163 }
2164
2165 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
2166 /*-----------------------------------------------------------*/
2167
2168 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
2169
prvSnprintfReturnValueToCharsWritten(int iSnprintfReturnValue,size_t n)2170 static size_t prvSnprintfReturnValueToCharsWritten( int iSnprintfReturnValue,
2171 size_t n )
2172 {
2173 size_t uxCharsWritten;
2174
2175 if( iSnprintfReturnValue < 0 )
2176 {
2177 /* Encoding error - Return 0 to indicate that nothing
2178 * was written to the buffer. */
2179 uxCharsWritten = 0;
2180 }
2181 else if( iSnprintfReturnValue >= ( int ) n )
2182 {
2183 /* This is the case when the supplied buffer is not
2184 * large to hold the generated string. Return the
2185 * number of characters actually written without
2186 * counting the terminating NULL character. */
2187 uxCharsWritten = n - 1U;
2188 }
2189 else
2190 {
2191 /* Complete string was written to the buffer. */
2192 uxCharsWritten = ( size_t ) iSnprintfReturnValue;
2193 }
2194
2195 return uxCharsWritten;
2196 }
2197
2198 #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
2199 /*-----------------------------------------------------------*/
2200
2201 #if ( INCLUDE_vTaskDelete == 1 )
2202
vTaskDelete(TaskHandle_t xTaskToDelete)2203 void vTaskDelete( TaskHandle_t xTaskToDelete )
2204 {
2205 TCB_t * pxTCB;
2206
2207 traceENTER_vTaskDelete( xTaskToDelete );
2208
2209 taskENTER_CRITICAL();
2210 {
2211 /* If null is passed in here then it is the calling task that is
2212 * being deleted. */
2213 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
2214
2215 /* Remove task from the ready/delayed list. */
2216 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
2217 {
2218 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
2219 }
2220 else
2221 {
2222 mtCOVERAGE_TEST_MARKER();
2223 }
2224
2225 /* Is the task waiting on an event also? */
2226 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
2227 {
2228 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
2229 }
2230 else
2231 {
2232 mtCOVERAGE_TEST_MARKER();
2233 }
2234
2235 /* Increment the uxTaskNumber also so kernel aware debuggers can
2236 * detect that the task lists need re-generating. This is done before
2237 * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
2238 * not return. */
2239 uxTaskNumber++;
2240
2241 /* If the task is running (or yielding), we must add it to the
2242 * termination list so that an idle task can delete it when it is
2243 * no longer running. */
2244 if( taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) != pdFALSE )
2245 {
2246 /* A running task or a task which is scheduled to yield is being
2247 * deleted. This cannot complete when the task is still running
2248 * on a core, as a context switch to another task is required.
2249 * Place the task in the termination list. The idle task will check
2250 * the termination list and free up any memory allocated by the
2251 * scheduler for the TCB and stack of the deleted task. */
2252 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
2253
2254 /* Increment the ucTasksDeleted variable so the idle task knows
2255 * there is a task that has been deleted and that it should therefore
2256 * check the xTasksWaitingTermination list. */
2257 ++uxDeletedTasksWaitingCleanUp;
2258
2259 /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
2260 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
2261 traceTASK_DELETE( pxTCB );
2262
2263 /* The pre-delete hook is primarily for the Windows simulator,
2264 * in which Windows specific clean up operations are performed,
2265 * after which it is not possible to yield away from this task -
2266 * hence xYieldPending is used to latch that a context switch is
2267 * required. */
2268 #if ( configNUMBER_OF_CORES == 1 )
2269 portPRE_TASK_DELETE_HOOK( pxTCB, &( xYieldPendings[ 0 ] ) );
2270 #else
2271 portPRE_TASK_DELETE_HOOK( pxTCB, &( xYieldPendings[ pxTCB->xTaskRunState ] ) );
2272 #endif
2273 }
2274 else
2275 {
2276 --uxCurrentNumberOfTasks;
2277 traceTASK_DELETE( pxTCB );
2278
2279 /* Reset the next expected unblock time in case it referred to
2280 * the task that has just been deleted. */
2281 prvResetNextTaskUnblockTime();
2282 }
2283 }
2284
2285 #if ( configNUMBER_OF_CORES == 1 )
2286 {
2287 taskEXIT_CRITICAL();
2288
2289 /* If the task is not deleting itself, call prvDeleteTCB from outside of
2290 * critical section. If a task deletes itself, prvDeleteTCB is called
2291 * from prvCheckTasksWaitingTermination which is called from Idle task. */
2292 if( pxTCB != pxCurrentTCB )
2293 {
2294 prvDeleteTCB( pxTCB );
2295 }
2296
2297 /* Force a reschedule if it is the currently running task that has just
2298 * been deleted. */
2299 if( xSchedulerRunning != pdFALSE )
2300 {
2301 if( pxTCB == pxCurrentTCB )
2302 {
2303 configASSERT( uxSchedulerSuspended == 0 );
2304 portYIELD_WITHIN_API();
2305 }
2306 else
2307 {
2308 mtCOVERAGE_TEST_MARKER();
2309 }
2310 }
2311 }
2312 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
2313 {
2314 /* If a running task is not deleting itself, call prvDeleteTCB. If a running
2315 * task deletes itself, prvDeleteTCB is called from prvCheckTasksWaitingTermination
2316 * which is called from Idle task. */
2317 if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
2318 {
2319 prvDeleteTCB( pxTCB );
2320 }
2321
2322 /* Force a reschedule if the task that has just been deleted was running. */
2323 if( ( xSchedulerRunning != pdFALSE ) && ( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE ) )
2324 {
2325 if( pxTCB->xTaskRunState == ( BaseType_t ) portGET_CORE_ID() )
2326 {
2327 configASSERT( uxSchedulerSuspended == 0 );
2328 vTaskYieldWithinAPI();
2329 }
2330 else
2331 {
2332 prvYieldCore( pxTCB->xTaskRunState );
2333 }
2334 }
2335
2336 taskEXIT_CRITICAL();
2337 }
2338 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
2339
2340 traceRETURN_vTaskDelete();
2341 }
2342
2343 #endif /* INCLUDE_vTaskDelete */
2344 /*-----------------------------------------------------------*/
2345
2346 #if ( INCLUDE_xTaskDelayUntil == 1 )
2347
xTaskDelayUntil(TickType_t * const pxPreviousWakeTime,const TickType_t xTimeIncrement)2348 BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
2349 const TickType_t xTimeIncrement )
2350 {
2351 TickType_t xTimeToWake;
2352 BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
2353
2354 traceENTER_xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
2355
2356 configASSERT( pxPreviousWakeTime );
2357 configASSERT( ( xTimeIncrement > 0U ) );
2358
2359 vTaskSuspendAll();
2360 {
2361 /* Minor optimisation. The tick count cannot change in this
2362 * block. */
2363 const TickType_t xConstTickCount = xTickCount;
2364
2365 configASSERT( uxSchedulerSuspended == 1U );
2366
2367 /* Generate the tick time at which the task wants to wake. */
2368 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
2369
2370 if( xConstTickCount < *pxPreviousWakeTime )
2371 {
2372 /* The tick count has overflowed since this function was
2373 * lasted called. In this case the only time we should ever
2374 * actually delay is if the wake time has also overflowed,
2375 * and the wake time is greater than the tick time. When this
2376 * is the case it is as if neither time had overflowed. */
2377 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
2378 {
2379 xShouldDelay = pdTRUE;
2380 }
2381 else
2382 {
2383 mtCOVERAGE_TEST_MARKER();
2384 }
2385 }
2386 else
2387 {
2388 /* The tick time has not overflowed. In this case we will
2389 * delay if either the wake time has overflowed, and/or the
2390 * tick time is less than the wake time. */
2391 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
2392 {
2393 xShouldDelay = pdTRUE;
2394 }
2395 else
2396 {
2397 mtCOVERAGE_TEST_MARKER();
2398 }
2399 }
2400
2401 /* Update the wake time ready for the next call. */
2402 *pxPreviousWakeTime = xTimeToWake;
2403
2404 if( xShouldDelay != pdFALSE )
2405 {
2406 traceTASK_DELAY_UNTIL( xTimeToWake );
2407
2408 /* prvAddCurrentTaskToDelayedList() needs the block time, not
2409 * the time to wake, so subtract the current tick count. */
2410 prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
2411 }
2412 else
2413 {
2414 mtCOVERAGE_TEST_MARKER();
2415 }
2416 }
2417 xAlreadyYielded = xTaskResumeAll();
2418
2419 /* Force a reschedule if xTaskResumeAll has not already done so, we may
2420 * have put ourselves to sleep. */
2421 if( xAlreadyYielded == pdFALSE )
2422 {
2423 taskYIELD_WITHIN_API();
2424 }
2425 else
2426 {
2427 mtCOVERAGE_TEST_MARKER();
2428 }
2429
2430 traceRETURN_xTaskDelayUntil( xShouldDelay );
2431
2432 return xShouldDelay;
2433 }
2434
2435 #endif /* INCLUDE_xTaskDelayUntil */
2436 /*-----------------------------------------------------------*/
2437
2438 #if ( INCLUDE_vTaskDelay == 1 )
2439
vTaskDelay(const TickType_t xTicksToDelay)2440 void vTaskDelay( const TickType_t xTicksToDelay )
2441 {
2442 BaseType_t xAlreadyYielded = pdFALSE;
2443
2444 traceENTER_vTaskDelay( xTicksToDelay );
2445
2446 /* A delay time of zero just forces a reschedule. */
2447 if( xTicksToDelay > ( TickType_t ) 0U )
2448 {
2449 vTaskSuspendAll();
2450 {
2451 configASSERT( uxSchedulerSuspended == 1U );
2452
2453 traceTASK_DELAY();
2454
2455 /* A task that is removed from the event list while the
2456 * scheduler is suspended will not get placed in the ready
2457 * list or removed from the blocked list until the scheduler
2458 * is resumed.
2459 *
2460 * This task cannot be in an event list as it is the currently
2461 * executing task. */
2462 prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
2463 }
2464 xAlreadyYielded = xTaskResumeAll();
2465 }
2466 else
2467 {
2468 mtCOVERAGE_TEST_MARKER();
2469 }
2470
2471 /* Force a reschedule if xTaskResumeAll has not already done so, we may
2472 * have put ourselves to sleep. */
2473 if( xAlreadyYielded == pdFALSE )
2474 {
2475 taskYIELD_WITHIN_API();
2476 }
2477 else
2478 {
2479 mtCOVERAGE_TEST_MARKER();
2480 }
2481
2482 traceRETURN_vTaskDelay();
2483 }
2484
2485 #endif /* INCLUDE_vTaskDelay */
2486 /*-----------------------------------------------------------*/
2487
2488 #if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
2489
eTaskGetState(TaskHandle_t xTask)2490 eTaskState eTaskGetState( TaskHandle_t xTask )
2491 {
2492 eTaskState eReturn;
2493 List_t const * pxStateList;
2494 List_t const * pxEventList;
2495 List_t const * pxDelayedList;
2496 List_t const * pxOverflowedDelayedList;
2497 const TCB_t * const pxTCB = xTask;
2498
2499 traceENTER_eTaskGetState( xTask );
2500
2501 configASSERT( pxTCB );
2502
2503 #if ( configNUMBER_OF_CORES == 1 )
2504 if( pxTCB == pxCurrentTCB )
2505 {
2506 /* The task calling this function is querying its own state. */
2507 eReturn = eRunning;
2508 }
2509 else
2510 #endif
2511 {
2512 taskENTER_CRITICAL();
2513 {
2514 pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
2515 pxEventList = listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) );
2516 pxDelayedList = pxDelayedTaskList;
2517 pxOverflowedDelayedList = pxOverflowDelayedTaskList;
2518 }
2519 taskEXIT_CRITICAL();
2520
2521 if( pxEventList == &xPendingReadyList )
2522 {
2523 /* The task has been placed on the pending ready list, so its
2524 * state is eReady regardless of what list the task's state list
2525 * item is currently placed on. */
2526 eReturn = eReady;
2527 }
2528 else if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
2529 {
2530 /* The task being queried is referenced from one of the Blocked
2531 * lists. */
2532 eReturn = eBlocked;
2533 }
2534
2535 #if ( INCLUDE_vTaskSuspend == 1 )
2536 else if( pxStateList == &xSuspendedTaskList )
2537 {
2538 /* The task being queried is referenced from the suspended
2539 * list. Is it genuinely suspended or is it blocked
2540 * indefinitely? */
2541 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
2542 {
2543 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
2544 {
2545 BaseType_t x;
2546
2547 /* The task does not appear on the event list item of
2548 * and of the RTOS objects, but could still be in the
2549 * blocked state if it is waiting on its notification
2550 * rather than waiting on an object. If not, is
2551 * suspended. */
2552 eReturn = eSuspended;
2553
2554 for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
2555 {
2556 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
2557 {
2558 eReturn = eBlocked;
2559 break;
2560 }
2561 }
2562 }
2563 #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
2564 {
2565 eReturn = eSuspended;
2566 }
2567 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
2568 }
2569 else
2570 {
2571 eReturn = eBlocked;
2572 }
2573 }
2574 #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
2575
2576 #if ( INCLUDE_vTaskDelete == 1 )
2577 else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
2578 {
2579 /* The task being queried is referenced from the deleted
2580 * tasks list, or it is not referenced from any lists at
2581 * all. */
2582 eReturn = eDeleted;
2583 }
2584 #endif
2585
2586 else
2587 {
2588 #if ( configNUMBER_OF_CORES == 1 )
2589 {
2590 /* If the task is not in any other state, it must be in the
2591 * Ready (including pending ready) state. */
2592 eReturn = eReady;
2593 }
2594 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
2595 {
2596 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
2597 {
2598 /* Is it actively running on a core? */
2599 eReturn = eRunning;
2600 }
2601 else
2602 {
2603 /* If the task is not in any other state, it must be in the
2604 * Ready (including pending ready) state. */
2605 eReturn = eReady;
2606 }
2607 }
2608 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
2609 }
2610 }
2611
2612 traceRETURN_eTaskGetState( eReturn );
2613
2614 return eReturn;
2615 }
2616
2617 #endif /* INCLUDE_eTaskGetState */
2618 /*-----------------------------------------------------------*/
2619
2620 #if ( INCLUDE_uxTaskPriorityGet == 1 )
2621
uxTaskPriorityGet(const TaskHandle_t xTask)2622 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
2623 {
2624 TCB_t const * pxTCB;
2625 UBaseType_t uxReturn;
2626
2627 traceENTER_uxTaskPriorityGet( xTask );
2628
2629 taskENTER_CRITICAL();
2630 {
2631 /* If null is passed in here then it is the priority of the task
2632 * that called uxTaskPriorityGet() that is being queried. */
2633 pxTCB = prvGetTCBFromHandle( xTask );
2634 uxReturn = pxTCB->uxPriority;
2635 }
2636 taskEXIT_CRITICAL();
2637
2638 traceRETURN_uxTaskPriorityGet( uxReturn );
2639
2640 return uxReturn;
2641 }
2642
2643 #endif /* INCLUDE_uxTaskPriorityGet */
2644 /*-----------------------------------------------------------*/
2645
2646 #if ( INCLUDE_uxTaskPriorityGet == 1 )
2647
uxTaskPriorityGetFromISR(const TaskHandle_t xTask)2648 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
2649 {
2650 TCB_t const * pxTCB;
2651 UBaseType_t uxReturn;
2652 UBaseType_t uxSavedInterruptStatus;
2653
2654 traceENTER_uxTaskPriorityGetFromISR( xTask );
2655
2656 /* RTOS ports that support interrupt nesting have the concept of a
2657 * maximum system call (or maximum API call) interrupt priority.
2658 * Interrupts that are above the maximum system call priority are keep
2659 * permanently enabled, even when the RTOS kernel is in a critical section,
2660 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
2661 * is defined in FreeRTOSConfig.h then
2662 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
2663 * failure if a FreeRTOS API function is called from an interrupt that has
2664 * been assigned a priority above the configured maximum system call
2665 * priority. Only FreeRTOS functions that end in FromISR can be called
2666 * from interrupts that have been assigned a priority at or (logically)
2667 * below the maximum system call interrupt priority. FreeRTOS maintains a
2668 * separate interrupt safe API to ensure interrupt entry is as fast and as
2669 * simple as possible. More information (albeit Cortex-M specific) is
2670 * provided on the following link:
2671 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
2672 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
2673
2674 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
2675 {
2676 /* If null is passed in here then it is the priority of the calling
2677 * task that is being queried. */
2678 pxTCB = prvGetTCBFromHandle( xTask );
2679 uxReturn = pxTCB->uxPriority;
2680 }
2681 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
2682
2683 traceRETURN_uxTaskPriorityGetFromISR( uxReturn );
2684
2685 return uxReturn;
2686 }
2687
2688 #endif /* INCLUDE_uxTaskPriorityGet */
2689 /*-----------------------------------------------------------*/
2690
2691 #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
2692
uxTaskBasePriorityGet(const TaskHandle_t xTask)2693 UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask )
2694 {
2695 TCB_t const * pxTCB;
2696 UBaseType_t uxReturn;
2697
2698 traceENTER_uxTaskBasePriorityGet( xTask );
2699
2700 taskENTER_CRITICAL();
2701 {
2702 /* If null is passed in here then it is the base priority of the task
2703 * that called uxTaskBasePriorityGet() that is being queried. */
2704 pxTCB = prvGetTCBFromHandle( xTask );
2705 uxReturn = pxTCB->uxBasePriority;
2706 }
2707 taskEXIT_CRITICAL();
2708
2709 traceRETURN_uxTaskBasePriorityGet( uxReturn );
2710
2711 return uxReturn;
2712 }
2713
2714 #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
2715 /*-----------------------------------------------------------*/
2716
2717 #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
2718
uxTaskBasePriorityGetFromISR(const TaskHandle_t xTask)2719 UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask )
2720 {
2721 TCB_t const * pxTCB;
2722 UBaseType_t uxReturn;
2723 UBaseType_t uxSavedInterruptStatus;
2724
2725 traceENTER_uxTaskBasePriorityGetFromISR( xTask );
2726
2727 /* RTOS ports that support interrupt nesting have the concept of a
2728 * maximum system call (or maximum API call) interrupt priority.
2729 * Interrupts that are above the maximum system call priority are keep
2730 * permanently enabled, even when the RTOS kernel is in a critical section,
2731 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
2732 * is defined in FreeRTOSConfig.h then
2733 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
2734 * failure if a FreeRTOS API function is called from an interrupt that has
2735 * been assigned a priority above the configured maximum system call
2736 * priority. Only FreeRTOS functions that end in FromISR can be called
2737 * from interrupts that have been assigned a priority at or (logically)
2738 * below the maximum system call interrupt priority. FreeRTOS maintains a
2739 * separate interrupt safe API to ensure interrupt entry is as fast and as
2740 * simple as possible. More information (albeit Cortex-M specific) is
2741 * provided on the following link:
2742 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
2743 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
2744
2745 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
2746 {
2747 /* If null is passed in here then it is the base priority of the calling
2748 * task that is being queried. */
2749 pxTCB = prvGetTCBFromHandle( xTask );
2750 uxReturn = pxTCB->uxBasePriority;
2751 }
2752 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
2753
2754 traceRETURN_uxTaskBasePriorityGetFromISR( uxReturn );
2755
2756 return uxReturn;
2757 }
2758
2759 #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
2760 /*-----------------------------------------------------------*/
2761
2762 #if ( INCLUDE_vTaskPrioritySet == 1 )
2763
vTaskPrioritySet(TaskHandle_t xTask,UBaseType_t uxNewPriority)2764 void vTaskPrioritySet( TaskHandle_t xTask,
2765 UBaseType_t uxNewPriority )
2766 {
2767 TCB_t * pxTCB;
2768 UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
2769 BaseType_t xYieldRequired = pdFALSE;
2770
2771 #if ( configNUMBER_OF_CORES > 1 )
2772 BaseType_t xYieldForTask = pdFALSE;
2773 #endif
2774
2775 traceENTER_vTaskPrioritySet( xTask, uxNewPriority );
2776
2777 configASSERT( uxNewPriority < configMAX_PRIORITIES );
2778
2779 /* Ensure the new priority is valid. */
2780 if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
2781 {
2782 uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
2783 }
2784 else
2785 {
2786 mtCOVERAGE_TEST_MARKER();
2787 }
2788
2789 taskENTER_CRITICAL();
2790 {
2791 /* If null is passed in here then it is the priority of the calling
2792 * task that is being changed. */
2793 pxTCB = prvGetTCBFromHandle( xTask );
2794
2795 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
2796
2797 #if ( configUSE_MUTEXES == 1 )
2798 {
2799 uxCurrentBasePriority = pxTCB->uxBasePriority;
2800 }
2801 #else
2802 {
2803 uxCurrentBasePriority = pxTCB->uxPriority;
2804 }
2805 #endif
2806
2807 if( uxCurrentBasePriority != uxNewPriority )
2808 {
2809 /* The priority change may have readied a task of higher
2810 * priority than a running task. */
2811 if( uxNewPriority > uxCurrentBasePriority )
2812 {
2813 #if ( configNUMBER_OF_CORES == 1 )
2814 {
2815 if( pxTCB != pxCurrentTCB )
2816 {
2817 /* The priority of a task other than the currently
2818 * running task is being raised. Is the priority being
2819 * raised above that of the running task? */
2820 if( uxNewPriority > pxCurrentTCB->uxPriority )
2821 {
2822 xYieldRequired = pdTRUE;
2823 }
2824 else
2825 {
2826 mtCOVERAGE_TEST_MARKER();
2827 }
2828 }
2829 else
2830 {
2831 /* The priority of the running task is being raised,
2832 * but the running task must already be the highest
2833 * priority task able to run so no yield is required. */
2834 }
2835 }
2836 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
2837 {
2838 /* The priority of a task is being raised so
2839 * perform a yield for this task later. */
2840 xYieldForTask = pdTRUE;
2841 }
2842 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
2843 }
2844 else if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
2845 {
2846 /* Setting the priority of a running task down means
2847 * there may now be another task of higher priority that
2848 * is ready to execute. */
2849 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
2850 if( pxTCB->xPreemptionDisable == pdFALSE )
2851 #endif
2852 {
2853 xYieldRequired = pdTRUE;
2854 }
2855 }
2856 else
2857 {
2858 /* Setting the priority of any other task down does not
2859 * require a yield as the running task must be above the
2860 * new priority of the task being modified. */
2861 }
2862
2863 /* Remember the ready list the task might be referenced from
2864 * before its uxPriority member is changed so the
2865 * taskRESET_READY_PRIORITY() macro can function correctly. */
2866 uxPriorityUsedOnEntry = pxTCB->uxPriority;
2867
2868 #if ( configUSE_MUTEXES == 1 )
2869 {
2870 /* Only change the priority being used if the task is not
2871 * currently using an inherited priority or the new priority
2872 * is bigger than the inherited priority. */
2873 if( ( pxTCB->uxBasePriority == pxTCB->uxPriority ) || ( uxNewPriority > pxTCB->uxPriority ) )
2874 {
2875 pxTCB->uxPriority = uxNewPriority;
2876 }
2877 else
2878 {
2879 mtCOVERAGE_TEST_MARKER();
2880 }
2881
2882 /* The base priority gets set whatever. */
2883 pxTCB->uxBasePriority = uxNewPriority;
2884 }
2885 #else /* if ( configUSE_MUTEXES == 1 ) */
2886 {
2887 pxTCB->uxPriority = uxNewPriority;
2888 }
2889 #endif /* if ( configUSE_MUTEXES == 1 ) */
2890
2891 /* Only reset the event list item value if the value is not
2892 * being used for anything else. */
2893 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == ( ( TickType_t ) 0UL ) )
2894 {
2895 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) );
2896 }
2897 else
2898 {
2899 mtCOVERAGE_TEST_MARKER();
2900 }
2901
2902 /* If the task is in the blocked or suspended list we need do
2903 * nothing more than change its priority variable. However, if
2904 * the task is in a ready list it needs to be removed and placed
2905 * in the list appropriate to its new priority. */
2906 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
2907 {
2908 /* The task is currently in its ready list - remove before
2909 * adding it to its new ready list. As we are in a critical
2910 * section we can do this even if the scheduler is suspended. */
2911 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
2912 {
2913 /* It is known that the task is in its ready list so
2914 * there is no need to check again and the port level
2915 * reset macro can be called directly. */
2916 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
2917 }
2918 else
2919 {
2920 mtCOVERAGE_TEST_MARKER();
2921 }
2922
2923 prvAddTaskToReadyList( pxTCB );
2924 }
2925 else
2926 {
2927 #if ( configNUMBER_OF_CORES == 1 )
2928 {
2929 mtCOVERAGE_TEST_MARKER();
2930 }
2931 #else
2932 {
2933 /* It's possible that xYieldForTask was already set to pdTRUE because
2934 * its priority is being raised. However, since it is not in a ready list
2935 * we don't actually need to yield for it. */
2936 xYieldForTask = pdFALSE;
2937 }
2938 #endif
2939 }
2940
2941 if( xYieldRequired != pdFALSE )
2942 {
2943 /* The running task priority is set down. Request the task to yield. */
2944 taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxTCB );
2945 }
2946 else
2947 {
2948 #if ( configNUMBER_OF_CORES > 1 )
2949 if( xYieldForTask != pdFALSE )
2950 {
2951 /* The priority of the task is being raised. If a running
2952 * task has priority lower than this task, it should yield
2953 * for this task. */
2954 taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB );
2955 }
2956 else
2957 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
2958 {
2959 mtCOVERAGE_TEST_MARKER();
2960 }
2961 }
2962
2963 /* Remove compiler warning about unused variables when the port
2964 * optimised task selection is not being used. */
2965 ( void ) uxPriorityUsedOnEntry;
2966 }
2967 }
2968 taskEXIT_CRITICAL();
2969
2970 traceRETURN_vTaskPrioritySet();
2971 }
2972
2973 #endif /* INCLUDE_vTaskPrioritySet */
2974 /*-----------------------------------------------------------*/
2975
2976 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
vTaskCoreAffinitySet(const TaskHandle_t xTask,UBaseType_t uxCoreAffinityMask)2977 void vTaskCoreAffinitySet( const TaskHandle_t xTask,
2978 UBaseType_t uxCoreAffinityMask )
2979 {
2980 TCB_t * pxTCB;
2981 BaseType_t xCoreID;
2982 UBaseType_t uxPrevCoreAffinityMask;
2983
2984 #if ( configUSE_PREEMPTION == 1 )
2985 UBaseType_t uxPrevNotAllowedCores;
2986 #endif
2987
2988 traceENTER_vTaskCoreAffinitySet( xTask, uxCoreAffinityMask );
2989
2990 taskENTER_CRITICAL();
2991 {
2992 pxTCB = prvGetTCBFromHandle( xTask );
2993
2994 uxPrevCoreAffinityMask = pxTCB->uxCoreAffinityMask;
2995 pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
2996
2997 if( xSchedulerRunning != pdFALSE )
2998 {
2999 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
3000 {
3001 xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
3002
3003 /* If the task can no longer run on the core it was running,
3004 * request the core to yield. */
3005 if( ( uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) == 0U )
3006 {
3007 prvYieldCore( xCoreID );
3008 }
3009 }
3010 else
3011 {
3012 #if ( configUSE_PREEMPTION == 1 )
3013 {
3014 /* Calculate the cores on which this task was not allowed to
3015 * run previously. */
3016 uxPrevNotAllowedCores = ( ~uxPrevCoreAffinityMask ) & ( ( 1U << configNUMBER_OF_CORES ) - 1U );
3017
3018 /* Does the new core mask enables this task to run on any of the
3019 * previously not allowed cores? If yes, check if this task can be
3020 * scheduled on any of those cores. */
3021 if( ( uxPrevNotAllowedCores & uxCoreAffinityMask ) != 0U )
3022 {
3023 prvYieldForTask( pxTCB );
3024 }
3025 }
3026 #else /* #if( configUSE_PREEMPTION == 1 ) */
3027 {
3028 mtCOVERAGE_TEST_MARKER();
3029 }
3030 #endif /* #if( configUSE_PREEMPTION == 1 ) */
3031 }
3032 }
3033 }
3034 taskEXIT_CRITICAL();
3035
3036 traceRETURN_vTaskCoreAffinitySet();
3037 }
3038 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
3039 /*-----------------------------------------------------------*/
3040
3041 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
vTaskCoreAffinityGet(ConstTaskHandle_t xTask)3042 UBaseType_t vTaskCoreAffinityGet( ConstTaskHandle_t xTask )
3043 {
3044 const TCB_t * pxTCB;
3045 UBaseType_t uxCoreAffinityMask;
3046
3047 traceENTER_vTaskCoreAffinityGet( xTask );
3048
3049 taskENTER_CRITICAL();
3050 {
3051 pxTCB = prvGetTCBFromHandle( xTask );
3052 uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
3053 }
3054 taskEXIT_CRITICAL();
3055
3056 traceRETURN_vTaskCoreAffinityGet( uxCoreAffinityMask );
3057
3058 return uxCoreAffinityMask;
3059 }
3060 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) ) */
3061
3062 /*-----------------------------------------------------------*/
3063
3064 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
3065
vTaskPreemptionDisable(const TaskHandle_t xTask)3066 void vTaskPreemptionDisable( const TaskHandle_t xTask )
3067 {
3068 TCB_t * pxTCB;
3069
3070 traceENTER_vTaskPreemptionDisable( xTask );
3071
3072 taskENTER_CRITICAL();
3073 {
3074 pxTCB = prvGetTCBFromHandle( xTask );
3075
3076 pxTCB->xPreemptionDisable = pdTRUE;
3077 }
3078 taskEXIT_CRITICAL();
3079
3080 traceRETURN_vTaskPreemptionDisable();
3081 }
3082
3083 #endif /* #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) */
3084 /*-----------------------------------------------------------*/
3085
3086 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
3087
vTaskPreemptionEnable(const TaskHandle_t xTask)3088 void vTaskPreemptionEnable( const TaskHandle_t xTask )
3089 {
3090 TCB_t * pxTCB;
3091 BaseType_t xCoreID;
3092
3093 traceENTER_vTaskPreemptionEnable( xTask );
3094
3095 taskENTER_CRITICAL();
3096 {
3097 pxTCB = prvGetTCBFromHandle( xTask );
3098
3099 pxTCB->xPreemptionDisable = pdFALSE;
3100
3101 if( xSchedulerRunning != pdFALSE )
3102 {
3103 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
3104 {
3105 xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
3106 prvYieldCore( xCoreID );
3107 }
3108 }
3109 }
3110 taskEXIT_CRITICAL();
3111
3112 traceRETURN_vTaskPreemptionEnable();
3113 }
3114
3115 #endif /* #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) */
3116 /*-----------------------------------------------------------*/
3117
3118 #if ( INCLUDE_vTaskSuspend == 1 )
3119
vTaskSuspend(TaskHandle_t xTaskToSuspend)3120 void vTaskSuspend( TaskHandle_t xTaskToSuspend )
3121 {
3122 TCB_t * pxTCB;
3123
3124 #if ( configNUMBER_OF_CORES > 1 )
3125 BaseType_t xTaskRunningOnCore;
3126 #endif
3127
3128 traceENTER_vTaskSuspend( xTaskToSuspend );
3129
3130 taskENTER_CRITICAL();
3131 {
3132 /* If null is passed in here then it is the running task that is
3133 * being suspended. */
3134 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
3135
3136 traceTASK_SUSPEND( pxTCB );
3137
3138 #if ( configNUMBER_OF_CORES > 1 )
3139 xTaskRunningOnCore = pxTCB->xTaskRunState;
3140 #endif
3141
3142 /* Remove task from the ready/delayed list and place in the
3143 * suspended list. */
3144 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
3145 {
3146 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
3147 }
3148 else
3149 {
3150 mtCOVERAGE_TEST_MARKER();
3151 }
3152
3153 /* Is the task waiting on an event also? */
3154 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
3155 {
3156 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
3157 }
3158 else
3159 {
3160 mtCOVERAGE_TEST_MARKER();
3161 }
3162
3163 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
3164
3165 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
3166 {
3167 BaseType_t x;
3168
3169 for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
3170 {
3171 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
3172 {
3173 /* The task was blocked to wait for a notification, but is
3174 * now suspended, so no notification was received. */
3175 pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
3176 }
3177 }
3178 }
3179 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
3180 }
3181
3182 #if ( configNUMBER_OF_CORES == 1 )
3183 {
3184 taskEXIT_CRITICAL();
3185
3186 if( xSchedulerRunning != pdFALSE )
3187 {
3188 /* Reset the next expected unblock time in case it referred to the
3189 * task that is now in the Suspended state. */
3190 taskENTER_CRITICAL();
3191 {
3192 prvResetNextTaskUnblockTime();
3193 }
3194 taskEXIT_CRITICAL();
3195 }
3196 else
3197 {
3198 mtCOVERAGE_TEST_MARKER();
3199 }
3200
3201 if( pxTCB == pxCurrentTCB )
3202 {
3203 if( xSchedulerRunning != pdFALSE )
3204 {
3205 /* The current task has just been suspended. */
3206 configASSERT( uxSchedulerSuspended == 0 );
3207 portYIELD_WITHIN_API();
3208 }
3209 else
3210 {
3211 /* The scheduler is not running, but the task that was pointed
3212 * to by pxCurrentTCB has just been suspended and pxCurrentTCB
3213 * must be adjusted to point to a different task. */
3214 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
3215 {
3216 /* No other tasks are ready, so set pxCurrentTCB back to
3217 * NULL so when the next task is created pxCurrentTCB will
3218 * be set to point to it no matter what its relative priority
3219 * is. */
3220 pxCurrentTCB = NULL;
3221 }
3222 else
3223 {
3224 vTaskSwitchContext();
3225 }
3226 }
3227 }
3228 else
3229 {
3230 mtCOVERAGE_TEST_MARKER();
3231 }
3232 }
3233 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
3234 {
3235 if( xSchedulerRunning != pdFALSE )
3236 {
3237 /* Reset the next expected unblock time in case it referred to the
3238 * task that is now in the Suspended state. */
3239 prvResetNextTaskUnblockTime();
3240 }
3241 else
3242 {
3243 mtCOVERAGE_TEST_MARKER();
3244 }
3245
3246 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
3247 {
3248 if( xSchedulerRunning != pdFALSE )
3249 {
3250 if( xTaskRunningOnCore == ( BaseType_t ) portGET_CORE_ID() )
3251 {
3252 /* The current task has just been suspended. */
3253 configASSERT( uxSchedulerSuspended == 0 );
3254 vTaskYieldWithinAPI();
3255 }
3256 else
3257 {
3258 prvYieldCore( xTaskRunningOnCore );
3259 }
3260 }
3261 else
3262 {
3263 /* This code path is not possible because only Idle tasks are
3264 * assigned a core before the scheduler is started ( i.e.
3265 * taskTASK_IS_RUNNING is only true for idle tasks before
3266 * the scheduler is started ) and idle tasks cannot be
3267 * suspended. */
3268 mtCOVERAGE_TEST_MARKER();
3269 }
3270 }
3271 else
3272 {
3273 mtCOVERAGE_TEST_MARKER();
3274 }
3275
3276 taskEXIT_CRITICAL();
3277 }
3278 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
3279
3280 traceRETURN_vTaskSuspend();
3281 }
3282
3283 #endif /* INCLUDE_vTaskSuspend */
3284 /*-----------------------------------------------------------*/
3285
3286 #if ( INCLUDE_vTaskSuspend == 1 )
3287
prvTaskIsTaskSuspended(const TaskHandle_t xTask)3288 static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
3289 {
3290 BaseType_t xReturn = pdFALSE;
3291 const TCB_t * const pxTCB = xTask;
3292
3293 /* Accesses xPendingReadyList so must be called from a critical
3294 * section. */
3295
3296 /* It does not make sense to check if the calling task is suspended. */
3297 configASSERT( xTask );
3298
3299 /* Is the task being resumed actually in the suspended list? */
3300 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
3301 {
3302 /* Has the task already been resumed from within an ISR? */
3303 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
3304 {
3305 /* Is it in the suspended list because it is in the Suspended
3306 * state, or because it is blocked with no timeout? */
3307 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
3308 {
3309 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
3310 {
3311 BaseType_t x;
3312
3313 /* The task does not appear on the event list item of
3314 * and of the RTOS objects, but could still be in the
3315 * blocked state if it is waiting on its notification
3316 * rather than waiting on an object. If not, is
3317 * suspended. */
3318 xReturn = pdTRUE;
3319
3320 for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
3321 {
3322 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
3323 {
3324 xReturn = pdFALSE;
3325 break;
3326 }
3327 }
3328 }
3329 #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
3330 {
3331 xReturn = pdTRUE;
3332 }
3333 #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
3334 }
3335 else
3336 {
3337 mtCOVERAGE_TEST_MARKER();
3338 }
3339 }
3340 else
3341 {
3342 mtCOVERAGE_TEST_MARKER();
3343 }
3344 }
3345 else
3346 {
3347 mtCOVERAGE_TEST_MARKER();
3348 }
3349
3350 return xReturn;
3351 }
3352
3353 #endif /* INCLUDE_vTaskSuspend */
3354 /*-----------------------------------------------------------*/
3355
3356 #if ( INCLUDE_vTaskSuspend == 1 )
3357
vTaskResume(TaskHandle_t xTaskToResume)3358 void vTaskResume( TaskHandle_t xTaskToResume )
3359 {
3360 TCB_t * const pxTCB = xTaskToResume;
3361
3362 traceENTER_vTaskResume( xTaskToResume );
3363
3364 /* It does not make sense to resume the calling task. */
3365 configASSERT( xTaskToResume );
3366
3367 #if ( configNUMBER_OF_CORES == 1 )
3368
3369 /* The parameter cannot be NULL as it is impossible to resume the
3370 * currently executing task. */
3371 if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
3372 #else
3373
3374 /* The parameter cannot be NULL as it is impossible to resume the
3375 * currently executing task. It is also impossible to resume a task
3376 * that is actively running on another core but it is not safe
3377 * to check their run state here. Therefore, we get into a critical
3378 * section and check if the task is actually suspended or not. */
3379 if( pxTCB != NULL )
3380 #endif
3381 {
3382 taskENTER_CRITICAL();
3383 {
3384 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
3385 {
3386 traceTASK_RESUME( pxTCB );
3387
3388 /* The ready list can be accessed even if the scheduler is
3389 * suspended because this is inside a critical section. */
3390 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
3391 prvAddTaskToReadyList( pxTCB );
3392
3393 /* This yield may not cause the task just resumed to run,
3394 * but will leave the lists in the correct state for the
3395 * next yield. */
3396 taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB );
3397 }
3398 else
3399 {
3400 mtCOVERAGE_TEST_MARKER();
3401 }
3402 }
3403 taskEXIT_CRITICAL();
3404 }
3405 else
3406 {
3407 mtCOVERAGE_TEST_MARKER();
3408 }
3409
3410 traceRETURN_vTaskResume();
3411 }
3412
3413 #endif /* INCLUDE_vTaskSuspend */
3414
3415 /*-----------------------------------------------------------*/
3416
3417 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
3418
xTaskResumeFromISR(TaskHandle_t xTaskToResume)3419 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
3420 {
3421 BaseType_t xYieldRequired = pdFALSE;
3422 TCB_t * const pxTCB = xTaskToResume;
3423 UBaseType_t uxSavedInterruptStatus;
3424
3425 traceENTER_xTaskResumeFromISR( xTaskToResume );
3426
3427 configASSERT( xTaskToResume );
3428
3429 /* RTOS ports that support interrupt nesting have the concept of a
3430 * maximum system call (or maximum API call) interrupt priority.
3431 * Interrupts that are above the maximum system call priority are keep
3432 * permanently enabled, even when the RTOS kernel is in a critical section,
3433 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
3434 * is defined in FreeRTOSConfig.h then
3435 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
3436 * failure if a FreeRTOS API function is called from an interrupt that has
3437 * been assigned a priority above the configured maximum system call
3438 * priority. Only FreeRTOS functions that end in FromISR can be called
3439 * from interrupts that have been assigned a priority at or (logically)
3440 * below the maximum system call interrupt priority. FreeRTOS maintains a
3441 * separate interrupt safe API to ensure interrupt entry is as fast and as
3442 * simple as possible. More information (albeit Cortex-M specific) is
3443 * provided on the following link:
3444 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
3445 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
3446
3447 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
3448 {
3449 if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
3450 {
3451 traceTASK_RESUME_FROM_ISR( pxTCB );
3452
3453 /* Check the ready lists can be accessed. */
3454 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
3455 {
3456 #if ( configNUMBER_OF_CORES == 1 )
3457 {
3458 /* Ready lists can be accessed so move the task from the
3459 * suspended list to the ready list directly. */
3460 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
3461 {
3462 xYieldRequired = pdTRUE;
3463
3464 /* Mark that a yield is pending in case the user is not
3465 * using the return value to initiate a context switch
3466 * from the ISR using the port specific portYIELD_FROM_ISR(). */
3467 xYieldPendings[ 0 ] = pdTRUE;
3468 }
3469 else
3470 {
3471 mtCOVERAGE_TEST_MARKER();
3472 }
3473 }
3474 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
3475
3476 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
3477 prvAddTaskToReadyList( pxTCB );
3478 }
3479 else
3480 {
3481 /* The delayed or ready lists cannot be accessed so the task
3482 * is held in the pending ready list until the scheduler is
3483 * unsuspended. */
3484 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
3485 }
3486
3487 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_PREEMPTION == 1 ) )
3488 {
3489 prvYieldForTask( pxTCB );
3490
3491 if( xYieldPendings[ portGET_CORE_ID() ] != pdFALSE )
3492 {
3493 xYieldRequired = pdTRUE;
3494 }
3495 }
3496 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_PREEMPTION == 1 ) ) */
3497 }
3498 else
3499 {
3500 mtCOVERAGE_TEST_MARKER();
3501 }
3502 }
3503 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
3504
3505 traceRETURN_xTaskResumeFromISR( xYieldRequired );
3506
3507 return xYieldRequired;
3508 }
3509
3510 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
3511 /*-----------------------------------------------------------*/
3512
prvCreateIdleTasks(void)3513 static BaseType_t prvCreateIdleTasks( void )
3514 {
3515 BaseType_t xReturn = pdPASS;
3516 BaseType_t xCoreID;
3517 char cIdleName[ configMAX_TASK_NAME_LEN ];
3518 TaskFunction_t pxIdleTaskFunction = NULL;
3519 BaseType_t xIdleTaskNameIndex;
3520
3521 for( xIdleTaskNameIndex = ( BaseType_t ) 0; xIdleTaskNameIndex < ( BaseType_t ) configMAX_TASK_NAME_LEN; xIdleTaskNameIndex++ )
3522 {
3523 cIdleName[ xIdleTaskNameIndex ] = configIDLE_TASK_NAME[ xIdleTaskNameIndex ];
3524
3525 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
3526 * configMAX_TASK_NAME_LEN characters just in case the memory after the
3527 * string is not accessible (extremely unlikely). */
3528 if( cIdleName[ xIdleTaskNameIndex ] == ( char ) 0x00 )
3529 {
3530 break;
3531 }
3532 else
3533 {
3534 mtCOVERAGE_TEST_MARKER();
3535 }
3536 }
3537
3538 /* Add each idle task at the lowest priority. */
3539 for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
3540 {
3541 #if ( configNUMBER_OF_CORES == 1 )
3542 {
3543 pxIdleTaskFunction = prvIdleTask;
3544 }
3545 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
3546 {
3547 /* In the FreeRTOS SMP, configNUMBER_OF_CORES - 1 passive idle tasks
3548 * are also created to ensure that each core has an idle task to
3549 * run when no other task is available to run. */
3550 if( xCoreID == 0 )
3551 {
3552 pxIdleTaskFunction = prvIdleTask;
3553 }
3554 else
3555 {
3556 pxIdleTaskFunction = prvPassiveIdleTask;
3557 }
3558 }
3559 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
3560
3561 /* Update the idle task name with suffix to differentiate the idle tasks.
3562 * This function is not required in single core FreeRTOS since there is
3563 * only one idle task. */
3564 #if ( configNUMBER_OF_CORES > 1 )
3565 {
3566 /* Append the idle task number to the end of the name if there is space. */
3567 if( xIdleTaskNameIndex < ( BaseType_t ) configMAX_TASK_NAME_LEN )
3568 {
3569 cIdleName[ xIdleTaskNameIndex ] = ( char ) ( xCoreID + '0' );
3570
3571 /* And append a null character if there is space. */
3572 if( ( xIdleTaskNameIndex + 1 ) < ( BaseType_t ) configMAX_TASK_NAME_LEN )
3573 {
3574 cIdleName[ xIdleTaskNameIndex + 1 ] = '\0';
3575 }
3576 else
3577 {
3578 mtCOVERAGE_TEST_MARKER();
3579 }
3580 }
3581 else
3582 {
3583 mtCOVERAGE_TEST_MARKER();
3584 }
3585 }
3586 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
3587
3588 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
3589 {
3590 StaticTask_t * pxIdleTaskTCBBuffer = NULL;
3591 StackType_t * pxIdleTaskStackBuffer = NULL;
3592 uint32_t ulIdleTaskStackSize;
3593
3594 /* The Idle task is created using user provided RAM - obtain the
3595 * address of the RAM then create the idle task. */
3596 #if ( configNUMBER_OF_CORES == 1 )
3597 {
3598 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
3599 }
3600 #else
3601 {
3602 if( xCoreID == 0 )
3603 {
3604 vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
3605 }
3606 else
3607 {
3608 vApplicationGetPassiveIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize, xCoreID - 1 );
3609 }
3610 }
3611 #endif /* if ( configNUMBER_OF_CORES == 1 ) */
3612 xIdleTaskHandles[ xCoreID ] = xTaskCreateStatic( pxIdleTaskFunction,
3613 cIdleName,
3614 ulIdleTaskStackSize,
3615 ( void * ) NULL,
3616 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
3617 pxIdleTaskStackBuffer,
3618 pxIdleTaskTCBBuffer );
3619
3620 if( xIdleTaskHandles[ xCoreID ] != NULL )
3621 {
3622 xReturn = pdPASS;
3623 }
3624 else
3625 {
3626 xReturn = pdFAIL;
3627 }
3628 }
3629 #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
3630 {
3631 /* The Idle task is being created using dynamically allocated RAM. */
3632 xReturn = xTaskCreate( pxIdleTaskFunction,
3633 cIdleName,
3634 configMINIMAL_STACK_SIZE,
3635 ( void * ) NULL,
3636 portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
3637 &xIdleTaskHandles[ xCoreID ] );
3638 }
3639 #endif /* configSUPPORT_STATIC_ALLOCATION */
3640
3641 /* Break the loop if any of the idle task is failed to be created. */
3642 if( xReturn == pdFAIL )
3643 {
3644 break;
3645 }
3646 else
3647 {
3648 mtCOVERAGE_TEST_MARKER();
3649 }
3650 }
3651
3652 return xReturn;
3653 }
3654
3655 /*-----------------------------------------------------------*/
3656
vTaskStartScheduler(void)3657 void vTaskStartScheduler( void )
3658 {
3659 BaseType_t xReturn;
3660
3661 traceENTER_vTaskStartScheduler();
3662
3663 #if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 )
3664 {
3665 /* Sanity check that the UBaseType_t must have greater than or equal to
3666 * the number of bits as confNUMBER_OF_CORES. */
3667 configASSERT( ( sizeof( UBaseType_t ) * taskBITS_PER_BYTE ) >= configNUMBER_OF_CORES );
3668 }
3669 #endif /* #if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) */
3670
3671 xReturn = prvCreateIdleTasks();
3672
3673 #if ( configUSE_TIMERS == 1 )
3674 {
3675 if( xReturn == pdPASS )
3676 {
3677 xReturn = xTimerCreateTimerTask();
3678 }
3679 else
3680 {
3681 mtCOVERAGE_TEST_MARKER();
3682 }
3683 }
3684 #endif /* configUSE_TIMERS */
3685
3686 if( xReturn == pdPASS )
3687 {
3688 /* freertos_tasks_c_additions_init() should only be called if the user
3689 * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
3690 * the only macro called by the function. */
3691 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
3692 {
3693 freertos_tasks_c_additions_init();
3694 }
3695 #endif
3696
3697 /* Interrupts are turned off here, to ensure a tick does not occur
3698 * before or during the call to xPortStartScheduler(). The stacks of
3699 * the created tasks contain a status word with interrupts switched on
3700 * so interrupts will automatically get re-enabled when the first task
3701 * starts to run. */
3702 portDISABLE_INTERRUPTS();
3703
3704 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
3705 {
3706 /* Switch C-Runtime's TLS Block to point to the TLS
3707 * block specific to the task that will run first. */
3708 configSET_TLS_BLOCK( pxCurrentTCB->xTLSBlock );
3709 }
3710 #endif
3711
3712 xNextTaskUnblockTime = portMAX_DELAY;
3713 xSchedulerRunning = pdTRUE;
3714 xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
3715
3716 /* If configGENERATE_RUN_TIME_STATS is defined then the following
3717 * macro must be defined to configure the timer/counter used to generate
3718 * the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
3719 * is set to 0 and the following line fails to build then ensure you do not
3720 * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
3721 * FreeRTOSConfig.h file. */
3722 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
3723
3724 traceTASK_SWITCHED_IN();
3725
3726 /* Setting up the timer tick is hardware specific and thus in the
3727 * portable interface. */
3728
3729 /* The return value for xPortStartScheduler is not required
3730 * hence using a void datatype. */
3731 ( void ) xPortStartScheduler();
3732
3733 /* In most cases, xPortStartScheduler() will not return. If it
3734 * returns pdTRUE then there was not enough heap memory available
3735 * to create either the Idle or the Timer task. If it returned
3736 * pdFALSE, then the application called xTaskEndScheduler().
3737 * Most ports don't implement xTaskEndScheduler() as there is
3738 * nothing to return to. */
3739 }
3740 else
3741 {
3742 /* This line will only be reached if the kernel could not be started,
3743 * because there was not enough FreeRTOS heap to create the idle task
3744 * or the timer task. */
3745 configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
3746 }
3747
3748 /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
3749 * meaning xIdleTaskHandles are not used anywhere else. */
3750 ( void ) xIdleTaskHandles;
3751
3752 /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
3753 * from getting optimized out as it is no longer used by the kernel. */
3754 ( void ) uxTopUsedPriority;
3755
3756 traceRETURN_vTaskStartScheduler();
3757 }
3758 /*-----------------------------------------------------------*/
3759
vTaskEndScheduler(void)3760 void vTaskEndScheduler( void )
3761 {
3762 traceENTER_vTaskEndScheduler();
3763
3764 /* Stop the scheduler interrupts and call the portable scheduler end
3765 * routine so the original ISRs can be restored if necessary. The port
3766 * layer must ensure interrupts enable bit is left in the correct state. */
3767 portDISABLE_INTERRUPTS();
3768 xSchedulerRunning = pdFALSE;
3769 vPortEndScheduler();
3770
3771 traceRETURN_vTaskEndScheduler();
3772 }
3773 /*----------------------------------------------------------*/
3774
vTaskSuspendAll(void)3775 void vTaskSuspendAll( void )
3776 {
3777 traceENTER_vTaskSuspendAll();
3778
3779 #if ( configNUMBER_OF_CORES == 1 )
3780 {
3781 /* A critical section is not required as the variable is of type
3782 * BaseType_t. Please read Richard Barry's reply in the following link to a
3783 * post in the FreeRTOS support forum before reporting this as a bug! -
3784 * https://goo.gl/wu4acr */
3785
3786 /* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
3787 * do not otherwise exhibit real time behaviour. */
3788 portSOFTWARE_BARRIER();
3789
3790 /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
3791 * is used to allow calls to vTaskSuspendAll() to nest. */
3792 ++uxSchedulerSuspended;
3793
3794 /* Enforces ordering for ports and optimised compilers that may otherwise place
3795 * the above increment elsewhere. */
3796 portMEMORY_BARRIER();
3797 }
3798 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
3799 {
3800 UBaseType_t ulState;
3801
3802 /* This must only be called from within a task. */
3803 portASSERT_IF_IN_ISR();
3804
3805 if( xSchedulerRunning != pdFALSE )
3806 {
3807 /* Writes to uxSchedulerSuspended must be protected by both the task AND ISR locks.
3808 * We must disable interrupts before we grab the locks in the event that this task is
3809 * interrupted and switches context before incrementing uxSchedulerSuspended.
3810 * It is safe to re-enable interrupts after releasing the ISR lock and incrementing
3811 * uxSchedulerSuspended since that will prevent context switches. */
3812 ulState = portSET_INTERRUPT_MASK();
3813
3814 /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
3815 * do not otherwise exhibit real time behaviour. */
3816 portSOFTWARE_BARRIER();
3817
3818 portGET_TASK_LOCK();
3819
3820 /* uxSchedulerSuspended is increased after prvCheckForRunStateChange. The
3821 * purpose is to prevent altering the variable when fromISR APIs are readying
3822 * it. */
3823 if( uxSchedulerSuspended == 0U )
3824 {
3825 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
3826 {
3827 prvCheckForRunStateChange();
3828 }
3829 else
3830 {
3831 mtCOVERAGE_TEST_MARKER();
3832 }
3833 }
3834 else
3835 {
3836 mtCOVERAGE_TEST_MARKER();
3837 }
3838
3839 portGET_ISR_LOCK();
3840
3841 /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
3842 * is used to allow calls to vTaskSuspendAll() to nest. */
3843 ++uxSchedulerSuspended;
3844 portRELEASE_ISR_LOCK();
3845
3846 portCLEAR_INTERRUPT_MASK( ulState );
3847 }
3848 else
3849 {
3850 mtCOVERAGE_TEST_MARKER();
3851 }
3852 }
3853 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
3854
3855 traceRETURN_vTaskSuspendAll();
3856 }
3857
3858 /*----------------------------------------------------------*/
3859
3860 #if ( configUSE_TICKLESS_IDLE != 0 )
3861
prvGetExpectedIdleTime(void)3862 static TickType_t prvGetExpectedIdleTime( void )
3863 {
3864 TickType_t xReturn;
3865 UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
3866
3867 /* uxHigherPriorityReadyTasks takes care of the case where
3868 * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
3869 * task that are in the Ready state, even though the idle task is
3870 * running. */
3871 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
3872 {
3873 if( uxTopReadyPriority > tskIDLE_PRIORITY )
3874 {
3875 uxHigherPriorityReadyTasks = pdTRUE;
3876 }
3877 }
3878 #else
3879 {
3880 const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
3881
3882 /* When port optimised task selection is used the uxTopReadyPriority
3883 * variable is used as a bit map. If bits other than the least
3884 * significant bit are set then there are tasks that have a priority
3885 * above the idle priority that are in the Ready state. This takes
3886 * care of the case where the co-operative scheduler is in use. */
3887 if( uxTopReadyPriority > uxLeastSignificantBit )
3888 {
3889 uxHigherPriorityReadyTasks = pdTRUE;
3890 }
3891 }
3892 #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
3893
3894 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
3895 {
3896 xReturn = 0;
3897 }
3898 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1U )
3899 {
3900 /* There are other idle priority tasks in the ready state. If
3901 * time slicing is used then the very next tick interrupt must be
3902 * processed. */
3903 xReturn = 0;
3904 }
3905 else if( uxHigherPriorityReadyTasks != pdFALSE )
3906 {
3907 /* There are tasks in the Ready state that have a priority above the
3908 * idle priority. This path can only be reached if
3909 * configUSE_PREEMPTION is 0. */
3910 xReturn = 0;
3911 }
3912 else
3913 {
3914 xReturn = xNextTaskUnblockTime;
3915 xReturn -= xTickCount;
3916 }
3917
3918 return xReturn;
3919 }
3920
3921 #endif /* configUSE_TICKLESS_IDLE */
3922 /*----------------------------------------------------------*/
3923
xTaskResumeAll(void)3924 BaseType_t xTaskResumeAll( void )
3925 {
3926 TCB_t * pxTCB = NULL;
3927 BaseType_t xAlreadyYielded = pdFALSE;
3928
3929 traceENTER_xTaskResumeAll();
3930
3931 #if ( configNUMBER_OF_CORES > 1 )
3932 if( xSchedulerRunning != pdFALSE )
3933 #endif
3934 {
3935 /* It is possible that an ISR caused a task to be removed from an event
3936 * list while the scheduler was suspended. If this was the case then the
3937 * removed task will have been added to the xPendingReadyList. Once the
3938 * scheduler has been resumed it is safe to move all the pending ready
3939 * tasks from this list into their appropriate ready list. */
3940 taskENTER_CRITICAL();
3941 {
3942 BaseType_t xCoreID;
3943 xCoreID = ( BaseType_t ) portGET_CORE_ID();
3944
3945 /* If uxSchedulerSuspended is zero then this function does not match a
3946 * previous call to vTaskSuspendAll(). */
3947 configASSERT( uxSchedulerSuspended != 0U );
3948
3949 --uxSchedulerSuspended;
3950 portRELEASE_TASK_LOCK();
3951
3952 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
3953 {
3954 if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
3955 {
3956 /* Move any readied tasks from the pending list into the
3957 * appropriate ready list. */
3958 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
3959 {
3960 /* MISRA Ref 11.5.3 [Void pointer assignment] */
3961 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
3962 /* coverity[misra_c_2012_rule_11_5_violation] */
3963 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
3964 listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
3965 portMEMORY_BARRIER();
3966 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
3967 prvAddTaskToReadyList( pxTCB );
3968
3969 #if ( configNUMBER_OF_CORES == 1 )
3970 {
3971 /* If the moved task has a priority higher than the current
3972 * task then a yield must be performed. */
3973 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
3974 {
3975 xYieldPendings[ xCoreID ] = pdTRUE;
3976 }
3977 else
3978 {
3979 mtCOVERAGE_TEST_MARKER();
3980 }
3981 }
3982 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
3983 {
3984 /* All appropriate tasks yield at the moment a task is added to xPendingReadyList.
3985 * If the current core yielded then vTaskSwitchContext() has already been called
3986 * which sets xYieldPendings for the current core to pdTRUE. */
3987 }
3988 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
3989 }
3990
3991 if( pxTCB != NULL )
3992 {
3993 /* A task was unblocked while the scheduler was suspended,
3994 * which may have prevented the next unblock time from being
3995 * re-calculated, in which case re-calculate it now. Mainly
3996 * important for low power tickless implementations, where
3997 * this can prevent an unnecessary exit from low power
3998 * state. */
3999 prvResetNextTaskUnblockTime();
4000 }
4001
4002 /* If any ticks occurred while the scheduler was suspended then
4003 * they should be processed now. This ensures the tick count does
4004 * not slip, and that any delayed tasks are resumed at the correct
4005 * time.
4006 *
4007 * It should be safe to call xTaskIncrementTick here from any core
4008 * since we are in a critical section and xTaskIncrementTick itself
4009 * protects itself within a critical section. Suspending the scheduler
4010 * from any core causes xTaskIncrementTick to increment uxPendedCounts. */
4011 {
4012 TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
4013
4014 if( xPendedCounts > ( TickType_t ) 0U )
4015 {
4016 do
4017 {
4018 if( xTaskIncrementTick() != pdFALSE )
4019 {
4020 /* Other cores are interrupted from
4021 * within xTaskIncrementTick(). */
4022 xYieldPendings[ xCoreID ] = pdTRUE;
4023 }
4024 else
4025 {
4026 mtCOVERAGE_TEST_MARKER();
4027 }
4028
4029 --xPendedCounts;
4030 } while( xPendedCounts > ( TickType_t ) 0U );
4031
4032 xPendedTicks = 0;
4033 }
4034 else
4035 {
4036 mtCOVERAGE_TEST_MARKER();
4037 }
4038 }
4039
4040 if( xYieldPendings[ xCoreID ] != pdFALSE )
4041 {
4042 #if ( configUSE_PREEMPTION != 0 )
4043 {
4044 xAlreadyYielded = pdTRUE;
4045 }
4046 #endif /* #if ( configUSE_PREEMPTION != 0 ) */
4047
4048 #if ( configNUMBER_OF_CORES == 1 )
4049 {
4050 taskYIELD_TASK_CORE_IF_USING_PREEMPTION( pxCurrentTCB );
4051 }
4052 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
4053 }
4054 else
4055 {
4056 mtCOVERAGE_TEST_MARKER();
4057 }
4058 }
4059 }
4060 else
4061 {
4062 mtCOVERAGE_TEST_MARKER();
4063 }
4064 }
4065 taskEXIT_CRITICAL();
4066 }
4067
4068 traceRETURN_xTaskResumeAll( xAlreadyYielded );
4069
4070 return xAlreadyYielded;
4071 }
4072 /*-----------------------------------------------------------*/
4073
xTaskGetTickCount(void)4074 TickType_t xTaskGetTickCount( void )
4075 {
4076 TickType_t xTicks;
4077
4078 traceENTER_xTaskGetTickCount();
4079
4080 /* Critical section required if running on a 16 bit processor. */
4081 portTICK_TYPE_ENTER_CRITICAL();
4082 {
4083 xTicks = xTickCount;
4084 }
4085 portTICK_TYPE_EXIT_CRITICAL();
4086
4087 traceRETURN_xTaskGetTickCount( xTicks );
4088
4089 return xTicks;
4090 }
4091 /*-----------------------------------------------------------*/
4092
xTaskGetTickCountFromISR(void)4093 TickType_t xTaskGetTickCountFromISR( void )
4094 {
4095 TickType_t xReturn;
4096 UBaseType_t uxSavedInterruptStatus;
4097
4098 traceENTER_xTaskGetTickCountFromISR();
4099
4100 /* RTOS ports that support interrupt nesting have the concept of a maximum
4101 * system call (or maximum API call) interrupt priority. Interrupts that are
4102 * above the maximum system call priority are kept permanently enabled, even
4103 * when the RTOS kernel is in a critical section, but cannot make any calls to
4104 * FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
4105 * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
4106 * failure if a FreeRTOS API function is called from an interrupt that has been
4107 * assigned a priority above the configured maximum system call priority.
4108 * Only FreeRTOS functions that end in FromISR can be called from interrupts
4109 * that have been assigned a priority at or (logically) below the maximum
4110 * system call interrupt priority. FreeRTOS maintains a separate interrupt
4111 * safe API to ensure interrupt entry is as fast and as simple as possible.
4112 * More information (albeit Cortex-M specific) is provided on the following
4113 * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
4114 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
4115
4116 uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
4117 {
4118 xReturn = xTickCount;
4119 }
4120 portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
4121
4122 traceRETURN_xTaskGetTickCountFromISR( xReturn );
4123
4124 return xReturn;
4125 }
4126 /*-----------------------------------------------------------*/
4127
uxTaskGetNumberOfTasks(void)4128 UBaseType_t uxTaskGetNumberOfTasks( void )
4129 {
4130 traceENTER_uxTaskGetNumberOfTasks();
4131
4132 /* A critical section is not required because the variables are of type
4133 * BaseType_t. */
4134 traceRETURN_uxTaskGetNumberOfTasks( uxCurrentNumberOfTasks );
4135
4136 return uxCurrentNumberOfTasks;
4137 }
4138 /*-----------------------------------------------------------*/
4139
pcTaskGetName(TaskHandle_t xTaskToQuery)4140 char * pcTaskGetName( TaskHandle_t xTaskToQuery )
4141 {
4142 TCB_t * pxTCB;
4143
4144 traceENTER_pcTaskGetName( xTaskToQuery );
4145
4146 /* If null is passed in here then the name of the calling task is being
4147 * queried. */
4148 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
4149 configASSERT( pxTCB );
4150
4151 traceRETURN_pcTaskGetName( &( pxTCB->pcTaskName[ 0 ] ) );
4152
4153 return &( pxTCB->pcTaskName[ 0 ] );
4154 }
4155 /*-----------------------------------------------------------*/
4156
4157 #if ( INCLUDE_xTaskGetHandle == 1 )
4158
4159 #if ( configNUMBER_OF_CORES == 1 )
prvSearchForNameWithinSingleList(List_t * pxList,const char pcNameToQuery[])4160 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
4161 const char pcNameToQuery[] )
4162 {
4163 TCB_t * pxNextTCB;
4164 TCB_t * pxFirstTCB;
4165 TCB_t * pxReturn = NULL;
4166 UBaseType_t x;
4167 char cNextChar;
4168 BaseType_t xBreakLoop;
4169
4170 /* This function is called with the scheduler suspended. */
4171
4172 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
4173 {
4174 /* MISRA Ref 11.5.3 [Void pointer assignment] */
4175 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
4176 /* coverity[misra_c_2012_rule_11_5_violation] */
4177 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
4178
4179 do
4180 {
4181 /* MISRA Ref 11.5.3 [Void pointer assignment] */
4182 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
4183 /* coverity[misra_c_2012_rule_11_5_violation] */
4184 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
4185
4186 /* Check each character in the name looking for a match or
4187 * mismatch. */
4188 xBreakLoop = pdFALSE;
4189
4190 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
4191 {
4192 cNextChar = pxNextTCB->pcTaskName[ x ];
4193
4194 if( cNextChar != pcNameToQuery[ x ] )
4195 {
4196 /* Characters didn't match. */
4197 xBreakLoop = pdTRUE;
4198 }
4199 else if( cNextChar == ( char ) 0x00 )
4200 {
4201 /* Both strings terminated, a match must have been
4202 * found. */
4203 pxReturn = pxNextTCB;
4204 xBreakLoop = pdTRUE;
4205 }
4206 else
4207 {
4208 mtCOVERAGE_TEST_MARKER();
4209 }
4210
4211 if( xBreakLoop != pdFALSE )
4212 {
4213 break;
4214 }
4215 }
4216
4217 if( pxReturn != NULL )
4218 {
4219 /* The handle has been found. */
4220 break;
4221 }
4222 } while( pxNextTCB != pxFirstTCB );
4223 }
4224 else
4225 {
4226 mtCOVERAGE_TEST_MARKER();
4227 }
4228
4229 return pxReturn;
4230 }
4231 #else /* if ( configNUMBER_OF_CORES == 1 ) */
prvSearchForNameWithinSingleList(List_t * pxList,const char pcNameToQuery[])4232 static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
4233 const char pcNameToQuery[] )
4234 {
4235 TCB_t * pxReturn = NULL;
4236 UBaseType_t x;
4237 char cNextChar;
4238 BaseType_t xBreakLoop;
4239 const ListItem_t * pxEndMarker = listGET_END_MARKER( pxList );
4240 ListItem_t * pxIterator;
4241
4242 /* This function is called with the scheduler suspended. */
4243
4244 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
4245 {
4246 for( pxIterator = listGET_HEAD_ENTRY( pxList ); pxIterator != pxEndMarker; pxIterator = listGET_NEXT( pxIterator ) )
4247 {
4248 /* MISRA Ref 11.5.3 [Void pointer assignment] */
4249 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
4250 /* coverity[misra_c_2012_rule_11_5_violation] */
4251 TCB_t * pxTCB = listGET_LIST_ITEM_OWNER( pxIterator );
4252
4253 /* Check each character in the name looking for a match or
4254 * mismatch. */
4255 xBreakLoop = pdFALSE;
4256
4257 for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
4258 {
4259 cNextChar = pxTCB->pcTaskName[ x ];
4260
4261 if( cNextChar != pcNameToQuery[ x ] )
4262 {
4263 /* Characters didn't match. */
4264 xBreakLoop = pdTRUE;
4265 }
4266 else if( cNextChar == ( char ) 0x00 )
4267 {
4268 /* Both strings terminated, a match must have been
4269 * found. */
4270 pxReturn = pxTCB;
4271 xBreakLoop = pdTRUE;
4272 }
4273 else
4274 {
4275 mtCOVERAGE_TEST_MARKER();
4276 }
4277
4278 if( xBreakLoop != pdFALSE )
4279 {
4280 break;
4281 }
4282 }
4283
4284 if( pxReturn != NULL )
4285 {
4286 /* The handle has been found. */
4287 break;
4288 }
4289 }
4290 }
4291 else
4292 {
4293 mtCOVERAGE_TEST_MARKER();
4294 }
4295
4296 return pxReturn;
4297 }
4298 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
4299
4300 #endif /* INCLUDE_xTaskGetHandle */
4301 /*-----------------------------------------------------------*/
4302
4303 #if ( INCLUDE_xTaskGetHandle == 1 )
4304
xTaskGetHandle(const char * pcNameToQuery)4305 TaskHandle_t xTaskGetHandle( const char * pcNameToQuery )
4306 {
4307 UBaseType_t uxQueue = configMAX_PRIORITIES;
4308 TCB_t * pxTCB;
4309
4310 traceENTER_xTaskGetHandle( pcNameToQuery );
4311
4312 /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
4313 configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
4314
4315 vTaskSuspendAll();
4316 {
4317 /* Search the ready lists. */
4318 do
4319 {
4320 uxQueue--;
4321 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
4322
4323 if( pxTCB != NULL )
4324 {
4325 /* Found the handle. */
4326 break;
4327 }
4328 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY );
4329
4330 /* Search the delayed lists. */
4331 if( pxTCB == NULL )
4332 {
4333 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
4334 }
4335
4336 if( pxTCB == NULL )
4337 {
4338 pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
4339 }
4340
4341 #if ( INCLUDE_vTaskSuspend == 1 )
4342 {
4343 if( pxTCB == NULL )
4344 {
4345 /* Search the suspended list. */
4346 pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
4347 }
4348 }
4349 #endif
4350
4351 #if ( INCLUDE_vTaskDelete == 1 )
4352 {
4353 if( pxTCB == NULL )
4354 {
4355 /* Search the deleted list. */
4356 pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
4357 }
4358 }
4359 #endif
4360 }
4361 ( void ) xTaskResumeAll();
4362
4363 traceRETURN_xTaskGetHandle( pxTCB );
4364
4365 return pxTCB;
4366 }
4367
4368 #endif /* INCLUDE_xTaskGetHandle */
4369 /*-----------------------------------------------------------*/
4370
4371 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
4372
xTaskGetStaticBuffers(TaskHandle_t xTask,StackType_t ** ppuxStackBuffer,StaticTask_t ** ppxTaskBuffer)4373 BaseType_t xTaskGetStaticBuffers( TaskHandle_t xTask,
4374 StackType_t ** ppuxStackBuffer,
4375 StaticTask_t ** ppxTaskBuffer )
4376 {
4377 BaseType_t xReturn;
4378 TCB_t * pxTCB;
4379
4380 traceENTER_xTaskGetStaticBuffers( xTask, ppuxStackBuffer, ppxTaskBuffer );
4381
4382 configASSERT( ppuxStackBuffer != NULL );
4383 configASSERT( ppxTaskBuffer != NULL );
4384
4385 pxTCB = prvGetTCBFromHandle( xTask );
4386
4387 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
4388 {
4389 if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
4390 {
4391 *ppuxStackBuffer = pxTCB->pxStack;
4392 /* MISRA Ref 11.3.1 [Misaligned access] */
4393 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-113 */
4394 /* coverity[misra_c_2012_rule_11_3_violation] */
4395 *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
4396 xReturn = pdTRUE;
4397 }
4398 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
4399 {
4400 *ppuxStackBuffer = pxTCB->pxStack;
4401 *ppxTaskBuffer = NULL;
4402 xReturn = pdTRUE;
4403 }
4404 else
4405 {
4406 xReturn = pdFALSE;
4407 }
4408 }
4409 #else /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */
4410 {
4411 *ppuxStackBuffer = pxTCB->pxStack;
4412 *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
4413 xReturn = pdTRUE;
4414 }
4415 #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */
4416
4417 traceRETURN_xTaskGetStaticBuffers( xReturn );
4418
4419 return xReturn;
4420 }
4421
4422 #endif /* configSUPPORT_STATIC_ALLOCATION */
4423 /*-----------------------------------------------------------*/
4424
4425 #if ( configUSE_TRACE_FACILITY == 1 )
4426
uxTaskGetSystemState(TaskStatus_t * const pxTaskStatusArray,const UBaseType_t uxArraySize,configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime)4427 UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
4428 const UBaseType_t uxArraySize,
4429 configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime )
4430 {
4431 UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
4432
4433 traceENTER_uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime );
4434
4435 vTaskSuspendAll();
4436 {
4437 /* Is there a space in the array for each task in the system? */
4438 if( uxArraySize >= uxCurrentNumberOfTasks )
4439 {
4440 /* Fill in an TaskStatus_t structure with information on each
4441 * task in the Ready state. */
4442 do
4443 {
4444 uxQueue--;
4445 uxTask = ( UBaseType_t ) ( uxTask + prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady ) );
4446 } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY );
4447
4448 /* Fill in an TaskStatus_t structure with information on each
4449 * task in the Blocked state. */
4450 uxTask = ( UBaseType_t ) ( uxTask + prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked ) );
4451 uxTask = ( UBaseType_t ) ( uxTask + prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked ) );
4452
4453 #if ( INCLUDE_vTaskDelete == 1 )
4454 {
4455 /* Fill in an TaskStatus_t structure with information on
4456 * each task that has been deleted but not yet cleaned up. */
4457 uxTask = ( UBaseType_t ) ( uxTask + prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted ) );
4458 }
4459 #endif
4460
4461 #if ( INCLUDE_vTaskSuspend == 1 )
4462 {
4463 /* Fill in an TaskStatus_t structure with information on
4464 * each task in the Suspended state. */
4465 uxTask = ( UBaseType_t ) ( uxTask + prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended ) );
4466 }
4467 #endif
4468
4469 #if ( configGENERATE_RUN_TIME_STATS == 1 )
4470 {
4471 if( pulTotalRunTime != NULL )
4472 {
4473 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
4474 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
4475 #else
4476 *pulTotalRunTime = ( configRUN_TIME_COUNTER_TYPE ) portGET_RUN_TIME_COUNTER_VALUE();
4477 #endif
4478 }
4479 }
4480 #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
4481 {
4482 if( pulTotalRunTime != NULL )
4483 {
4484 *pulTotalRunTime = 0;
4485 }
4486 }
4487 #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
4488 }
4489 else
4490 {
4491 mtCOVERAGE_TEST_MARKER();
4492 }
4493 }
4494 ( void ) xTaskResumeAll();
4495
4496 traceRETURN_uxTaskGetSystemState( uxTask );
4497
4498 return uxTask;
4499 }
4500
4501 #endif /* configUSE_TRACE_FACILITY */
4502 /*----------------------------------------------------------*/
4503
4504 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
4505
4506 #if ( configNUMBER_OF_CORES == 1 )
xTaskGetIdleTaskHandle(void)4507 TaskHandle_t xTaskGetIdleTaskHandle( void )
4508 {
4509 traceENTER_xTaskGetIdleTaskHandle();
4510
4511 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
4512 * started, then xIdleTaskHandles will be NULL. */
4513 configASSERT( ( xIdleTaskHandles[ 0 ] != NULL ) );
4514
4515 traceRETURN_xTaskGetIdleTaskHandle( xIdleTaskHandles[ 0 ] );
4516
4517 return xIdleTaskHandles[ 0 ];
4518 }
4519 #endif /* if ( configNUMBER_OF_CORES == 1 ) */
4520
xTaskGetIdleTaskHandleForCore(BaseType_t xCoreID)4521 TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID )
4522 {
4523 traceENTER_xTaskGetIdleTaskHandleForCore( xCoreID );
4524
4525 /* Ensure the core ID is valid. */
4526 configASSERT( taskVALID_CORE_ID( xCoreID ) == pdTRUE );
4527
4528 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
4529 * started, then xIdleTaskHandles will be NULL. */
4530 configASSERT( ( xIdleTaskHandles[ xCoreID ] != NULL ) );
4531
4532 traceRETURN_xTaskGetIdleTaskHandleForCore( xIdleTaskHandles[ xCoreID ] );
4533
4534 return xIdleTaskHandles[ xCoreID ];
4535 }
4536
4537 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
4538 /*----------------------------------------------------------*/
4539
4540 /* This conditional compilation should use inequality to 0, not equality to 1.
4541 * This is to ensure vTaskStepTick() is available when user defined low power mode
4542 * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
4543 * 1. */
4544 #if ( configUSE_TICKLESS_IDLE != 0 )
4545
vTaskStepTick(TickType_t xTicksToJump)4546 void vTaskStepTick( TickType_t xTicksToJump )
4547 {
4548 TickType_t xUpdatedTickCount;
4549
4550 traceENTER_vTaskStepTick( xTicksToJump );
4551
4552 /* Correct the tick count value after a period during which the tick
4553 * was suppressed. Note this does *not* call the tick hook function for
4554 * each stepped tick. */
4555 xUpdatedTickCount = xTickCount + xTicksToJump;
4556 configASSERT( xUpdatedTickCount <= xNextTaskUnblockTime );
4557
4558 if( xUpdatedTickCount == xNextTaskUnblockTime )
4559 {
4560 /* Arrange for xTickCount to reach xNextTaskUnblockTime in
4561 * xTaskIncrementTick() when the scheduler resumes. This ensures
4562 * that any delayed tasks are resumed at the correct time. */
4563 configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
4564 configASSERT( xTicksToJump != ( TickType_t ) 0 );
4565
4566 /* Prevent the tick interrupt modifying xPendedTicks simultaneously. */
4567 taskENTER_CRITICAL();
4568 {
4569 xPendedTicks++;
4570 }
4571 taskEXIT_CRITICAL();
4572 xTicksToJump--;
4573 }
4574 else
4575 {
4576 mtCOVERAGE_TEST_MARKER();
4577 }
4578
4579 xTickCount += xTicksToJump;
4580
4581 traceINCREASE_TICK_COUNT( xTicksToJump );
4582 traceRETURN_vTaskStepTick();
4583 }
4584
4585 #endif /* configUSE_TICKLESS_IDLE */
4586 /*----------------------------------------------------------*/
4587
xTaskCatchUpTicks(TickType_t xTicksToCatchUp)4588 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
4589 {
4590 BaseType_t xYieldOccurred;
4591
4592 traceENTER_xTaskCatchUpTicks( xTicksToCatchUp );
4593
4594 /* Must not be called with the scheduler suspended as the implementation
4595 * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
4596 configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
4597
4598 /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
4599 * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
4600 vTaskSuspendAll();
4601
4602 /* Prevent the tick interrupt modifying xPendedTicks simultaneously. */
4603 taskENTER_CRITICAL();
4604 {
4605 xPendedTicks += xTicksToCatchUp;
4606 }
4607 taskEXIT_CRITICAL();
4608 xYieldOccurred = xTaskResumeAll();
4609
4610 traceRETURN_xTaskCatchUpTicks( xYieldOccurred );
4611
4612 return xYieldOccurred;
4613 }
4614 /*----------------------------------------------------------*/
4615
4616 #if ( INCLUDE_xTaskAbortDelay == 1 )
4617
xTaskAbortDelay(TaskHandle_t xTask)4618 BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
4619 {
4620 TCB_t * pxTCB = xTask;
4621 BaseType_t xReturn;
4622
4623 traceENTER_xTaskAbortDelay( xTask );
4624
4625 configASSERT( pxTCB );
4626
4627 vTaskSuspendAll();
4628 {
4629 /* A task can only be prematurely removed from the Blocked state if
4630 * it is actually in the Blocked state. */
4631 if( eTaskGetState( xTask ) == eBlocked )
4632 {
4633 xReturn = pdPASS;
4634
4635 /* Remove the reference to the task from the blocked list. An
4636 * interrupt won't touch the xStateListItem because the
4637 * scheduler is suspended. */
4638 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
4639
4640 /* Is the task waiting on an event also? If so remove it from
4641 * the event list too. Interrupts can touch the event list item,
4642 * even though the scheduler is suspended, so a critical section
4643 * is used. */
4644 taskENTER_CRITICAL();
4645 {
4646 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
4647 {
4648 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
4649
4650 /* This lets the task know it was forcibly removed from the
4651 * blocked state so it should not re-evaluate its block time and
4652 * then block again. */
4653 pxTCB->ucDelayAborted = pdTRUE;
4654 }
4655 else
4656 {
4657 mtCOVERAGE_TEST_MARKER();
4658 }
4659 }
4660 taskEXIT_CRITICAL();
4661
4662 /* Place the unblocked task into the appropriate ready list. */
4663 prvAddTaskToReadyList( pxTCB );
4664
4665 /* A task being unblocked cannot cause an immediate context
4666 * switch if preemption is turned off. */
4667 #if ( configUSE_PREEMPTION == 1 )
4668 {
4669 #if ( configNUMBER_OF_CORES == 1 )
4670 {
4671 /* Preemption is on, but a context switch should only be
4672 * performed if the unblocked task has a priority that is
4673 * higher than the currently executing task. */
4674 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
4675 {
4676 /* Pend the yield to be performed when the scheduler
4677 * is unsuspended. */
4678 xYieldPendings[ 0 ] = pdTRUE;
4679 }
4680 else
4681 {
4682 mtCOVERAGE_TEST_MARKER();
4683 }
4684 }
4685 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
4686 {
4687 taskENTER_CRITICAL();
4688 {
4689 prvYieldForTask( pxTCB );
4690 }
4691 taskEXIT_CRITICAL();
4692 }
4693 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
4694 }
4695 #endif /* #if ( configUSE_PREEMPTION == 1 ) */
4696 }
4697 else
4698 {
4699 xReturn = pdFAIL;
4700 }
4701 }
4702 ( void ) xTaskResumeAll();
4703
4704 traceRETURN_xTaskAbortDelay( xReturn );
4705
4706 return xReturn;
4707 }
4708
4709 #endif /* INCLUDE_xTaskAbortDelay */
4710 /*----------------------------------------------------------*/
4711
xTaskIncrementTick(void)4712 BaseType_t xTaskIncrementTick( void )
4713 {
4714 TCB_t * pxTCB;
4715 TickType_t xItemValue;
4716 BaseType_t xSwitchRequired = pdFALSE;
4717
4718 #if ( configUSE_PREEMPTION == 1 ) && ( configNUMBER_OF_CORES > 1 )
4719 BaseType_t xYieldRequiredForCore[ configNUMBER_OF_CORES ] = { pdFALSE };
4720 #endif /* #if ( configUSE_PREEMPTION == 1 ) && ( configNUMBER_OF_CORES > 1 ) */
4721
4722 traceENTER_xTaskIncrementTick();
4723
4724 /* Called by the portable layer each time a tick interrupt occurs.
4725 * Increments the tick then checks to see if the new tick value will cause any
4726 * tasks to be unblocked. */
4727 traceTASK_INCREMENT_TICK( xTickCount );
4728
4729 /* Tick increment should occur on every kernel timer event. Core 0 has the
4730 * responsibility to increment the tick, or increment the pended ticks if the
4731 * scheduler is suspended. If pended ticks is greater than zero, the core that
4732 * calls xTaskResumeAll has the responsibility to increment the tick. */
4733 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
4734 {
4735 /* Minor optimisation. The tick count cannot change in this
4736 * block. */
4737 const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
4738
4739 /* Increment the RTOS tick, switching the delayed and overflowed
4740 * delayed lists if it wraps to 0. */
4741 xTickCount = xConstTickCount;
4742
4743 if( xConstTickCount == ( TickType_t ) 0U )
4744 {
4745 taskSWITCH_DELAYED_LISTS();
4746 }
4747 else
4748 {
4749 mtCOVERAGE_TEST_MARKER();
4750 }
4751
4752 /* See if this tick has made a timeout expire. Tasks are stored in
4753 * the queue in the order of their wake time - meaning once one task
4754 * has been found whose block time has not expired there is no need to
4755 * look any further down the list. */
4756 if( xConstTickCount >= xNextTaskUnblockTime )
4757 {
4758 for( ; ; )
4759 {
4760 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
4761 {
4762 /* The delayed list is empty. Set xNextTaskUnblockTime
4763 * to the maximum possible value so it is extremely
4764 * unlikely that the
4765 * if( xTickCount >= xNextTaskUnblockTime ) test will pass
4766 * next time through. */
4767 xNextTaskUnblockTime = portMAX_DELAY;
4768 break;
4769 }
4770 else
4771 {
4772 /* The delayed list is not empty, get the value of the
4773 * item at the head of the delayed list. This is the time
4774 * at which the task at the head of the delayed list must
4775 * be removed from the Blocked state. */
4776 /* MISRA Ref 11.5.3 [Void pointer assignment] */
4777 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
4778 /* coverity[misra_c_2012_rule_11_5_violation] */
4779 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
4780 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
4781
4782 if( xConstTickCount < xItemValue )
4783 {
4784 /* It is not time to unblock this item yet, but the
4785 * item value is the time at which the task at the head
4786 * of the blocked list must be removed from the Blocked
4787 * state - so record the item value in
4788 * xNextTaskUnblockTime. */
4789 xNextTaskUnblockTime = xItemValue;
4790 break;
4791 }
4792 else
4793 {
4794 mtCOVERAGE_TEST_MARKER();
4795 }
4796
4797 /* It is time to remove the item from the Blocked state. */
4798 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
4799
4800 /* Is the task waiting on an event also? If so remove
4801 * it from the event list. */
4802 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
4803 {
4804 listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
4805 }
4806 else
4807 {
4808 mtCOVERAGE_TEST_MARKER();
4809 }
4810
4811 /* Place the unblocked task into the appropriate ready
4812 * list. */
4813 prvAddTaskToReadyList( pxTCB );
4814
4815 /* A task being unblocked cannot cause an immediate
4816 * context switch if preemption is turned off. */
4817 #if ( configUSE_PREEMPTION == 1 )
4818 {
4819 #if ( configNUMBER_OF_CORES == 1 )
4820 {
4821 /* Preemption is on, but a context switch should
4822 * only be performed if the unblocked task's
4823 * priority is higher than the currently executing
4824 * task.
4825 * The case of equal priority tasks sharing
4826 * processing time (which happens when both
4827 * preemption and time slicing are on) is
4828 * handled below.*/
4829 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
4830 {
4831 xSwitchRequired = pdTRUE;
4832 }
4833 else
4834 {
4835 mtCOVERAGE_TEST_MARKER();
4836 }
4837 }
4838 #else /* #if( configNUMBER_OF_CORES == 1 ) */
4839 {
4840 prvYieldForTask( pxTCB );
4841 }
4842 #endif /* #if( configNUMBER_OF_CORES == 1 ) */
4843 }
4844 #endif /* #if ( configUSE_PREEMPTION == 1 ) */
4845 }
4846 }
4847 }
4848
4849 /* Tasks of equal priority to the currently running task will share
4850 * processing time (time slice) if preemption is on, and the application
4851 * writer has not explicitly turned time slicing off. */
4852 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
4853 {
4854 #if ( configNUMBER_OF_CORES == 1 )
4855 {
4856 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1U )
4857 {
4858 xSwitchRequired = pdTRUE;
4859 }
4860 else
4861 {
4862 mtCOVERAGE_TEST_MARKER();
4863 }
4864 }
4865 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
4866 {
4867 BaseType_t xCoreID;
4868
4869 for( xCoreID = 0; xCoreID < ( ( BaseType_t ) configNUMBER_OF_CORES ); xCoreID++ )
4870 {
4871 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ) ) > 1U )
4872 {
4873 xYieldRequiredForCore[ xCoreID ] = pdTRUE;
4874 }
4875 else
4876 {
4877 mtCOVERAGE_TEST_MARKER();
4878 }
4879 }
4880 }
4881 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
4882 }
4883 #endif /* #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
4884
4885 #if ( configUSE_TICK_HOOK == 1 )
4886 {
4887 /* Guard against the tick hook being called when the pended tick
4888 * count is being unwound (when the scheduler is being unlocked). */
4889 if( xPendedTicks == ( TickType_t ) 0 )
4890 {
4891 vApplicationTickHook();
4892 }
4893 else
4894 {
4895 mtCOVERAGE_TEST_MARKER();
4896 }
4897 }
4898 #endif /* configUSE_TICK_HOOK */
4899
4900 #if ( configUSE_PREEMPTION == 1 )
4901 {
4902 #if ( configNUMBER_OF_CORES == 1 )
4903 {
4904 /* For single core the core ID is always 0. */
4905 if( xYieldPendings[ 0 ] != pdFALSE )
4906 {
4907 xSwitchRequired = pdTRUE;
4908 }
4909 else
4910 {
4911 mtCOVERAGE_TEST_MARKER();
4912 }
4913 }
4914 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
4915 {
4916 BaseType_t xCoreID, xCurrentCoreID;
4917 xCurrentCoreID = ( BaseType_t ) portGET_CORE_ID();
4918
4919 for( xCoreID = 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
4920 {
4921 #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
4922 if( pxCurrentTCBs[ xCoreID ]->xPreemptionDisable == pdFALSE )
4923 #endif
4924 {
4925 if( ( xYieldRequiredForCore[ xCoreID ] != pdFALSE ) || ( xYieldPendings[ xCoreID ] != pdFALSE ) )
4926 {
4927 if( xCoreID == xCurrentCoreID )
4928 {
4929 xSwitchRequired = pdTRUE;
4930 }
4931 else
4932 {
4933 prvYieldCore( xCoreID );
4934 }
4935 }
4936 else
4937 {
4938 mtCOVERAGE_TEST_MARKER();
4939 }
4940 }
4941 }
4942 }
4943 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
4944 }
4945 #endif /* #if ( configUSE_PREEMPTION == 1 ) */
4946 }
4947 else
4948 {
4949 ++xPendedTicks;
4950
4951 /* The tick hook gets called at regular intervals, even if the
4952 * scheduler is locked. */
4953 #if ( configUSE_TICK_HOOK == 1 )
4954 {
4955 vApplicationTickHook();
4956 }
4957 #endif
4958 }
4959
4960 traceRETURN_xTaskIncrementTick( xSwitchRequired );
4961
4962 return xSwitchRequired;
4963 }
4964 /*-----------------------------------------------------------*/
4965
4966 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
4967
vTaskSetApplicationTaskTag(TaskHandle_t xTask,TaskHookFunction_t pxHookFunction)4968 void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
4969 TaskHookFunction_t pxHookFunction )
4970 {
4971 TCB_t * xTCB;
4972
4973 traceENTER_vTaskSetApplicationTaskTag( xTask, pxHookFunction );
4974
4975 /* If xTask is NULL then it is the task hook of the calling task that is
4976 * getting set. */
4977 if( xTask == NULL )
4978 {
4979 xTCB = ( TCB_t * ) pxCurrentTCB;
4980 }
4981 else
4982 {
4983 xTCB = xTask;
4984 }
4985
4986 /* Save the hook function in the TCB. A critical section is required as
4987 * the value can be accessed from an interrupt. */
4988 taskENTER_CRITICAL();
4989 {
4990 xTCB->pxTaskTag = pxHookFunction;
4991 }
4992 taskEXIT_CRITICAL();
4993
4994 traceRETURN_vTaskSetApplicationTaskTag();
4995 }
4996
4997 #endif /* configUSE_APPLICATION_TASK_TAG */
4998 /*-----------------------------------------------------------*/
4999
5000 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
5001
xTaskGetApplicationTaskTag(TaskHandle_t xTask)5002 TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
5003 {
5004 TCB_t * pxTCB;
5005 TaskHookFunction_t xReturn;
5006
5007 traceENTER_xTaskGetApplicationTaskTag( xTask );
5008
5009 /* If xTask is NULL then set the calling task's hook. */
5010 pxTCB = prvGetTCBFromHandle( xTask );
5011
5012 /* Save the hook function in the TCB. A critical section is required as
5013 * the value can be accessed from an interrupt. */
5014 taskENTER_CRITICAL();
5015 {
5016 xReturn = pxTCB->pxTaskTag;
5017 }
5018 taskEXIT_CRITICAL();
5019
5020 traceRETURN_xTaskGetApplicationTaskTag( xReturn );
5021
5022 return xReturn;
5023 }
5024
5025 #endif /* configUSE_APPLICATION_TASK_TAG */
5026 /*-----------------------------------------------------------*/
5027
5028 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
5029
xTaskGetApplicationTaskTagFromISR(TaskHandle_t xTask)5030 TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
5031 {
5032 TCB_t * pxTCB;
5033 TaskHookFunction_t xReturn;
5034 UBaseType_t uxSavedInterruptStatus;
5035
5036 traceENTER_xTaskGetApplicationTaskTagFromISR( xTask );
5037
5038 /* If xTask is NULL then set the calling task's hook. */
5039 pxTCB = prvGetTCBFromHandle( xTask );
5040
5041 /* Save the hook function in the TCB. A critical section is required as
5042 * the value can be accessed from an interrupt. */
5043 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
5044 {
5045 xReturn = pxTCB->pxTaskTag;
5046 }
5047 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
5048
5049 traceRETURN_xTaskGetApplicationTaskTagFromISR( xReturn );
5050
5051 return xReturn;
5052 }
5053
5054 #endif /* configUSE_APPLICATION_TASK_TAG */
5055 /*-----------------------------------------------------------*/
5056
5057 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
5058
xTaskCallApplicationTaskHook(TaskHandle_t xTask,void * pvParameter)5059 BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
5060 void * pvParameter )
5061 {
5062 TCB_t * xTCB;
5063 BaseType_t xReturn;
5064
5065 traceENTER_xTaskCallApplicationTaskHook( xTask, pvParameter );
5066
5067 /* If xTask is NULL then we are calling our own task hook. */
5068 if( xTask == NULL )
5069 {
5070 xTCB = pxCurrentTCB;
5071 }
5072 else
5073 {
5074 xTCB = xTask;
5075 }
5076
5077 if( xTCB->pxTaskTag != NULL )
5078 {
5079 xReturn = xTCB->pxTaskTag( pvParameter );
5080 }
5081 else
5082 {
5083 xReturn = pdFAIL;
5084 }
5085
5086 traceRETURN_xTaskCallApplicationTaskHook( xReturn );
5087
5088 return xReturn;
5089 }
5090
5091 #endif /* configUSE_APPLICATION_TASK_TAG */
5092 /*-----------------------------------------------------------*/
5093
5094 #if ( configNUMBER_OF_CORES == 1 )
vTaskSwitchContext(void)5095 void vTaskSwitchContext( void )
5096 {
5097 traceENTER_vTaskSwitchContext();
5098
5099 if( uxSchedulerSuspended != ( UBaseType_t ) 0U )
5100 {
5101 /* The scheduler is currently suspended - do not allow a context
5102 * switch. */
5103 xYieldPendings[ 0 ] = pdTRUE;
5104 }
5105 else
5106 {
5107 xYieldPendings[ 0 ] = pdFALSE;
5108 traceTASK_SWITCHED_OUT();
5109
5110 #if ( configGENERATE_RUN_TIME_STATS == 1 )
5111 {
5112 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
5113 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime[ 0 ] );
5114 #else
5115 ulTotalRunTime[ 0 ] = portGET_RUN_TIME_COUNTER_VALUE();
5116 #endif
5117
5118 /* Add the amount of time the task has been running to the
5119 * accumulated time so far. The time the task started running was
5120 * stored in ulTaskSwitchedInTime. Note that there is no overflow
5121 * protection here so count values are only valid until the timer
5122 * overflows. The guard against negative values is to protect
5123 * against suspect run time stat counter implementations - which
5124 * are provided by the application, not the kernel. */
5125 if( ulTotalRunTime[ 0 ] > ulTaskSwitchedInTime[ 0 ] )
5126 {
5127 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime[ 0 ] - ulTaskSwitchedInTime[ 0 ] );
5128 }
5129 else
5130 {
5131 mtCOVERAGE_TEST_MARKER();
5132 }
5133
5134 ulTaskSwitchedInTime[ 0 ] = ulTotalRunTime[ 0 ];
5135 }
5136 #endif /* configGENERATE_RUN_TIME_STATS */
5137
5138 /* Check for stack overflow, if configured. */
5139 taskCHECK_FOR_STACK_OVERFLOW();
5140
5141 /* Before the currently running task is switched out, save its errno. */
5142 #if ( configUSE_POSIX_ERRNO == 1 )
5143 {
5144 pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
5145 }
5146 #endif
5147
5148 /* Select a new task to run using either the generic C or port
5149 * optimised asm code. */
5150 /* MISRA Ref 11.5.3 [Void pointer assignment] */
5151 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
5152 /* coverity[misra_c_2012_rule_11_5_violation] */
5153 taskSELECT_HIGHEST_PRIORITY_TASK();
5154 traceTASK_SWITCHED_IN();
5155
5156 /* Macro to inject port specific behaviour immediately after
5157 * switching tasks, such as setting an end of stack watchpoint
5158 * or reconfiguring the MPU. */
5159 portTASK_SWITCH_HOOK( pxCurrentTCB );
5160
5161 /* After the new task is switched in, update the global errno. */
5162 #if ( configUSE_POSIX_ERRNO == 1 )
5163 {
5164 FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
5165 }
5166 #endif
5167
5168 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
5169 {
5170 /* Switch C-Runtime's TLS Block to point to the TLS
5171 * Block specific to this task. */
5172 configSET_TLS_BLOCK( pxCurrentTCB->xTLSBlock );
5173 }
5174 #endif
5175 }
5176
5177 traceRETURN_vTaskSwitchContext();
5178 }
5179 #else /* if ( configNUMBER_OF_CORES == 1 ) */
vTaskSwitchContext(BaseType_t xCoreID)5180 void vTaskSwitchContext( BaseType_t xCoreID )
5181 {
5182 traceENTER_vTaskSwitchContext();
5183
5184 /* Acquire both locks:
5185 * - The ISR lock protects the ready list from simultaneous access by
5186 * both other ISRs and tasks.
5187 * - We also take the task lock to pause here in case another core has
5188 * suspended the scheduler. We don't want to simply set xYieldPending
5189 * and move on if another core suspended the scheduler. We should only
5190 * do that if the current core has suspended the scheduler. */
5191
5192 portGET_TASK_LOCK(); /* Must always acquire the task lock first. */
5193 portGET_ISR_LOCK();
5194 {
5195 /* vTaskSwitchContext() must never be called from within a critical section.
5196 * This is not necessarily true for single core FreeRTOS, but it is for this
5197 * SMP port. */
5198 configASSERT( portGET_CRITICAL_NESTING_COUNT() == 0 );
5199
5200 if( uxSchedulerSuspended != ( UBaseType_t ) 0U )
5201 {
5202 /* The scheduler is currently suspended - do not allow a context
5203 * switch. */
5204 xYieldPendings[ xCoreID ] = pdTRUE;
5205 }
5206 else
5207 {
5208 xYieldPendings[ xCoreID ] = pdFALSE;
5209 traceTASK_SWITCHED_OUT();
5210
5211 #if ( configGENERATE_RUN_TIME_STATS == 1 )
5212 {
5213 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
5214 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime[ xCoreID ] );
5215 #else
5216 ulTotalRunTime[ xCoreID ] = portGET_RUN_TIME_COUNTER_VALUE();
5217 #endif
5218
5219 /* Add the amount of time the task has been running to the
5220 * accumulated time so far. The time the task started running was
5221 * stored in ulTaskSwitchedInTime. Note that there is no overflow
5222 * protection here so count values are only valid until the timer
5223 * overflows. The guard against negative values is to protect
5224 * against suspect run time stat counter implementations - which
5225 * are provided by the application, not the kernel. */
5226 if( ulTotalRunTime[ xCoreID ] > ulTaskSwitchedInTime[ xCoreID ] )
5227 {
5228 pxCurrentTCBs[ xCoreID ]->ulRunTimeCounter += ( ulTotalRunTime[ xCoreID ] - ulTaskSwitchedInTime[ xCoreID ] );
5229 }
5230 else
5231 {
5232 mtCOVERAGE_TEST_MARKER();
5233 }
5234
5235 ulTaskSwitchedInTime[ xCoreID ] = ulTotalRunTime[ xCoreID ];
5236 }
5237 #endif /* configGENERATE_RUN_TIME_STATS */
5238
5239 /* Check for stack overflow, if configured. */
5240 taskCHECK_FOR_STACK_OVERFLOW();
5241
5242 /* Before the currently running task is switched out, save its errno. */
5243 #if ( configUSE_POSIX_ERRNO == 1 )
5244 {
5245 pxCurrentTCBs[ xCoreID ]->iTaskErrno = FreeRTOS_errno;
5246 }
5247 #endif
5248
5249 /* Select a new task to run. */
5250 taskSELECT_HIGHEST_PRIORITY_TASK( xCoreID );
5251 traceTASK_SWITCHED_IN();
5252
5253 /* Macro to inject port specific behaviour immediately after
5254 * switching tasks, such as setting an end of stack watchpoint
5255 * or reconfiguring the MPU. */
5256 portTASK_SWITCH_HOOK( pxCurrentTCBs[ portGET_CORE_ID() ] );
5257
5258 /* After the new task is switched in, update the global errno. */
5259 #if ( configUSE_POSIX_ERRNO == 1 )
5260 {
5261 FreeRTOS_errno = pxCurrentTCBs[ xCoreID ]->iTaskErrno;
5262 }
5263 #endif
5264
5265 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
5266 {
5267 /* Switch C-Runtime's TLS Block to point to the TLS
5268 * Block specific to this task. */
5269 configSET_TLS_BLOCK( pxCurrentTCBs[ xCoreID ]->xTLSBlock );
5270 }
5271 #endif
5272 }
5273 }
5274 portRELEASE_ISR_LOCK();
5275 portRELEASE_TASK_LOCK();
5276
5277 traceRETURN_vTaskSwitchContext();
5278 }
5279 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
5280 /*-----------------------------------------------------------*/
5281
vTaskPlaceOnEventList(List_t * const pxEventList,const TickType_t xTicksToWait)5282 void vTaskPlaceOnEventList( List_t * const pxEventList,
5283 const TickType_t xTicksToWait )
5284 {
5285 traceENTER_vTaskPlaceOnEventList( pxEventList, xTicksToWait );
5286
5287 configASSERT( pxEventList );
5288
5289 /* THIS FUNCTION MUST BE CALLED WITH THE
5290 * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
5291
5292 /* Place the event list item of the TCB in the appropriate event list.
5293 * This is placed in the list in priority order so the highest priority task
5294 * is the first to be woken by the event.
5295 *
5296 * Note: Lists are sorted in ascending order by ListItem_t.xItemValue.
5297 * Normally, the xItemValue of a TCB's ListItem_t members is:
5298 * xItemValue = ( configMAX_PRIORITIES - uxPriority )
5299 * Therefore, the event list is sorted in descending priority order.
5300 *
5301 * The queue that contains the event list is locked, preventing
5302 * simultaneous access from interrupts. */
5303 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
5304
5305 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
5306
5307 traceRETURN_vTaskPlaceOnEventList();
5308 }
5309 /*-----------------------------------------------------------*/
5310
vTaskPlaceOnUnorderedEventList(List_t * pxEventList,const TickType_t xItemValue,const TickType_t xTicksToWait)5311 void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
5312 const TickType_t xItemValue,
5313 const TickType_t xTicksToWait )
5314 {
5315 traceENTER_vTaskPlaceOnUnorderedEventList( pxEventList, xItemValue, xTicksToWait );
5316
5317 configASSERT( pxEventList );
5318
5319 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
5320 * the event groups implementation. */
5321 configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
5322
5323 /* Store the item value in the event list item. It is safe to access the
5324 * event list item here as interrupts won't access the event list item of a
5325 * task that is not in the Blocked state. */
5326 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
5327
5328 /* Place the event list item of the TCB at the end of the appropriate event
5329 * list. It is safe to access the event list here because it is part of an
5330 * event group implementation - and interrupts don't access event groups
5331 * directly (instead they access them indirectly by pending function calls to
5332 * the task level). */
5333 listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
5334
5335 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
5336
5337 traceRETURN_vTaskPlaceOnUnorderedEventList();
5338 }
5339 /*-----------------------------------------------------------*/
5340
5341 #if ( configUSE_TIMERS == 1 )
5342
vTaskPlaceOnEventListRestricted(List_t * const pxEventList,TickType_t xTicksToWait,const BaseType_t xWaitIndefinitely)5343 void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
5344 TickType_t xTicksToWait,
5345 const BaseType_t xWaitIndefinitely )
5346 {
5347 traceENTER_vTaskPlaceOnEventListRestricted( pxEventList, xTicksToWait, xWaitIndefinitely );
5348
5349 configASSERT( pxEventList );
5350
5351 /* This function should not be called by application code hence the
5352 * 'Restricted' in its name. It is not part of the public API. It is
5353 * designed for use by kernel code, and has special calling requirements -
5354 * it should be called with the scheduler suspended. */
5355
5356
5357 /* Place the event list item of the TCB in the appropriate event list.
5358 * In this case it is assume that this is the only task that is going to
5359 * be waiting on this event list, so the faster vListInsertEnd() function
5360 * can be used in place of vListInsert. */
5361 listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
5362
5363 /* If the task should block indefinitely then set the block time to a
5364 * value that will be recognised as an indefinite delay inside the
5365 * prvAddCurrentTaskToDelayedList() function. */
5366 if( xWaitIndefinitely != pdFALSE )
5367 {
5368 xTicksToWait = portMAX_DELAY;
5369 }
5370
5371 traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
5372 prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
5373
5374 traceRETURN_vTaskPlaceOnEventListRestricted();
5375 }
5376
5377 #endif /* configUSE_TIMERS */
5378 /*-----------------------------------------------------------*/
5379
xTaskRemoveFromEventList(const List_t * const pxEventList)5380 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
5381 {
5382 TCB_t * pxUnblockedTCB;
5383 BaseType_t xReturn;
5384
5385 traceENTER_xTaskRemoveFromEventList( pxEventList );
5386
5387 /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
5388 * called from a critical section within an ISR. */
5389
5390 /* The event list is sorted in priority order, so the first in the list can
5391 * be removed as it is known to be the highest priority. Remove the TCB from
5392 * the delayed list, and add it to the ready list.
5393 *
5394 * If an event is for a queue that is locked then this function will never
5395 * get called - the lock count on the queue will get modified instead. This
5396 * means exclusive access to the event list is guaranteed here.
5397 *
5398 * This function assumes that a check has already been made to ensure that
5399 * pxEventList is not empty. */
5400 /* MISRA Ref 11.5.3 [Void pointer assignment] */
5401 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
5402 /* coverity[misra_c_2012_rule_11_5_violation] */
5403 pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
5404 configASSERT( pxUnblockedTCB );
5405 listREMOVE_ITEM( &( pxUnblockedTCB->xEventListItem ) );
5406
5407 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
5408 {
5409 listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
5410 prvAddTaskToReadyList( pxUnblockedTCB );
5411
5412 #if ( configUSE_TICKLESS_IDLE != 0 )
5413 {
5414 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
5415 * might be set to the blocked task's time out time. If the task is
5416 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
5417 * normally left unchanged, because it is automatically reset to a new
5418 * value when the tick count equals xNextTaskUnblockTime. However if
5419 * tickless idling is used it might be more important to enter sleep mode
5420 * at the earliest possible time - so reset xNextTaskUnblockTime here to
5421 * ensure it is updated at the earliest possible time. */
5422 prvResetNextTaskUnblockTime();
5423 }
5424 #endif
5425 }
5426 else
5427 {
5428 /* The delayed and ready lists cannot be accessed, so hold this task
5429 * pending until the scheduler is resumed. */
5430 listINSERT_END( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
5431 }
5432
5433 #if ( configNUMBER_OF_CORES == 1 )
5434 {
5435 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
5436 {
5437 /* Return true if the task removed from the event list has a higher
5438 * priority than the calling task. This allows the calling task to know if
5439 * it should force a context switch now. */
5440 xReturn = pdTRUE;
5441
5442 /* Mark that a yield is pending in case the user is not using the
5443 * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
5444 xYieldPendings[ 0 ] = pdTRUE;
5445 }
5446 else
5447 {
5448 xReturn = pdFALSE;
5449 }
5450 }
5451 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
5452 {
5453 xReturn = pdFALSE;
5454
5455 #if ( configUSE_PREEMPTION == 1 )
5456 {
5457 prvYieldForTask( pxUnblockedTCB );
5458
5459 if( xYieldPendings[ portGET_CORE_ID() ] != pdFALSE )
5460 {
5461 xReturn = pdTRUE;
5462 }
5463 }
5464 #endif /* #if ( configUSE_PREEMPTION == 1 ) */
5465 }
5466 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
5467
5468 traceRETURN_xTaskRemoveFromEventList( xReturn );
5469 return xReturn;
5470 }
5471 /*-----------------------------------------------------------*/
5472
vTaskRemoveFromUnorderedEventList(ListItem_t * pxEventListItem,const TickType_t xItemValue)5473 void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
5474 const TickType_t xItemValue )
5475 {
5476 TCB_t * pxUnblockedTCB;
5477
5478 traceENTER_vTaskRemoveFromUnorderedEventList( pxEventListItem, xItemValue );
5479
5480 /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
5481 * the event flags implementation. */
5482 configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
5483
5484 /* Store the new item value in the event list. */
5485 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
5486
5487 /* Remove the event list form the event flag. Interrupts do not access
5488 * event flags. */
5489 /* MISRA Ref 11.5.3 [Void pointer assignment] */
5490 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
5491 /* coverity[misra_c_2012_rule_11_5_violation] */
5492 pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem );
5493 configASSERT( pxUnblockedTCB );
5494 listREMOVE_ITEM( pxEventListItem );
5495
5496 #if ( configUSE_TICKLESS_IDLE != 0 )
5497 {
5498 /* If a task is blocked on a kernel object then xNextTaskUnblockTime
5499 * might be set to the blocked task's time out time. If the task is
5500 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
5501 * normally left unchanged, because it is automatically reset to a new
5502 * value when the tick count equals xNextTaskUnblockTime. However if
5503 * tickless idling is used it might be more important to enter sleep mode
5504 * at the earliest possible time - so reset xNextTaskUnblockTime here to
5505 * ensure it is updated at the earliest possible time. */
5506 prvResetNextTaskUnblockTime();
5507 }
5508 #endif
5509
5510 /* Remove the task from the delayed list and add it to the ready list. The
5511 * scheduler is suspended so interrupts will not be accessing the ready
5512 * lists. */
5513 listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
5514 prvAddTaskToReadyList( pxUnblockedTCB );
5515
5516 #if ( configNUMBER_OF_CORES == 1 )
5517 {
5518 if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
5519 {
5520 /* The unblocked task has a priority above that of the calling task, so
5521 * a context switch is required. This function is called with the
5522 * scheduler suspended so xYieldPending is set so the context switch
5523 * occurs immediately that the scheduler is resumed (unsuspended). */
5524 xYieldPendings[ 0 ] = pdTRUE;
5525 }
5526 }
5527 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
5528 {
5529 #if ( configUSE_PREEMPTION == 1 )
5530 {
5531 taskENTER_CRITICAL();
5532 {
5533 prvYieldForTask( pxUnblockedTCB );
5534 }
5535 taskEXIT_CRITICAL();
5536 }
5537 #endif
5538 }
5539 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
5540
5541 traceRETURN_vTaskRemoveFromUnorderedEventList();
5542 }
5543 /*-----------------------------------------------------------*/
5544
vTaskSetTimeOutState(TimeOut_t * const pxTimeOut)5545 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
5546 {
5547 traceENTER_vTaskSetTimeOutState( pxTimeOut );
5548
5549 configASSERT( pxTimeOut );
5550 taskENTER_CRITICAL();
5551 {
5552 pxTimeOut->xOverflowCount = xNumOfOverflows;
5553 pxTimeOut->xTimeOnEntering = xTickCount;
5554 }
5555 taskEXIT_CRITICAL();
5556
5557 traceRETURN_vTaskSetTimeOutState();
5558 }
5559 /*-----------------------------------------------------------*/
5560
vTaskInternalSetTimeOutState(TimeOut_t * const pxTimeOut)5561 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
5562 {
5563 traceENTER_vTaskInternalSetTimeOutState( pxTimeOut );
5564
5565 /* For internal use only as it does not use a critical section. */
5566 pxTimeOut->xOverflowCount = xNumOfOverflows;
5567 pxTimeOut->xTimeOnEntering = xTickCount;
5568
5569 traceRETURN_vTaskInternalSetTimeOutState();
5570 }
5571 /*-----------------------------------------------------------*/
5572
xTaskCheckForTimeOut(TimeOut_t * const pxTimeOut,TickType_t * const pxTicksToWait)5573 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
5574 TickType_t * const pxTicksToWait )
5575 {
5576 BaseType_t xReturn;
5577
5578 traceENTER_xTaskCheckForTimeOut( pxTimeOut, pxTicksToWait );
5579
5580 configASSERT( pxTimeOut );
5581 configASSERT( pxTicksToWait );
5582
5583 taskENTER_CRITICAL();
5584 {
5585 /* Minor optimisation. The tick count cannot change in this block. */
5586 const TickType_t xConstTickCount = xTickCount;
5587 const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
5588
5589 #if ( INCLUDE_xTaskAbortDelay == 1 )
5590 if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
5591 {
5592 /* The delay was aborted, which is not the same as a time out,
5593 * but has the same result. */
5594 pxCurrentTCB->ucDelayAborted = pdFALSE;
5595 xReturn = pdTRUE;
5596 }
5597 else
5598 #endif
5599
5600 #if ( INCLUDE_vTaskSuspend == 1 )
5601 if( *pxTicksToWait == portMAX_DELAY )
5602 {
5603 /* If INCLUDE_vTaskSuspend is set to 1 and the block time
5604 * specified is the maximum block time then the task should block
5605 * indefinitely, and therefore never time out. */
5606 xReturn = pdFALSE;
5607 }
5608 else
5609 #endif
5610
5611 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) )
5612 {
5613 /* The tick count is greater than the time at which
5614 * vTaskSetTimeout() was called, but has also overflowed since
5615 * vTaskSetTimeOut() was called. It must have wrapped all the way
5616 * around and gone past again. This passed since vTaskSetTimeout()
5617 * was called. */
5618 xReturn = pdTRUE;
5619 *pxTicksToWait = ( TickType_t ) 0;
5620 }
5621 else if( xElapsedTime < *pxTicksToWait )
5622 {
5623 /* Not a genuine timeout. Adjust parameters for time remaining. */
5624 *pxTicksToWait -= xElapsedTime;
5625 vTaskInternalSetTimeOutState( pxTimeOut );
5626 xReturn = pdFALSE;
5627 }
5628 else
5629 {
5630 *pxTicksToWait = ( TickType_t ) 0;
5631 xReturn = pdTRUE;
5632 }
5633 }
5634 taskEXIT_CRITICAL();
5635
5636 traceRETURN_xTaskCheckForTimeOut( xReturn );
5637
5638 return xReturn;
5639 }
5640 /*-----------------------------------------------------------*/
5641
vTaskMissedYield(void)5642 void vTaskMissedYield( void )
5643 {
5644 traceENTER_vTaskMissedYield();
5645
5646 /* Must be called from within a critical section. */
5647 xYieldPendings[ portGET_CORE_ID() ] = pdTRUE;
5648
5649 traceRETURN_vTaskMissedYield();
5650 }
5651 /*-----------------------------------------------------------*/
5652
5653 #if ( configUSE_TRACE_FACILITY == 1 )
5654
uxTaskGetTaskNumber(TaskHandle_t xTask)5655 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
5656 {
5657 UBaseType_t uxReturn;
5658 TCB_t const * pxTCB;
5659
5660 traceENTER_uxTaskGetTaskNumber( xTask );
5661
5662 if( xTask != NULL )
5663 {
5664 pxTCB = xTask;
5665 uxReturn = pxTCB->uxTaskNumber;
5666 }
5667 else
5668 {
5669 uxReturn = 0U;
5670 }
5671
5672 traceRETURN_uxTaskGetTaskNumber( uxReturn );
5673
5674 return uxReturn;
5675 }
5676
5677 #endif /* configUSE_TRACE_FACILITY */
5678 /*-----------------------------------------------------------*/
5679
5680 #if ( configUSE_TRACE_FACILITY == 1 )
5681
vTaskSetTaskNumber(TaskHandle_t xTask,const UBaseType_t uxHandle)5682 void vTaskSetTaskNumber( TaskHandle_t xTask,
5683 const UBaseType_t uxHandle )
5684 {
5685 TCB_t * pxTCB;
5686
5687 traceENTER_vTaskSetTaskNumber( xTask, uxHandle );
5688
5689 if( xTask != NULL )
5690 {
5691 pxTCB = xTask;
5692 pxTCB->uxTaskNumber = uxHandle;
5693 }
5694
5695 traceRETURN_vTaskSetTaskNumber();
5696 }
5697
5698 #endif /* configUSE_TRACE_FACILITY */
5699 /*-----------------------------------------------------------*/
5700
5701 /*
5702 * -----------------------------------------------------------
5703 * The passive idle task.
5704 * ----------------------------------------------------------
5705 *
5706 * The passive idle task is used for all the additional cores in a SMP
5707 * system. There must be only 1 active idle task and the rest are passive
5708 * idle tasks.
5709 *
5710 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
5711 * language extensions. The equivalent prototype for this function is:
5712 *
5713 * void prvPassiveIdleTask( void *pvParameters );
5714 */
5715
5716 #if ( configNUMBER_OF_CORES > 1 )
portTASK_FUNCTION(prvPassiveIdleTask,pvParameters)5717 static portTASK_FUNCTION( prvPassiveIdleTask, pvParameters )
5718 {
5719 ( void ) pvParameters;
5720
5721 taskYIELD();
5722
5723 for( ; configCONTROL_INFINITE_LOOP(); )
5724 {
5725 #if ( configUSE_PREEMPTION == 0 )
5726 {
5727 /* If we are not using preemption we keep forcing a task switch to
5728 * see if any other task has become available. If we are using
5729 * preemption we don't need to do this as any task becoming available
5730 * will automatically get the processor anyway. */
5731 taskYIELD();
5732 }
5733 #endif /* configUSE_PREEMPTION */
5734
5735 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
5736 {
5737 /* When using preemption tasks of equal priority will be
5738 * timesliced. If a task that is sharing the idle priority is ready
5739 * to run then the idle task should yield before the end of the
5740 * timeslice.
5741 *
5742 * A critical region is not required here as we are just reading from
5743 * the list, and an occasional incorrect value will not matter. If
5744 * the ready list at the idle priority contains one more task than the
5745 * number of idle tasks, which is equal to the configured numbers of cores
5746 * then a task other than the idle task is ready to execute. */
5747 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUMBER_OF_CORES )
5748 {
5749 taskYIELD();
5750 }
5751 else
5752 {
5753 mtCOVERAGE_TEST_MARKER();
5754 }
5755 }
5756 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
5757
5758 #if ( configUSE_PASSIVE_IDLE_HOOK == 1 )
5759 {
5760 /* Call the user defined function from within the idle task. This
5761 * allows the application designer to add background functionality
5762 * without the overhead of a separate task.
5763 *
5764 * This hook is intended to manage core activity such as disabling cores that go idle.
5765 *
5766 * NOTE: vApplicationPassiveIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
5767 * CALL A FUNCTION THAT MIGHT BLOCK. */
5768 vApplicationPassiveIdleHook();
5769 }
5770 #endif /* configUSE_PASSIVE_IDLE_HOOK */
5771 }
5772 }
5773 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
5774
5775 /*
5776 * -----------------------------------------------------------
5777 * The idle task.
5778 * ----------------------------------------------------------
5779 *
5780 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
5781 * language extensions. The equivalent prototype for this function is:
5782 *
5783 * void prvIdleTask( void *pvParameters );
5784 *
5785 */
5786
portTASK_FUNCTION(prvIdleTask,pvParameters)5787 static portTASK_FUNCTION( prvIdleTask, pvParameters )
5788 {
5789 /* Stop warnings. */
5790 ( void ) pvParameters;
5791
5792 /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
5793 * SCHEDULER IS STARTED. **/
5794
5795 /* In case a task that has a secure context deletes itself, in which case
5796 * the idle task is responsible for deleting the task's secure context, if
5797 * any. */
5798 portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
5799
5800 #if ( configNUMBER_OF_CORES > 1 )
5801 {
5802 /* SMP all cores start up in the idle task. This initial yield gets the application
5803 * tasks started. */
5804 taskYIELD();
5805 }
5806 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
5807
5808 for( ; configCONTROL_INFINITE_LOOP(); )
5809 {
5810 /* See if any tasks have deleted themselves - if so then the idle task
5811 * is responsible for freeing the deleted task's TCB and stack. */
5812 prvCheckTasksWaitingTermination();
5813
5814 #if ( configUSE_PREEMPTION == 0 )
5815 {
5816 /* If we are not using preemption we keep forcing a task switch to
5817 * see if any other task has become available. If we are using
5818 * preemption we don't need to do this as any task becoming available
5819 * will automatically get the processor anyway. */
5820 taskYIELD();
5821 }
5822 #endif /* configUSE_PREEMPTION */
5823
5824 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
5825 {
5826 /* When using preemption tasks of equal priority will be
5827 * timesliced. If a task that is sharing the idle priority is ready
5828 * to run then the idle task should yield before the end of the
5829 * timeslice.
5830 *
5831 * A critical region is not required here as we are just reading from
5832 * the list, and an occasional incorrect value will not matter. If
5833 * the ready list at the idle priority contains one more task than the
5834 * number of idle tasks, which is equal to the configured numbers of cores
5835 * then a task other than the idle task is ready to execute. */
5836 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUMBER_OF_CORES )
5837 {
5838 taskYIELD();
5839 }
5840 else
5841 {
5842 mtCOVERAGE_TEST_MARKER();
5843 }
5844 }
5845 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
5846
5847 #if ( configUSE_IDLE_HOOK == 1 )
5848 {
5849 /* Call the user defined function from within the idle task. */
5850 vApplicationIdleHook();
5851 }
5852 #endif /* configUSE_IDLE_HOOK */
5853
5854 /* This conditional compilation should use inequality to 0, not equality
5855 * to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
5856 * user defined low power mode implementations require
5857 * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
5858 #if ( configUSE_TICKLESS_IDLE != 0 )
5859 {
5860 TickType_t xExpectedIdleTime;
5861
5862 /* It is not desirable to suspend then resume the scheduler on
5863 * each iteration of the idle task. Therefore, a preliminary
5864 * test of the expected idle time is performed without the
5865 * scheduler suspended. The result here is not necessarily
5866 * valid. */
5867 xExpectedIdleTime = prvGetExpectedIdleTime();
5868
5869 if( xExpectedIdleTime >= ( TickType_t ) configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
5870 {
5871 vTaskSuspendAll();
5872 {
5873 /* Now the scheduler is suspended, the expected idle
5874 * time can be sampled again, and this time its value can
5875 * be used. */
5876 configASSERT( xNextTaskUnblockTime >= xTickCount );
5877 xExpectedIdleTime = prvGetExpectedIdleTime();
5878
5879 /* Define the following macro to set xExpectedIdleTime to 0
5880 * if the application does not want
5881 * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
5882 configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
5883
5884 if( xExpectedIdleTime >= ( TickType_t ) configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
5885 {
5886 traceLOW_POWER_IDLE_BEGIN();
5887 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
5888 traceLOW_POWER_IDLE_END();
5889 }
5890 else
5891 {
5892 mtCOVERAGE_TEST_MARKER();
5893 }
5894 }
5895 ( void ) xTaskResumeAll();
5896 }
5897 else
5898 {
5899 mtCOVERAGE_TEST_MARKER();
5900 }
5901 }
5902 #endif /* configUSE_TICKLESS_IDLE */
5903
5904 #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_PASSIVE_IDLE_HOOK == 1 ) )
5905 {
5906 /* Call the user defined function from within the idle task. This
5907 * allows the application designer to add background functionality
5908 * without the overhead of a separate task.
5909 *
5910 * This hook is intended to manage core activity such as disabling cores that go idle.
5911 *
5912 * NOTE: vApplicationPassiveIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
5913 * CALL A FUNCTION THAT MIGHT BLOCK. */
5914 vApplicationPassiveIdleHook();
5915 }
5916 #endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_PASSIVE_IDLE_HOOK == 1 ) ) */
5917 }
5918 }
5919 /*-----------------------------------------------------------*/
5920
5921 #if ( configUSE_TICKLESS_IDLE != 0 )
5922
eTaskConfirmSleepModeStatus(void)5923 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
5924 {
5925 #if ( INCLUDE_vTaskSuspend == 1 )
5926 /* The idle task exists in addition to the application tasks. */
5927 const UBaseType_t uxNonApplicationTasks = configNUMBER_OF_CORES;
5928 #endif /* INCLUDE_vTaskSuspend */
5929
5930 eSleepModeStatus eReturn = eStandardSleep;
5931
5932 traceENTER_eTaskConfirmSleepModeStatus();
5933
5934 /* This function must be called from a critical section. */
5935
5936 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0U )
5937 {
5938 /* A task was made ready while the scheduler was suspended. */
5939 eReturn = eAbortSleep;
5940 }
5941 else if( xYieldPendings[ portGET_CORE_ID() ] != pdFALSE )
5942 {
5943 /* A yield was pended while the scheduler was suspended. */
5944 eReturn = eAbortSleep;
5945 }
5946 else if( xPendedTicks != 0U )
5947 {
5948 /* A tick interrupt has already occurred but was held pending
5949 * because the scheduler is suspended. */
5950 eReturn = eAbortSleep;
5951 }
5952
5953 #if ( INCLUDE_vTaskSuspend == 1 )
5954 else if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
5955 {
5956 /* If all the tasks are in the suspended list (which might mean they
5957 * have an infinite block time rather than actually being suspended)
5958 * then it is safe to turn all clocks off and just wait for external
5959 * interrupts. */
5960 eReturn = eNoTasksWaitingTimeout;
5961 }
5962 #endif /* INCLUDE_vTaskSuspend */
5963 else
5964 {
5965 mtCOVERAGE_TEST_MARKER();
5966 }
5967
5968 traceRETURN_eTaskConfirmSleepModeStatus( eReturn );
5969
5970 return eReturn;
5971 }
5972
5973 #endif /* configUSE_TICKLESS_IDLE */
5974 /*-----------------------------------------------------------*/
5975
5976 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
5977
vTaskSetThreadLocalStoragePointer(TaskHandle_t xTaskToSet,BaseType_t xIndex,void * pvValue)5978 void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
5979 BaseType_t xIndex,
5980 void * pvValue )
5981 {
5982 TCB_t * pxTCB;
5983
5984 traceENTER_vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue );
5985
5986 if( ( xIndex >= 0 ) &&
5987 ( xIndex < ( BaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS ) )
5988 {
5989 pxTCB = prvGetTCBFromHandle( xTaskToSet );
5990 configASSERT( pxTCB != NULL );
5991 pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
5992 }
5993
5994 traceRETURN_vTaskSetThreadLocalStoragePointer();
5995 }
5996
5997 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
5998 /*-----------------------------------------------------------*/
5999
6000 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
6001
pvTaskGetThreadLocalStoragePointer(TaskHandle_t xTaskToQuery,BaseType_t xIndex)6002 void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
6003 BaseType_t xIndex )
6004 {
6005 void * pvReturn = NULL;
6006 TCB_t * pxTCB;
6007
6008 traceENTER_pvTaskGetThreadLocalStoragePointer( xTaskToQuery, xIndex );
6009
6010 if( ( xIndex >= 0 ) &&
6011 ( xIndex < ( BaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS ) )
6012 {
6013 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
6014 pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
6015 }
6016 else
6017 {
6018 pvReturn = NULL;
6019 }
6020
6021 traceRETURN_pvTaskGetThreadLocalStoragePointer( pvReturn );
6022
6023 return pvReturn;
6024 }
6025
6026 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
6027 /*-----------------------------------------------------------*/
6028
6029 #if ( portUSING_MPU_WRAPPERS == 1 )
6030
vTaskAllocateMPURegions(TaskHandle_t xTaskToModify,const MemoryRegion_t * const pxRegions)6031 void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
6032 const MemoryRegion_t * const pxRegions )
6033 {
6034 TCB_t * pxTCB;
6035
6036 traceENTER_vTaskAllocateMPURegions( xTaskToModify, pxRegions );
6037
6038 /* If null is passed in here then we are modifying the MPU settings of
6039 * the calling task. */
6040 pxTCB = prvGetTCBFromHandle( xTaskToModify );
6041
6042 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), pxRegions, NULL, 0 );
6043
6044 traceRETURN_vTaskAllocateMPURegions();
6045 }
6046
6047 #endif /* portUSING_MPU_WRAPPERS */
6048 /*-----------------------------------------------------------*/
6049
prvInitialiseTaskLists(void)6050 static void prvInitialiseTaskLists( void )
6051 {
6052 UBaseType_t uxPriority;
6053
6054 for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
6055 {
6056 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
6057 }
6058
6059 vListInitialise( &xDelayedTaskList1 );
6060 vListInitialise( &xDelayedTaskList2 );
6061 vListInitialise( &xPendingReadyList );
6062
6063 #if ( INCLUDE_vTaskDelete == 1 )
6064 {
6065 vListInitialise( &xTasksWaitingTermination );
6066 }
6067 #endif /* INCLUDE_vTaskDelete */
6068
6069 #if ( INCLUDE_vTaskSuspend == 1 )
6070 {
6071 vListInitialise( &xSuspendedTaskList );
6072 }
6073 #endif /* INCLUDE_vTaskSuspend */
6074
6075 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
6076 * using list2. */
6077 pxDelayedTaskList = &xDelayedTaskList1;
6078 pxOverflowDelayedTaskList = &xDelayedTaskList2;
6079 }
6080 /*-----------------------------------------------------------*/
6081
prvCheckTasksWaitingTermination(void)6082 static void prvCheckTasksWaitingTermination( void )
6083 {
6084 /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
6085
6086 #if ( INCLUDE_vTaskDelete == 1 )
6087 {
6088 TCB_t * pxTCB;
6089
6090 /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
6091 * being called too often in the idle task. */
6092 while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
6093 {
6094 #if ( configNUMBER_OF_CORES == 1 )
6095 {
6096 taskENTER_CRITICAL();
6097 {
6098 {
6099 /* MISRA Ref 11.5.3 [Void pointer assignment] */
6100 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
6101 /* coverity[misra_c_2012_rule_11_5_violation] */
6102 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
6103 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
6104 --uxCurrentNumberOfTasks;
6105 --uxDeletedTasksWaitingCleanUp;
6106 }
6107 }
6108 taskEXIT_CRITICAL();
6109
6110 prvDeleteTCB( pxTCB );
6111 }
6112 #else /* #if( configNUMBER_OF_CORES == 1 ) */
6113 {
6114 pxTCB = NULL;
6115
6116 taskENTER_CRITICAL();
6117 {
6118 /* For SMP, multiple idles can be running simultaneously
6119 * and we need to check that other idles did not cleanup while we were
6120 * waiting to enter the critical section. */
6121 if( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
6122 {
6123 /* MISRA Ref 11.5.3 [Void pointer assignment] */
6124 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
6125 /* coverity[misra_c_2012_rule_11_5_violation] */
6126 pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
6127
6128 if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
6129 {
6130 ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
6131 --uxCurrentNumberOfTasks;
6132 --uxDeletedTasksWaitingCleanUp;
6133 }
6134 else
6135 {
6136 /* The TCB to be deleted still has not yet been switched out
6137 * by the scheduler, so we will just exit this loop early and
6138 * try again next time. */
6139 taskEXIT_CRITICAL();
6140 break;
6141 }
6142 }
6143 }
6144 taskEXIT_CRITICAL();
6145
6146 if( pxTCB != NULL )
6147 {
6148 prvDeleteTCB( pxTCB );
6149 }
6150 }
6151 #endif /* #if( configNUMBER_OF_CORES == 1 ) */
6152 }
6153 }
6154 #endif /* INCLUDE_vTaskDelete */
6155 }
6156 /*-----------------------------------------------------------*/
6157
6158 #if ( configUSE_TRACE_FACILITY == 1 )
6159
vTaskGetInfo(TaskHandle_t xTask,TaskStatus_t * pxTaskStatus,BaseType_t xGetFreeStackSpace,eTaskState eState)6160 void vTaskGetInfo( TaskHandle_t xTask,
6161 TaskStatus_t * pxTaskStatus,
6162 BaseType_t xGetFreeStackSpace,
6163 eTaskState eState )
6164 {
6165 TCB_t * pxTCB;
6166
6167 traceENTER_vTaskGetInfo( xTask, pxTaskStatus, xGetFreeStackSpace, eState );
6168
6169 /* xTask is NULL then get the state of the calling task. */
6170 pxTCB = prvGetTCBFromHandle( xTask );
6171
6172 pxTaskStatus->xHandle = pxTCB;
6173 pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
6174 pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
6175 pxTaskStatus->pxStackBase = pxTCB->pxStack;
6176 #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
6177 pxTaskStatus->pxTopOfStack = ( StackType_t * ) pxTCB->pxTopOfStack;
6178 pxTaskStatus->pxEndOfStack = pxTCB->pxEndOfStack;
6179 #endif
6180 pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
6181
6182 #if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
6183 {
6184 pxTaskStatus->uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
6185 }
6186 #endif
6187
6188 #if ( configUSE_MUTEXES == 1 )
6189 {
6190 pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
6191 }
6192 #else
6193 {
6194 pxTaskStatus->uxBasePriority = 0;
6195 }
6196 #endif
6197
6198 #if ( configGENERATE_RUN_TIME_STATS == 1 )
6199 {
6200 pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
6201 }
6202 #else
6203 {
6204 pxTaskStatus->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0;
6205 }
6206 #endif
6207
6208 /* Obtaining the task state is a little fiddly, so is only done if the
6209 * value of eState passed into this function is eInvalid - otherwise the
6210 * state is just set to whatever is passed in. */
6211 if( eState != eInvalid )
6212 {
6213 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
6214 {
6215 pxTaskStatus->eCurrentState = eRunning;
6216 }
6217 else
6218 {
6219 pxTaskStatus->eCurrentState = eState;
6220
6221 #if ( INCLUDE_vTaskSuspend == 1 )
6222 {
6223 /* If the task is in the suspended list then there is a
6224 * chance it is actually just blocked indefinitely - so really
6225 * it should be reported as being in the Blocked state. */
6226 if( eState == eSuspended )
6227 {
6228 vTaskSuspendAll();
6229 {
6230 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
6231 {
6232 pxTaskStatus->eCurrentState = eBlocked;
6233 }
6234 else
6235 {
6236 BaseType_t x;
6237
6238 /* The task does not appear on the event list item of
6239 * and of the RTOS objects, but could still be in the
6240 * blocked state if it is waiting on its notification
6241 * rather than waiting on an object. If not, is
6242 * suspended. */
6243 for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
6244 {
6245 if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
6246 {
6247 pxTaskStatus->eCurrentState = eBlocked;
6248 break;
6249 }
6250 }
6251 }
6252 }
6253 ( void ) xTaskResumeAll();
6254 }
6255 }
6256 #endif /* INCLUDE_vTaskSuspend */
6257
6258 /* Tasks can be in pending ready list and other state list at the
6259 * same time. These tasks are in ready state no matter what state
6260 * list the task is in. */
6261 taskENTER_CRITICAL();
6262 {
6263 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdFALSE )
6264 {
6265 pxTaskStatus->eCurrentState = eReady;
6266 }
6267 }
6268 taskEXIT_CRITICAL();
6269 }
6270 }
6271 else
6272 {
6273 pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
6274 }
6275
6276 /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
6277 * parameter is provided to allow it to be skipped. */
6278 if( xGetFreeStackSpace != pdFALSE )
6279 {
6280 #if ( portSTACK_GROWTH > 0 )
6281 {
6282 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
6283 }
6284 #else
6285 {
6286 pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
6287 }
6288 #endif
6289 }
6290 else
6291 {
6292 pxTaskStatus->usStackHighWaterMark = 0;
6293 }
6294
6295 traceRETURN_vTaskGetInfo();
6296 }
6297
6298 #endif /* configUSE_TRACE_FACILITY */
6299 /*-----------------------------------------------------------*/
6300
6301 #if ( configUSE_TRACE_FACILITY == 1 )
6302
prvListTasksWithinSingleList(TaskStatus_t * pxTaskStatusArray,List_t * pxList,eTaskState eState)6303 static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
6304 List_t * pxList,
6305 eTaskState eState )
6306 {
6307 configLIST_VOLATILE TCB_t * pxNextTCB;
6308 configLIST_VOLATILE TCB_t * pxFirstTCB;
6309 UBaseType_t uxTask = 0;
6310
6311 if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
6312 {
6313 /* MISRA Ref 11.5.3 [Void pointer assignment] */
6314 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
6315 /* coverity[misra_c_2012_rule_11_5_violation] */
6316 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
6317
6318 /* Populate an TaskStatus_t structure within the
6319 * pxTaskStatusArray array for each task that is referenced from
6320 * pxList. See the definition of TaskStatus_t in task.h for the
6321 * meaning of each TaskStatus_t structure member. */
6322 do
6323 {
6324 /* MISRA Ref 11.5.3 [Void pointer assignment] */
6325 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
6326 /* coverity[misra_c_2012_rule_11_5_violation] */
6327 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
6328 vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
6329 uxTask++;
6330 } while( pxNextTCB != pxFirstTCB );
6331 }
6332 else
6333 {
6334 mtCOVERAGE_TEST_MARKER();
6335 }
6336
6337 return uxTask;
6338 }
6339
6340 #endif /* configUSE_TRACE_FACILITY */
6341 /*-----------------------------------------------------------*/
6342
6343 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
6344
prvTaskCheckFreeStackSpace(const uint8_t * pucStackByte)6345 static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
6346 {
6347 uint32_t ulCount = 0U;
6348
6349 while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
6350 {
6351 pucStackByte -= portSTACK_GROWTH;
6352 ulCount++;
6353 }
6354
6355 ulCount /= ( uint32_t ) sizeof( StackType_t );
6356
6357 return ( configSTACK_DEPTH_TYPE ) ulCount;
6358 }
6359
6360 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
6361 /*-----------------------------------------------------------*/
6362
6363 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
6364
6365 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
6366 * same except for their return type. Using configSTACK_DEPTH_TYPE allows the
6367 * user to determine the return type. It gets around the problem of the value
6368 * overflowing on 8-bit types without breaking backward compatibility for
6369 * applications that expect an 8-bit return type. */
uxTaskGetStackHighWaterMark2(TaskHandle_t xTask)6370 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
6371 {
6372 TCB_t * pxTCB;
6373 uint8_t * pucEndOfStack;
6374 configSTACK_DEPTH_TYPE uxReturn;
6375
6376 traceENTER_uxTaskGetStackHighWaterMark2( xTask );
6377
6378 /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
6379 * the same except for their return type. Using configSTACK_DEPTH_TYPE
6380 * allows the user to determine the return type. It gets around the
6381 * problem of the value overflowing on 8-bit types without breaking
6382 * backward compatibility for applications that expect an 8-bit return
6383 * type. */
6384
6385 pxTCB = prvGetTCBFromHandle( xTask );
6386
6387 #if portSTACK_GROWTH < 0
6388 {
6389 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
6390 }
6391 #else
6392 {
6393 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
6394 }
6395 #endif
6396
6397 uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
6398
6399 traceRETURN_uxTaskGetStackHighWaterMark2( uxReturn );
6400
6401 return uxReturn;
6402 }
6403
6404 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
6405 /*-----------------------------------------------------------*/
6406
6407 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
6408
uxTaskGetStackHighWaterMark(TaskHandle_t xTask)6409 UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
6410 {
6411 TCB_t * pxTCB;
6412 uint8_t * pucEndOfStack;
6413 UBaseType_t uxReturn;
6414
6415 traceENTER_uxTaskGetStackHighWaterMark( xTask );
6416
6417 pxTCB = prvGetTCBFromHandle( xTask );
6418
6419 #if portSTACK_GROWTH < 0
6420 {
6421 pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
6422 }
6423 #else
6424 {
6425 pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
6426 }
6427 #endif
6428
6429 uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
6430
6431 traceRETURN_uxTaskGetStackHighWaterMark( uxReturn );
6432
6433 return uxReturn;
6434 }
6435
6436 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
6437 /*-----------------------------------------------------------*/
6438
6439 #if ( INCLUDE_vTaskDelete == 1 )
6440
prvDeleteTCB(TCB_t * pxTCB)6441 static void prvDeleteTCB( TCB_t * pxTCB )
6442 {
6443 /* This call is required specifically for the TriCore port. It must be
6444 * above the vPortFree() calls. The call is also used by ports/demos that
6445 * want to allocate and clean RAM statically. */
6446 portCLEAN_UP_TCB( pxTCB );
6447
6448 #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
6449 {
6450 /* Free up the memory allocated for the task's TLS Block. */
6451 configDEINIT_TLS_BLOCK( pxTCB->xTLSBlock );
6452 }
6453 #endif
6454
6455 #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
6456 {
6457 /* The task can only have been allocated dynamically - free both
6458 * the stack and TCB. */
6459 vPortFreeStack( pxTCB->pxStack );
6460 vPortFree( pxTCB );
6461 }
6462 #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
6463 {
6464 /* The task could have been allocated statically or dynamically, so
6465 * check what was statically allocated before trying to free the
6466 * memory. */
6467 if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
6468 {
6469 /* Both the stack and TCB were allocated dynamically, so both
6470 * must be freed. */
6471 vPortFreeStack( pxTCB->pxStack );
6472 vPortFree( pxTCB );
6473 }
6474 else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
6475 {
6476 /* Only the stack was statically allocated, so the TCB is the
6477 * only memory that must be freed. */
6478 vPortFree( pxTCB );
6479 }
6480 else
6481 {
6482 /* Neither the stack nor the TCB were allocated dynamically, so
6483 * nothing needs to be freed. */
6484 configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
6485 mtCOVERAGE_TEST_MARKER();
6486 }
6487 }
6488 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
6489 }
6490
6491 #endif /* INCLUDE_vTaskDelete */
6492 /*-----------------------------------------------------------*/
6493
prvResetNextTaskUnblockTime(void)6494 static void prvResetNextTaskUnblockTime( void )
6495 {
6496 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
6497 {
6498 /* The new current delayed list is empty. Set xNextTaskUnblockTime to
6499 * the maximum possible value so it is extremely unlikely that the
6500 * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
6501 * there is an item in the delayed list. */
6502 xNextTaskUnblockTime = portMAX_DELAY;
6503 }
6504 else
6505 {
6506 /* The new current delayed list is not empty, get the value of
6507 * the item at the head of the delayed list. This is the time at
6508 * which the task at the head of the delayed list should be removed
6509 * from the Blocked state. */
6510 xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
6511 }
6512 }
6513 /*-----------------------------------------------------------*/
6514
6515 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) || ( configNUMBER_OF_CORES > 1 )
6516
6517 #if ( configNUMBER_OF_CORES == 1 )
xTaskGetCurrentTaskHandle(void)6518 TaskHandle_t xTaskGetCurrentTaskHandle( void )
6519 {
6520 TaskHandle_t xReturn;
6521
6522 traceENTER_xTaskGetCurrentTaskHandle();
6523
6524 /* A critical section is not required as this is not called from
6525 * an interrupt and the current TCB will always be the same for any
6526 * individual execution thread. */
6527 xReturn = pxCurrentTCB;
6528
6529 traceRETURN_xTaskGetCurrentTaskHandle( xReturn );
6530
6531 return xReturn;
6532 }
6533 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
xTaskGetCurrentTaskHandle(void)6534 TaskHandle_t xTaskGetCurrentTaskHandle( void )
6535 {
6536 TaskHandle_t xReturn;
6537 UBaseType_t uxSavedInterruptStatus;
6538
6539 traceENTER_xTaskGetCurrentTaskHandle();
6540
6541 uxSavedInterruptStatus = portSET_INTERRUPT_MASK();
6542 {
6543 xReturn = pxCurrentTCBs[ portGET_CORE_ID() ];
6544 }
6545 portCLEAR_INTERRUPT_MASK( uxSavedInterruptStatus );
6546
6547 traceRETURN_xTaskGetCurrentTaskHandle( xReturn );
6548
6549 return xReturn;
6550 }
6551
xTaskGetCurrentTaskHandleForCore(BaseType_t xCoreID)6552 TaskHandle_t xTaskGetCurrentTaskHandleForCore( BaseType_t xCoreID )
6553 {
6554 TaskHandle_t xReturn = NULL;
6555
6556 traceENTER_xTaskGetCurrentTaskHandleForCore( xCoreID );
6557
6558 if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
6559 {
6560 xReturn = pxCurrentTCBs[ xCoreID ];
6561 }
6562
6563 traceRETURN_xTaskGetCurrentTaskHandleForCore( xReturn );
6564
6565 return xReturn;
6566 }
6567 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
6568
6569 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
6570 /*-----------------------------------------------------------*/
6571
6572 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
6573
xTaskGetSchedulerState(void)6574 BaseType_t xTaskGetSchedulerState( void )
6575 {
6576 BaseType_t xReturn;
6577
6578 traceENTER_xTaskGetSchedulerState();
6579
6580 if( xSchedulerRunning == pdFALSE )
6581 {
6582 xReturn = taskSCHEDULER_NOT_STARTED;
6583 }
6584 else
6585 {
6586 #if ( configNUMBER_OF_CORES > 1 )
6587 taskENTER_CRITICAL();
6588 #endif
6589 {
6590 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
6591 {
6592 xReturn = taskSCHEDULER_RUNNING;
6593 }
6594 else
6595 {
6596 xReturn = taskSCHEDULER_SUSPENDED;
6597 }
6598 }
6599 #if ( configNUMBER_OF_CORES > 1 )
6600 taskEXIT_CRITICAL();
6601 #endif
6602 }
6603
6604 traceRETURN_xTaskGetSchedulerState( xReturn );
6605
6606 return xReturn;
6607 }
6608
6609 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
6610 /*-----------------------------------------------------------*/
6611
6612 #if ( configUSE_MUTEXES == 1 )
6613
xTaskPriorityInherit(TaskHandle_t const pxMutexHolder)6614 BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
6615 {
6616 TCB_t * const pxMutexHolderTCB = pxMutexHolder;
6617 BaseType_t xReturn = pdFALSE;
6618
6619 traceENTER_xTaskPriorityInherit( pxMutexHolder );
6620
6621 /* If the mutex is taken by an interrupt, the mutex holder is NULL. Priority
6622 * inheritance is not applied in this scenario. */
6623 if( pxMutexHolder != NULL )
6624 {
6625 /* If the holder of the mutex has a priority below the priority of
6626 * the task attempting to obtain the mutex then it will temporarily
6627 * inherit the priority of the task attempting to obtain the mutex. */
6628 if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
6629 {
6630 /* Adjust the mutex holder state to account for its new
6631 * priority. Only reset the event list item value if the value is
6632 * not being used for anything else. */
6633 if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == ( ( TickType_t ) 0UL ) )
6634 {
6635 listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority );
6636 }
6637 else
6638 {
6639 mtCOVERAGE_TEST_MARKER();
6640 }
6641
6642 /* If the task being modified is in the ready state it will need
6643 * to be moved into a new list. */
6644 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
6645 {
6646 if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
6647 {
6648 /* It is known that the task is in its ready list so
6649 * there is no need to check again and the port level
6650 * reset macro can be called directly. */
6651 portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
6652 }
6653 else
6654 {
6655 mtCOVERAGE_TEST_MARKER();
6656 }
6657
6658 /* Inherit the priority before being moved into the new list. */
6659 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
6660 prvAddTaskToReadyList( pxMutexHolderTCB );
6661 #if ( configNUMBER_OF_CORES > 1 )
6662 {
6663 /* The priority of the task is raised. Yield for this task
6664 * if it is not running. */
6665 if( taskTASK_IS_RUNNING( pxMutexHolderTCB ) != pdTRUE )
6666 {
6667 prvYieldForTask( pxMutexHolderTCB );
6668 }
6669 }
6670 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
6671 }
6672 else
6673 {
6674 /* Just inherit the priority. */
6675 pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
6676 }
6677
6678 traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
6679
6680 /* Inheritance occurred. */
6681 xReturn = pdTRUE;
6682 }
6683 else
6684 {
6685 if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
6686 {
6687 /* The base priority of the mutex holder is lower than the
6688 * priority of the task attempting to take the mutex, but the
6689 * current priority of the mutex holder is not lower than the
6690 * priority of the task attempting to take the mutex.
6691 * Therefore the mutex holder must have already inherited a
6692 * priority, but inheritance would have occurred if that had
6693 * not been the case. */
6694 xReturn = pdTRUE;
6695 }
6696 else
6697 {
6698 mtCOVERAGE_TEST_MARKER();
6699 }
6700 }
6701 }
6702 else
6703 {
6704 mtCOVERAGE_TEST_MARKER();
6705 }
6706
6707 traceRETURN_xTaskPriorityInherit( xReturn );
6708
6709 return xReturn;
6710 }
6711
6712 #endif /* configUSE_MUTEXES */
6713 /*-----------------------------------------------------------*/
6714
6715 #if ( configUSE_MUTEXES == 1 )
6716
xTaskPriorityDisinherit(TaskHandle_t const pxMutexHolder)6717 BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
6718 {
6719 TCB_t * const pxTCB = pxMutexHolder;
6720 BaseType_t xReturn = pdFALSE;
6721
6722 traceENTER_xTaskPriorityDisinherit( pxMutexHolder );
6723
6724 if( pxMutexHolder != NULL )
6725 {
6726 /* A task can only have an inherited priority if it holds the mutex.
6727 * If the mutex is held by a task then it cannot be given from an
6728 * interrupt, and if a mutex is given by the holding task then it must
6729 * be the running state task. */
6730 configASSERT( pxTCB == pxCurrentTCB );
6731 configASSERT( pxTCB->uxMutexesHeld );
6732 ( pxTCB->uxMutexesHeld )--;
6733
6734 /* Has the holder of the mutex inherited the priority of another
6735 * task? */
6736 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
6737 {
6738 /* Only disinherit if no other mutexes are held. */
6739 if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
6740 {
6741 /* A task can only have an inherited priority if it holds
6742 * the mutex. If the mutex is held by a task then it cannot be
6743 * given from an interrupt, and if a mutex is given by the
6744 * holding task then it must be the running state task. Remove
6745 * the holding task from the ready list. */
6746 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
6747 {
6748 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
6749 }
6750 else
6751 {
6752 mtCOVERAGE_TEST_MARKER();
6753 }
6754
6755 /* Disinherit the priority before adding the task into the
6756 * new ready list. */
6757 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
6758 pxTCB->uxPriority = pxTCB->uxBasePriority;
6759
6760 /* Reset the event list item value. It cannot be in use for
6761 * any other purpose if this task is running, and it must be
6762 * running to give back the mutex. */
6763 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority );
6764 prvAddTaskToReadyList( pxTCB );
6765 #if ( configNUMBER_OF_CORES > 1 )
6766 {
6767 /* The priority of the task is dropped. Yield the core on
6768 * which the task is running. */
6769 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
6770 {
6771 prvYieldCore( pxTCB->xTaskRunState );
6772 }
6773 }
6774 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
6775
6776 /* Return true to indicate that a context switch is required.
6777 * This is only actually required in the corner case whereby
6778 * multiple mutexes were held and the mutexes were given back
6779 * in an order different to that in which they were taken.
6780 * If a context switch did not occur when the first mutex was
6781 * returned, even if a task was waiting on it, then a context
6782 * switch should occur when the last mutex is returned whether
6783 * a task is waiting on it or not. */
6784 xReturn = pdTRUE;
6785 }
6786 else
6787 {
6788 mtCOVERAGE_TEST_MARKER();
6789 }
6790 }
6791 else
6792 {
6793 mtCOVERAGE_TEST_MARKER();
6794 }
6795 }
6796 else
6797 {
6798 mtCOVERAGE_TEST_MARKER();
6799 }
6800
6801 traceRETURN_xTaskPriorityDisinherit( xReturn );
6802
6803 return xReturn;
6804 }
6805
6806 #endif /* configUSE_MUTEXES */
6807 /*-----------------------------------------------------------*/
6808
6809 #if ( configUSE_MUTEXES == 1 )
6810
vTaskPriorityDisinheritAfterTimeout(TaskHandle_t const pxMutexHolder,UBaseType_t uxHighestPriorityWaitingTask)6811 void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
6812 UBaseType_t uxHighestPriorityWaitingTask )
6813 {
6814 TCB_t * const pxTCB = pxMutexHolder;
6815 UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
6816 const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
6817
6818 traceENTER_vTaskPriorityDisinheritAfterTimeout( pxMutexHolder, uxHighestPriorityWaitingTask );
6819
6820 if( pxMutexHolder != NULL )
6821 {
6822 /* If pxMutexHolder is not NULL then the holder must hold at least
6823 * one mutex. */
6824 configASSERT( pxTCB->uxMutexesHeld );
6825
6826 /* Determine the priority to which the priority of the task that
6827 * holds the mutex should be set. This will be the greater of the
6828 * holding task's base priority and the priority of the highest
6829 * priority task that is waiting to obtain the mutex. */
6830 if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
6831 {
6832 uxPriorityToUse = uxHighestPriorityWaitingTask;
6833 }
6834 else
6835 {
6836 uxPriorityToUse = pxTCB->uxBasePriority;
6837 }
6838
6839 /* Does the priority need to change? */
6840 if( pxTCB->uxPriority != uxPriorityToUse )
6841 {
6842 /* Only disinherit if no other mutexes are held. This is a
6843 * simplification in the priority inheritance implementation. If
6844 * the task that holds the mutex is also holding other mutexes then
6845 * the other mutexes may have caused the priority inheritance. */
6846 if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
6847 {
6848 /* If a task has timed out because it already holds the
6849 * mutex it was trying to obtain then it cannot of inherited
6850 * its own priority. */
6851 configASSERT( pxTCB != pxCurrentTCB );
6852
6853 /* Disinherit the priority, remembering the previous
6854 * priority to facilitate determining the subject task's
6855 * state. */
6856 traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
6857 uxPriorityUsedOnEntry = pxTCB->uxPriority;
6858 pxTCB->uxPriority = uxPriorityToUse;
6859
6860 /* Only reset the event list item value if the value is not
6861 * being used for anything else. */
6862 if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == ( ( TickType_t ) 0UL ) )
6863 {
6864 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse );
6865 }
6866 else
6867 {
6868 mtCOVERAGE_TEST_MARKER();
6869 }
6870
6871 /* If the running task is not the task that holds the mutex
6872 * then the task that holds the mutex could be in either the
6873 * Ready, Blocked or Suspended states. Only remove the task
6874 * from its current state list if it is in the Ready state as
6875 * the task's priority is going to change and there is one
6876 * Ready list per priority. */
6877 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
6878 {
6879 if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
6880 {
6881 /* It is known that the task is in its ready list so
6882 * there is no need to check again and the port level
6883 * reset macro can be called directly. */
6884 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
6885 }
6886 else
6887 {
6888 mtCOVERAGE_TEST_MARKER();
6889 }
6890
6891 prvAddTaskToReadyList( pxTCB );
6892 #if ( configNUMBER_OF_CORES > 1 )
6893 {
6894 /* The priority of the task is dropped. Yield the core on
6895 * which the task is running. */
6896 if( taskTASK_IS_RUNNING( pxTCB ) == pdTRUE )
6897 {
6898 prvYieldCore( pxTCB->xTaskRunState );
6899 }
6900 }
6901 #endif /* if ( configNUMBER_OF_CORES > 1 ) */
6902 }
6903 else
6904 {
6905 mtCOVERAGE_TEST_MARKER();
6906 }
6907 }
6908 else
6909 {
6910 mtCOVERAGE_TEST_MARKER();
6911 }
6912 }
6913 else
6914 {
6915 mtCOVERAGE_TEST_MARKER();
6916 }
6917 }
6918 else
6919 {
6920 mtCOVERAGE_TEST_MARKER();
6921 }
6922
6923 traceRETURN_vTaskPriorityDisinheritAfterTimeout();
6924 }
6925
6926 #endif /* configUSE_MUTEXES */
6927 /*-----------------------------------------------------------*/
6928
6929 #if ( configNUMBER_OF_CORES > 1 )
6930
6931 /* If not in a critical section then yield immediately.
6932 * Otherwise set xYieldPendings to true to wait to
6933 * yield until exiting the critical section.
6934 */
vTaskYieldWithinAPI(void)6935 void vTaskYieldWithinAPI( void )
6936 {
6937 traceENTER_vTaskYieldWithinAPI();
6938
6939 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
6940 {
6941 portYIELD();
6942 }
6943 else
6944 {
6945 xYieldPendings[ portGET_CORE_ID() ] = pdTRUE;
6946 }
6947
6948 traceRETURN_vTaskYieldWithinAPI();
6949 }
6950 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
6951
6952 /*-----------------------------------------------------------*/
6953
6954 #if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) && ( configNUMBER_OF_CORES == 1 ) )
6955
vTaskEnterCritical(void)6956 void vTaskEnterCritical( void )
6957 {
6958 traceENTER_vTaskEnterCritical();
6959
6960 portDISABLE_INTERRUPTS();
6961
6962 if( xSchedulerRunning != pdFALSE )
6963 {
6964 ( pxCurrentTCB->uxCriticalNesting )++;
6965
6966 /* This is not the interrupt safe version of the enter critical
6967 * function so assert() if it is being called from an interrupt
6968 * context. Only API functions that end in "FromISR" can be used in an
6969 * interrupt. Only assert if the critical nesting count is 1 to
6970 * protect against recursive calls if the assert function also uses a
6971 * critical section. */
6972 if( pxCurrentTCB->uxCriticalNesting == 1U )
6973 {
6974 portASSERT_IF_IN_ISR();
6975 }
6976 }
6977 else
6978 {
6979 mtCOVERAGE_TEST_MARKER();
6980 }
6981
6982 traceRETURN_vTaskEnterCritical();
6983 }
6984
6985 #endif /* #if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) && ( configNUMBER_OF_CORES == 1 ) ) */
6986 /*-----------------------------------------------------------*/
6987
6988 #if ( configNUMBER_OF_CORES > 1 )
6989
vTaskEnterCritical(void)6990 void vTaskEnterCritical( void )
6991 {
6992 traceENTER_vTaskEnterCritical();
6993
6994 portDISABLE_INTERRUPTS();
6995
6996 if( xSchedulerRunning != pdFALSE )
6997 {
6998 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
6999 {
7000 portGET_TASK_LOCK();
7001 portGET_ISR_LOCK();
7002 }
7003
7004 portINCREMENT_CRITICAL_NESTING_COUNT();
7005
7006 /* This is not the interrupt safe version of the enter critical
7007 * function so assert() if it is being called from an interrupt
7008 * context. Only API functions that end in "FromISR" can be used in an
7009 * interrupt. Only assert if the critical nesting count is 1 to
7010 * protect against recursive calls if the assert function also uses a
7011 * critical section. */
7012 if( portGET_CRITICAL_NESTING_COUNT() == 1U )
7013 {
7014 portASSERT_IF_IN_ISR();
7015
7016 if( uxSchedulerSuspended == 0U )
7017 {
7018 /* The only time there would be a problem is if this is called
7019 * before a context switch and vTaskExitCritical() is called
7020 * after pxCurrentTCB changes. Therefore this should not be
7021 * used within vTaskSwitchContext(). */
7022 prvCheckForRunStateChange();
7023 }
7024 }
7025 }
7026 else
7027 {
7028 mtCOVERAGE_TEST_MARKER();
7029 }
7030
7031 traceRETURN_vTaskEnterCritical();
7032 }
7033
7034 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
7035
7036 /*-----------------------------------------------------------*/
7037
7038 #if ( configNUMBER_OF_CORES > 1 )
7039
vTaskEnterCriticalFromISR(void)7040 UBaseType_t vTaskEnterCriticalFromISR( void )
7041 {
7042 UBaseType_t uxSavedInterruptStatus = 0;
7043
7044 traceENTER_vTaskEnterCriticalFromISR();
7045
7046 if( xSchedulerRunning != pdFALSE )
7047 {
7048 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
7049
7050 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
7051 {
7052 portGET_ISR_LOCK();
7053 }
7054
7055 portINCREMENT_CRITICAL_NESTING_COUNT();
7056 }
7057 else
7058 {
7059 mtCOVERAGE_TEST_MARKER();
7060 }
7061
7062 traceRETURN_vTaskEnterCriticalFromISR( uxSavedInterruptStatus );
7063
7064 return uxSavedInterruptStatus;
7065 }
7066
7067 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
7068 /*-----------------------------------------------------------*/
7069
7070 #if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) && ( configNUMBER_OF_CORES == 1 ) )
7071
vTaskExitCritical(void)7072 void vTaskExitCritical( void )
7073 {
7074 traceENTER_vTaskExitCritical();
7075
7076 if( xSchedulerRunning != pdFALSE )
7077 {
7078 /* If pxCurrentTCB->uxCriticalNesting is zero then this function
7079 * does not match a previous call to vTaskEnterCritical(). */
7080 configASSERT( pxCurrentTCB->uxCriticalNesting > 0U );
7081
7082 /* This function should not be called in ISR. Use vTaskExitCriticalFromISR
7083 * to exit critical section from ISR. */
7084 portASSERT_IF_IN_ISR();
7085
7086 if( pxCurrentTCB->uxCriticalNesting > 0U )
7087 {
7088 ( pxCurrentTCB->uxCriticalNesting )--;
7089
7090 if( pxCurrentTCB->uxCriticalNesting == 0U )
7091 {
7092 portENABLE_INTERRUPTS();
7093 }
7094 else
7095 {
7096 mtCOVERAGE_TEST_MARKER();
7097 }
7098 }
7099 else
7100 {
7101 mtCOVERAGE_TEST_MARKER();
7102 }
7103 }
7104 else
7105 {
7106 mtCOVERAGE_TEST_MARKER();
7107 }
7108
7109 traceRETURN_vTaskExitCritical();
7110 }
7111
7112 #endif /* #if ( ( portCRITICAL_NESTING_IN_TCB == 1 ) && ( configNUMBER_OF_CORES == 1 ) ) */
7113 /*-----------------------------------------------------------*/
7114
7115 #if ( configNUMBER_OF_CORES > 1 )
7116
vTaskExitCritical(void)7117 void vTaskExitCritical( void )
7118 {
7119 traceENTER_vTaskExitCritical();
7120
7121 if( xSchedulerRunning != pdFALSE )
7122 {
7123 /* If critical nesting count is zero then this function
7124 * does not match a previous call to vTaskEnterCritical(). */
7125 configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
7126
7127 /* This function should not be called in ISR. Use vTaskExitCriticalFromISR
7128 * to exit critical section from ISR. */
7129 portASSERT_IF_IN_ISR();
7130
7131 if( portGET_CRITICAL_NESTING_COUNT() > 0U )
7132 {
7133 portDECREMENT_CRITICAL_NESTING_COUNT();
7134
7135 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
7136 {
7137 BaseType_t xYieldCurrentTask;
7138
7139 /* Get the xYieldPending stats inside the critical section. */
7140 xYieldCurrentTask = xYieldPendings[ portGET_CORE_ID() ];
7141
7142 portRELEASE_ISR_LOCK();
7143 portRELEASE_TASK_LOCK();
7144 portENABLE_INTERRUPTS();
7145
7146 /* When a task yields in a critical section it just sets
7147 * xYieldPending to true. So now that we have exited the
7148 * critical section check if xYieldPending is true, and
7149 * if so yield. */
7150 if( xYieldCurrentTask != pdFALSE )
7151 {
7152 portYIELD();
7153 }
7154 }
7155 else
7156 {
7157 mtCOVERAGE_TEST_MARKER();
7158 }
7159 }
7160 else
7161 {
7162 mtCOVERAGE_TEST_MARKER();
7163 }
7164 }
7165 else
7166 {
7167 mtCOVERAGE_TEST_MARKER();
7168 }
7169
7170 traceRETURN_vTaskExitCritical();
7171 }
7172
7173 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
7174 /*-----------------------------------------------------------*/
7175
7176 #if ( configNUMBER_OF_CORES > 1 )
7177
vTaskExitCriticalFromISR(UBaseType_t uxSavedInterruptStatus)7178 void vTaskExitCriticalFromISR( UBaseType_t uxSavedInterruptStatus )
7179 {
7180 traceENTER_vTaskExitCriticalFromISR( uxSavedInterruptStatus );
7181
7182 if( xSchedulerRunning != pdFALSE )
7183 {
7184 /* If critical nesting count is zero then this function
7185 * does not match a previous call to vTaskEnterCritical(). */
7186 configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
7187
7188 if( portGET_CRITICAL_NESTING_COUNT() > 0U )
7189 {
7190 portDECREMENT_CRITICAL_NESTING_COUNT();
7191
7192 if( portGET_CRITICAL_NESTING_COUNT() == 0U )
7193 {
7194 portRELEASE_ISR_LOCK();
7195 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
7196 }
7197 else
7198 {
7199 mtCOVERAGE_TEST_MARKER();
7200 }
7201 }
7202 else
7203 {
7204 mtCOVERAGE_TEST_MARKER();
7205 }
7206 }
7207 else
7208 {
7209 mtCOVERAGE_TEST_MARKER();
7210 }
7211
7212 traceRETURN_vTaskExitCriticalFromISR();
7213 }
7214
7215 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
7216 /*-----------------------------------------------------------*/
7217
7218 #if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
7219
prvWriteNameToBuffer(char * pcBuffer,const char * pcTaskName)7220 static char * prvWriteNameToBuffer( char * pcBuffer,
7221 const char * pcTaskName )
7222 {
7223 size_t x;
7224
7225 /* Start by copying the entire string. */
7226 ( void ) strcpy( pcBuffer, pcTaskName );
7227
7228 /* Pad the end of the string with spaces to ensure columns line up when
7229 * printed out. */
7230 for( x = strlen( pcBuffer ); x < ( size_t ) ( ( size_t ) configMAX_TASK_NAME_LEN - 1U ); x++ )
7231 {
7232 pcBuffer[ x ] = ' ';
7233 }
7234
7235 /* Terminate. */
7236 pcBuffer[ x ] = ( char ) 0x00;
7237
7238 /* Return the new end of string. */
7239 return &( pcBuffer[ x ] );
7240 }
7241
7242 #endif /* ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
7243 /*-----------------------------------------------------------*/
7244
7245 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
7246
vTaskListTasks(char * pcWriteBuffer,size_t uxBufferLength)7247 void vTaskListTasks( char * pcWriteBuffer,
7248 size_t uxBufferLength )
7249 {
7250 TaskStatus_t * pxTaskStatusArray;
7251 size_t uxConsumedBufferLength = 0;
7252 size_t uxCharsWrittenBySnprintf;
7253 int iSnprintfReturnValue;
7254 BaseType_t xOutputBufferFull = pdFALSE;
7255 UBaseType_t uxArraySize, x;
7256 char cStatus;
7257
7258 traceENTER_vTaskListTasks( pcWriteBuffer, uxBufferLength );
7259
7260 /*
7261 * PLEASE NOTE:
7262 *
7263 * This function is provided for convenience only, and is used by many
7264 * of the demo applications. Do not consider it to be part of the
7265 * scheduler.
7266 *
7267 * vTaskListTasks() calls uxTaskGetSystemState(), then formats part of the
7268 * uxTaskGetSystemState() output into a human readable table that
7269 * displays task: names, states, priority, stack usage and task number.
7270 * Stack usage specified as the number of unused StackType_t words stack can hold
7271 * on top of stack - not the number of bytes.
7272 *
7273 * vTaskListTasks() has a dependency on the snprintf() C library function that
7274 * might bloat the code size, use a lot of stack, and provide different
7275 * results on different platforms. An alternative, tiny, third party,
7276 * and limited functionality implementation of snprintf() is provided in
7277 * many of the FreeRTOS/Demo sub-directories in a file called
7278 * printf-stdarg.c (note printf-stdarg.c does not provide a full
7279 * snprintf() implementation!).
7280 *
7281 * It is recommended that production systems call uxTaskGetSystemState()
7282 * directly to get access to raw stats data, rather than indirectly
7283 * through a call to vTaskListTasks().
7284 */
7285
7286
7287 /* Make sure the write buffer does not contain a string. */
7288 *pcWriteBuffer = ( char ) 0x00;
7289
7290 /* Take a snapshot of the number of tasks in case it changes while this
7291 * function is executing. */
7292 uxArraySize = uxCurrentNumberOfTasks;
7293
7294 /* Allocate an array index for each task. NOTE! if
7295 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
7296 * equate to NULL. */
7297 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
7298 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
7299 /* coverity[misra_c_2012_rule_11_5_violation] */
7300 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
7301
7302 if( pxTaskStatusArray != NULL )
7303 {
7304 /* Generate the (binary) data. */
7305 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
7306
7307 /* Create a human readable table from the binary data. */
7308 for( x = 0; x < uxArraySize; x++ )
7309 {
7310 switch( pxTaskStatusArray[ x ].eCurrentState )
7311 {
7312 case eRunning:
7313 cStatus = tskRUNNING_CHAR;
7314 break;
7315
7316 case eReady:
7317 cStatus = tskREADY_CHAR;
7318 break;
7319
7320 case eBlocked:
7321 cStatus = tskBLOCKED_CHAR;
7322 break;
7323
7324 case eSuspended:
7325 cStatus = tskSUSPENDED_CHAR;
7326 break;
7327
7328 case eDeleted:
7329 cStatus = tskDELETED_CHAR;
7330 break;
7331
7332 case eInvalid: /* Fall through. */
7333 default: /* Should not get here, but it is included
7334 * to prevent static checking errors. */
7335 cStatus = ( char ) 0x00;
7336 break;
7337 }
7338
7339 /* Is there enough space in the buffer to hold task name? */
7340 if( ( uxConsumedBufferLength + configMAX_TASK_NAME_LEN ) <= uxBufferLength )
7341 {
7342 /* Write the task name to the string, padding with spaces so it
7343 * can be printed in tabular form more easily. */
7344 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
7345 /* Do not count the terminating null character. */
7346 uxConsumedBufferLength = uxConsumedBufferLength + ( configMAX_TASK_NAME_LEN - 1U );
7347
7348 /* Is there space left in the buffer? -1 is done because snprintf
7349 * writes a terminating null character. So we are essentially
7350 * checking if the buffer has space to write at least one non-null
7351 * character. */
7352 if( uxConsumedBufferLength < ( uxBufferLength - 1U ) )
7353 {
7354 /* Write the rest of the string. */
7355 #if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) )
7356 /* MISRA Ref 21.6.1 [snprintf for utility] */
7357 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7358 /* coverity[misra_c_2012_rule_21_6_violation] */
7359 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7360 uxBufferLength - uxConsumedBufferLength,
7361 "\t%c\t%u\t%u\t%u\t0x%x\r\n",
7362 cStatus,
7363 ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority,
7364 ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark,
7365 ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber,
7366 ( unsigned int ) pxTaskStatusArray[ x ].uxCoreAffinityMask );
7367 #else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
7368 /* MISRA Ref 21.6.1 [snprintf for utility] */
7369 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7370 /* coverity[misra_c_2012_rule_21_6_violation] */
7371 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7372 uxBufferLength - uxConsumedBufferLength,
7373 "\t%c\t%u\t%u\t%u\r\n",
7374 cStatus,
7375 ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority,
7376 ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark,
7377 ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
7378 #endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) ) */
7379 uxCharsWrittenBySnprintf = prvSnprintfReturnValueToCharsWritten( iSnprintfReturnValue, uxBufferLength - uxConsumedBufferLength );
7380
7381 uxConsumedBufferLength += uxCharsWrittenBySnprintf;
7382 pcWriteBuffer += uxCharsWrittenBySnprintf;
7383 }
7384 else
7385 {
7386 xOutputBufferFull = pdTRUE;
7387 }
7388 }
7389 else
7390 {
7391 xOutputBufferFull = pdTRUE;
7392 }
7393
7394 if( xOutputBufferFull == pdTRUE )
7395 {
7396 break;
7397 }
7398 }
7399
7400 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
7401 * is 0 then vPortFree() will be #defined to nothing. */
7402 vPortFree( pxTaskStatusArray );
7403 }
7404 else
7405 {
7406 mtCOVERAGE_TEST_MARKER();
7407 }
7408
7409 traceRETURN_vTaskListTasks();
7410 }
7411
7412 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
7413 /*----------------------------------------------------------*/
7414
7415 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configUSE_TRACE_FACILITY == 1 ) )
7416
vTaskGetRunTimeStatistics(char * pcWriteBuffer,size_t uxBufferLength)7417 void vTaskGetRunTimeStatistics( char * pcWriteBuffer,
7418 size_t uxBufferLength )
7419 {
7420 TaskStatus_t * pxTaskStatusArray;
7421 size_t uxConsumedBufferLength = 0;
7422 size_t uxCharsWrittenBySnprintf;
7423 int iSnprintfReturnValue;
7424 BaseType_t xOutputBufferFull = pdFALSE;
7425 UBaseType_t uxArraySize, x;
7426 configRUN_TIME_COUNTER_TYPE ulTotalTime = 0;
7427 configRUN_TIME_COUNTER_TYPE ulStatsAsPercentage;
7428
7429 traceENTER_vTaskGetRunTimeStatistics( pcWriteBuffer, uxBufferLength );
7430
7431 /*
7432 * PLEASE NOTE:
7433 *
7434 * This function is provided for convenience only, and is used by many
7435 * of the demo applications. Do not consider it to be part of the
7436 * scheduler.
7437 *
7438 * vTaskGetRunTimeStatistics() calls uxTaskGetSystemState(), then formats part
7439 * of the uxTaskGetSystemState() output into a human readable table that
7440 * displays the amount of time each task has spent in the Running state
7441 * in both absolute and percentage terms.
7442 *
7443 * vTaskGetRunTimeStatistics() has a dependency on the snprintf() C library
7444 * function that might bloat the code size, use a lot of stack, and
7445 * provide different results on different platforms. An alternative,
7446 * tiny, third party, and limited functionality implementation of
7447 * snprintf() is provided in many of the FreeRTOS/Demo sub-directories in
7448 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
7449 * a full snprintf() implementation!).
7450 *
7451 * It is recommended that production systems call uxTaskGetSystemState()
7452 * directly to get access to raw stats data, rather than indirectly
7453 * through a call to vTaskGetRunTimeStatistics().
7454 */
7455
7456 /* Make sure the write buffer does not contain a string. */
7457 *pcWriteBuffer = ( char ) 0x00;
7458
7459 /* Take a snapshot of the number of tasks in case it changes while this
7460 * function is executing. */
7461 uxArraySize = uxCurrentNumberOfTasks;
7462
7463 /* Allocate an array index for each task. NOTE! If
7464 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
7465 * equate to NULL. */
7466 /* MISRA Ref 11.5.1 [Malloc memory assignment] */
7467 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
7468 /* coverity[misra_c_2012_rule_11_5_violation] */
7469 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) );
7470
7471 if( pxTaskStatusArray != NULL )
7472 {
7473 /* Generate the (binary) data. */
7474 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
7475
7476 /* For percentage calculations. */
7477 ulTotalTime /= ( ( configRUN_TIME_COUNTER_TYPE ) 100UL );
7478
7479 /* Avoid divide by zero errors. */
7480 if( ulTotalTime > 0UL )
7481 {
7482 /* Create a human readable table from the binary data. */
7483 for( x = 0; x < uxArraySize; x++ )
7484 {
7485 /* What percentage of the total run time has the task used?
7486 * This will always be rounded down to the nearest integer.
7487 * ulTotalRunTime has already been divided by 100. */
7488 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
7489
7490 /* Is there enough space in the buffer to hold task name? */
7491 if( ( uxConsumedBufferLength + configMAX_TASK_NAME_LEN ) <= uxBufferLength )
7492 {
7493 /* Write the task name to the string, padding with
7494 * spaces so it can be printed in tabular form more
7495 * easily. */
7496 pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
7497 /* Do not count the terminating null character. */
7498 uxConsumedBufferLength = uxConsumedBufferLength + ( configMAX_TASK_NAME_LEN - 1U );
7499
7500 /* Is there space left in the buffer? -1 is done because snprintf
7501 * writes a terminating null character. So we are essentially
7502 * checking if the buffer has space to write at least one non-null
7503 * character. */
7504 if( uxConsumedBufferLength < ( uxBufferLength - 1U ) )
7505 {
7506 if( ulStatsAsPercentage > 0UL )
7507 {
7508 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
7509 {
7510 /* MISRA Ref 21.6.1 [snprintf for utility] */
7511 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7512 /* coverity[misra_c_2012_rule_21_6_violation] */
7513 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7514 uxBufferLength - uxConsumedBufferLength,
7515 "\t%lu\t\t%lu%%\r\n",
7516 pxTaskStatusArray[ x ].ulRunTimeCounter,
7517 ulStatsAsPercentage );
7518 }
7519 #else /* ifdef portLU_PRINTF_SPECIFIER_REQUIRED */
7520 {
7521 /* sizeof( int ) == sizeof( long ) so a smaller
7522 * printf() library can be used. */
7523 /* MISRA Ref 21.6.1 [snprintf for utility] */
7524 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7525 /* coverity[misra_c_2012_rule_21_6_violation] */
7526 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7527 uxBufferLength - uxConsumedBufferLength,
7528 "\t%u\t\t%u%%\r\n",
7529 ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter,
7530 ( unsigned int ) ulStatsAsPercentage );
7531 }
7532 #endif /* ifdef portLU_PRINTF_SPECIFIER_REQUIRED */
7533 }
7534 else
7535 {
7536 /* If the percentage is zero here then the task has
7537 * consumed less than 1% of the total run time. */
7538 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
7539 {
7540 /* MISRA Ref 21.6.1 [snprintf for utility] */
7541 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7542 /* coverity[misra_c_2012_rule_21_6_violation] */
7543 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7544 uxBufferLength - uxConsumedBufferLength,
7545 "\t%lu\t\t<1%%\r\n",
7546 pxTaskStatusArray[ x ].ulRunTimeCounter );
7547 }
7548 #else
7549 {
7550 /* sizeof( int ) == sizeof( long ) so a smaller
7551 * printf() library can be used. */
7552 /* MISRA Ref 21.6.1 [snprintf for utility] */
7553 /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-216 */
7554 /* coverity[misra_c_2012_rule_21_6_violation] */
7555 iSnprintfReturnValue = snprintf( pcWriteBuffer,
7556 uxBufferLength - uxConsumedBufferLength,
7557 "\t%u\t\t<1%%\r\n",
7558 ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
7559 }
7560 #endif /* ifdef portLU_PRINTF_SPECIFIER_REQUIRED */
7561 }
7562
7563 uxCharsWrittenBySnprintf = prvSnprintfReturnValueToCharsWritten( iSnprintfReturnValue, uxBufferLength - uxConsumedBufferLength );
7564 uxConsumedBufferLength += uxCharsWrittenBySnprintf;
7565 pcWriteBuffer += uxCharsWrittenBySnprintf;
7566 }
7567 else
7568 {
7569 xOutputBufferFull = pdTRUE;
7570 }
7571 }
7572 else
7573 {
7574 xOutputBufferFull = pdTRUE;
7575 }
7576
7577 if( xOutputBufferFull == pdTRUE )
7578 {
7579 break;
7580 }
7581 }
7582 }
7583 else
7584 {
7585 mtCOVERAGE_TEST_MARKER();
7586 }
7587
7588 /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
7589 * is 0 then vPortFree() will be #defined to nothing. */
7590 vPortFree( pxTaskStatusArray );
7591 }
7592 else
7593 {
7594 mtCOVERAGE_TEST_MARKER();
7595 }
7596
7597 traceRETURN_vTaskGetRunTimeStatistics();
7598 }
7599
7600 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
7601 /*-----------------------------------------------------------*/
7602
uxTaskResetEventItemValue(void)7603 TickType_t uxTaskResetEventItemValue( void )
7604 {
7605 TickType_t uxReturn;
7606
7607 traceENTER_uxTaskResetEventItemValue();
7608
7609 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
7610
7611 /* Reset the event list item to its normal value - so it can be used with
7612 * queues and semaphores. */
7613 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) );
7614
7615 traceRETURN_uxTaskResetEventItemValue( uxReturn );
7616
7617 return uxReturn;
7618 }
7619 /*-----------------------------------------------------------*/
7620
7621 #if ( configUSE_MUTEXES == 1 )
7622
pvTaskIncrementMutexHeldCount(void)7623 TaskHandle_t pvTaskIncrementMutexHeldCount( void )
7624 {
7625 TCB_t * pxTCB;
7626
7627 traceENTER_pvTaskIncrementMutexHeldCount();
7628
7629 pxTCB = pxCurrentTCB;
7630
7631 /* If xSemaphoreCreateMutex() is called before any tasks have been created
7632 * then pxCurrentTCB will be NULL. */
7633 if( pxTCB != NULL )
7634 {
7635 ( pxTCB->uxMutexesHeld )++;
7636 }
7637
7638 traceRETURN_pvTaskIncrementMutexHeldCount( pxTCB );
7639
7640 return pxTCB;
7641 }
7642
7643 #endif /* configUSE_MUTEXES */
7644 /*-----------------------------------------------------------*/
7645
7646 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
7647
ulTaskGenericNotifyTake(UBaseType_t uxIndexToWaitOn,BaseType_t xClearCountOnExit,TickType_t xTicksToWait)7648 uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
7649 BaseType_t xClearCountOnExit,
7650 TickType_t xTicksToWait )
7651 {
7652 uint32_t ulReturn;
7653 BaseType_t xAlreadyYielded;
7654
7655 traceENTER_ulTaskGenericNotifyTake( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait );
7656
7657 configASSERT( uxIndexToWaitOn < configTASK_NOTIFICATION_ARRAY_ENTRIES );
7658
7659 taskENTER_CRITICAL();
7660
7661 /* Only block if the notification count is not already non-zero. */
7662 if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ] == 0UL )
7663 {
7664 /* Mark this task as waiting for a notification. */
7665 pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] = taskWAITING_NOTIFICATION;
7666
7667 if( xTicksToWait > ( TickType_t ) 0 )
7668 {
7669 traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWaitOn );
7670
7671 /* We MUST suspend the scheduler before exiting the critical
7672 * section (i.e. before enabling interrupts).
7673 *
7674 * If we do not do so, a notification sent from an ISR, which
7675 * happens after exiting the critical section and before
7676 * suspending the scheduler, will get lost. The sequence of
7677 * events will be:
7678 * 1. Exit critical section.
7679 * 2. Interrupt - ISR calls xTaskNotifyFromISR which adds the
7680 * task to the Ready list.
7681 * 3. Suspend scheduler.
7682 * 4. prvAddCurrentTaskToDelayedList moves the task to the
7683 * delayed or suspended list.
7684 * 5. Resume scheduler does not touch the task (because it is
7685 * not on the pendingReady list), effectively losing the
7686 * notification from the ISR.
7687 *
7688 * The same does not happen when we suspend the scheduler before
7689 * exiting the critical section. The sequence of events in this
7690 * case will be:
7691 * 1. Suspend scheduler.
7692 * 2. Exit critical section.
7693 * 3. Interrupt - ISR calls xTaskNotifyFromISR which adds the
7694 * task to the pendingReady list as the scheduler is
7695 * suspended.
7696 * 4. prvAddCurrentTaskToDelayedList adds the task to delayed or
7697 * suspended list. Note that this operation does not nullify
7698 * the add to pendingReady list done in the above step because
7699 * a different list item, namely xEventListItem, is used for
7700 * adding the task to the pendingReady list. In other words,
7701 * the task still remains on the pendingReady list.
7702 * 5. Resume scheduler moves the task from pendingReady list to
7703 * the Ready list.
7704 */
7705 vTaskSuspendAll();
7706 {
7707 taskEXIT_CRITICAL();
7708
7709 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
7710 }
7711 xAlreadyYielded = xTaskResumeAll();
7712
7713 if( xAlreadyYielded == pdFALSE )
7714 {
7715 taskYIELD_WITHIN_API();
7716 }
7717 else
7718 {
7719 mtCOVERAGE_TEST_MARKER();
7720 }
7721 }
7722 else
7723 {
7724 taskEXIT_CRITICAL();
7725 }
7726 }
7727 else
7728 {
7729 taskEXIT_CRITICAL();
7730 }
7731
7732 taskENTER_CRITICAL();
7733 {
7734 traceTASK_NOTIFY_TAKE( uxIndexToWaitOn );
7735 ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ];
7736
7737 if( ulReturn != 0UL )
7738 {
7739 if( xClearCountOnExit != pdFALSE )
7740 {
7741 pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ] = ( uint32_t ) 0UL;
7742 }
7743 else
7744 {
7745 pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ] = ulReturn - ( uint32_t ) 1;
7746 }
7747 }
7748 else
7749 {
7750 mtCOVERAGE_TEST_MARKER();
7751 }
7752
7753 pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] = taskNOT_WAITING_NOTIFICATION;
7754 }
7755 taskEXIT_CRITICAL();
7756
7757 traceRETURN_ulTaskGenericNotifyTake( ulReturn );
7758
7759 return ulReturn;
7760 }
7761
7762 #endif /* configUSE_TASK_NOTIFICATIONS */
7763 /*-----------------------------------------------------------*/
7764
7765 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
7766
xTaskGenericNotifyWait(UBaseType_t uxIndexToWaitOn,uint32_t ulBitsToClearOnEntry,uint32_t ulBitsToClearOnExit,uint32_t * pulNotificationValue,TickType_t xTicksToWait)7767 BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
7768 uint32_t ulBitsToClearOnEntry,
7769 uint32_t ulBitsToClearOnExit,
7770 uint32_t * pulNotificationValue,
7771 TickType_t xTicksToWait )
7772 {
7773 BaseType_t xReturn, xAlreadyYielded;
7774
7775 traceENTER_xTaskGenericNotifyWait( uxIndexToWaitOn, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
7776
7777 configASSERT( uxIndexToWaitOn < configTASK_NOTIFICATION_ARRAY_ENTRIES );
7778
7779 taskENTER_CRITICAL();
7780
7781 /* Only block if a notification is not already pending. */
7782 if( pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] != taskNOTIFICATION_RECEIVED )
7783 {
7784 /* Clear bits in the task's notification value as bits may get
7785 * set by the notifying task or interrupt. This can be used to
7786 * clear the value to zero. */
7787 pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ] &= ~ulBitsToClearOnEntry;
7788
7789 /* Mark this task as waiting for a notification. */
7790 pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] = taskWAITING_NOTIFICATION;
7791
7792 if( xTicksToWait > ( TickType_t ) 0 )
7793 {
7794 traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWaitOn );
7795
7796 /* We MUST suspend the scheduler before exiting the critical
7797 * section (i.e. before enabling interrupts).
7798 *
7799 * If we do not do so, a notification sent from an ISR, which
7800 * happens after exiting the critical section and before
7801 * suspending the scheduler, will get lost. The sequence of
7802 * events will be:
7803 * 1. Exit critical section.
7804 * 2. Interrupt - ISR calls xTaskNotifyFromISR which adds the
7805 * task to the Ready list.
7806 * 3. Suspend scheduler.
7807 * 4. prvAddCurrentTaskToDelayedList moves the task to the
7808 * delayed or suspended list.
7809 * 5. Resume scheduler does not touch the task (because it is
7810 * not on the pendingReady list), effectively losing the
7811 * notification from the ISR.
7812 *
7813 * The same does not happen when we suspend the scheduler before
7814 * exiting the critical section. The sequence of events in this
7815 * case will be:
7816 * 1. Suspend scheduler.
7817 * 2. Exit critical section.
7818 * 3. Interrupt - ISR calls xTaskNotifyFromISR which adds the
7819 * task to the pendingReady list as the scheduler is
7820 * suspended.
7821 * 4. prvAddCurrentTaskToDelayedList adds the task to delayed or
7822 * suspended list. Note that this operation does not nullify
7823 * the add to pendingReady list done in the above step because
7824 * a different list item, namely xEventListItem, is used for
7825 * adding the task to the pendingReady list. In other words,
7826 * the task still remains on the pendingReady list.
7827 * 5. Resume scheduler moves the task from pendingReady list to
7828 * the Ready list.
7829 */
7830 vTaskSuspendAll();
7831 {
7832 taskEXIT_CRITICAL();
7833
7834 prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
7835 }
7836 xAlreadyYielded = xTaskResumeAll();
7837
7838 if( xAlreadyYielded == pdFALSE )
7839 {
7840 taskYIELD_WITHIN_API();
7841 }
7842 else
7843 {
7844 mtCOVERAGE_TEST_MARKER();
7845 }
7846 }
7847 else
7848 {
7849 taskEXIT_CRITICAL();
7850 }
7851 }
7852 else
7853 {
7854 taskEXIT_CRITICAL();
7855 }
7856
7857 taskENTER_CRITICAL();
7858 {
7859 traceTASK_NOTIFY_WAIT( uxIndexToWaitOn );
7860
7861 if( pulNotificationValue != NULL )
7862 {
7863 /* Output the current notification value, which may or may not
7864 * have changed. */
7865 *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ];
7866 }
7867
7868 /* If ucNotifyValue is set then either the task never entered the
7869 * blocked state (because a notification was already pending) or the
7870 * task unblocked because of a notification. Otherwise the task
7871 * unblocked because of a timeout. */
7872 if( pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] != taskNOTIFICATION_RECEIVED )
7873 {
7874 /* A notification was not received. */
7875 xReturn = pdFALSE;
7876 }
7877 else
7878 {
7879 /* A notification was already pending or a notification was
7880 * received while the task was waiting. */
7881 pxCurrentTCB->ulNotifiedValue[ uxIndexToWaitOn ] &= ~ulBitsToClearOnExit;
7882 xReturn = pdTRUE;
7883 }
7884
7885 pxCurrentTCB->ucNotifyState[ uxIndexToWaitOn ] = taskNOT_WAITING_NOTIFICATION;
7886 }
7887 taskEXIT_CRITICAL();
7888
7889 traceRETURN_xTaskGenericNotifyWait( xReturn );
7890
7891 return xReturn;
7892 }
7893
7894 #endif /* configUSE_TASK_NOTIFICATIONS */
7895 /*-----------------------------------------------------------*/
7896
7897 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
7898
xTaskGenericNotify(TaskHandle_t xTaskToNotify,UBaseType_t uxIndexToNotify,uint32_t ulValue,eNotifyAction eAction,uint32_t * pulPreviousNotificationValue)7899 BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
7900 UBaseType_t uxIndexToNotify,
7901 uint32_t ulValue,
7902 eNotifyAction eAction,
7903 uint32_t * pulPreviousNotificationValue )
7904 {
7905 TCB_t * pxTCB;
7906 BaseType_t xReturn = pdPASS;
7907 uint8_t ucOriginalNotifyState;
7908
7909 traceENTER_xTaskGenericNotify( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue );
7910
7911 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
7912 configASSERT( xTaskToNotify );
7913 pxTCB = xTaskToNotify;
7914
7915 taskENTER_CRITICAL();
7916 {
7917 if( pulPreviousNotificationValue != NULL )
7918 {
7919 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
7920 }
7921
7922 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
7923
7924 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
7925
7926 switch( eAction )
7927 {
7928 case eSetBits:
7929 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
7930 break;
7931
7932 case eIncrement:
7933 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
7934 break;
7935
7936 case eSetValueWithOverwrite:
7937 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
7938 break;
7939
7940 case eSetValueWithoutOverwrite:
7941
7942 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
7943 {
7944 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
7945 }
7946 else
7947 {
7948 /* The value could not be written to the task. */
7949 xReturn = pdFAIL;
7950 }
7951
7952 break;
7953
7954 case eNoAction:
7955
7956 /* The task is being notified without its notify value being
7957 * updated. */
7958 break;
7959
7960 default:
7961
7962 /* Should not get here if all enums are handled.
7963 * Artificially force an assert by testing a value the
7964 * compiler can't assume is const. */
7965 configASSERT( xTickCount == ( TickType_t ) 0 );
7966
7967 break;
7968 }
7969
7970 traceTASK_NOTIFY( uxIndexToNotify );
7971
7972 /* If the task is in the blocked state specifically to wait for a
7973 * notification then unblock it now. */
7974 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
7975 {
7976 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
7977 prvAddTaskToReadyList( pxTCB );
7978
7979 /* The task should not have been on an event list. */
7980 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
7981
7982 #if ( configUSE_TICKLESS_IDLE != 0 )
7983 {
7984 /* If a task is blocked waiting for a notification then
7985 * xNextTaskUnblockTime might be set to the blocked task's time
7986 * out time. If the task is unblocked for a reason other than
7987 * a timeout xNextTaskUnblockTime is normally left unchanged,
7988 * because it will automatically get reset to a new value when
7989 * the tick count equals xNextTaskUnblockTime. However if
7990 * tickless idling is used it might be more important to enter
7991 * sleep mode at the earliest possible time - so reset
7992 * xNextTaskUnblockTime here to ensure it is updated at the
7993 * earliest possible time. */
7994 prvResetNextTaskUnblockTime();
7995 }
7996 #endif
7997
7998 /* Check if the notified task has a priority above the currently
7999 * executing task. */
8000 taskYIELD_ANY_CORE_IF_USING_PREEMPTION( pxTCB );
8001 }
8002 else
8003 {
8004 mtCOVERAGE_TEST_MARKER();
8005 }
8006 }
8007 taskEXIT_CRITICAL();
8008
8009 traceRETURN_xTaskGenericNotify( xReturn );
8010
8011 return xReturn;
8012 }
8013
8014 #endif /* configUSE_TASK_NOTIFICATIONS */
8015 /*-----------------------------------------------------------*/
8016
8017 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
8018
xTaskGenericNotifyFromISR(TaskHandle_t xTaskToNotify,UBaseType_t uxIndexToNotify,uint32_t ulValue,eNotifyAction eAction,uint32_t * pulPreviousNotificationValue,BaseType_t * pxHigherPriorityTaskWoken)8019 BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
8020 UBaseType_t uxIndexToNotify,
8021 uint32_t ulValue,
8022 eNotifyAction eAction,
8023 uint32_t * pulPreviousNotificationValue,
8024 BaseType_t * pxHigherPriorityTaskWoken )
8025 {
8026 TCB_t * pxTCB;
8027 uint8_t ucOriginalNotifyState;
8028 BaseType_t xReturn = pdPASS;
8029 UBaseType_t uxSavedInterruptStatus;
8030
8031 traceENTER_xTaskGenericNotifyFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken );
8032
8033 configASSERT( xTaskToNotify );
8034 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
8035
8036 /* RTOS ports that support interrupt nesting have the concept of a
8037 * maximum system call (or maximum API call) interrupt priority.
8038 * Interrupts that are above the maximum system call priority are keep
8039 * permanently enabled, even when the RTOS kernel is in a critical section,
8040 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
8041 * is defined in FreeRTOSConfig.h then
8042 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
8043 * failure if a FreeRTOS API function is called from an interrupt that has
8044 * been assigned a priority above the configured maximum system call
8045 * priority. Only FreeRTOS functions that end in FromISR can be called
8046 * from interrupts that have been assigned a priority at or (logically)
8047 * below the maximum system call interrupt priority. FreeRTOS maintains a
8048 * separate interrupt safe API to ensure interrupt entry is as fast and as
8049 * simple as possible. More information (albeit Cortex-M specific) is
8050 * provided on the following link:
8051 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
8052 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
8053
8054 pxTCB = xTaskToNotify;
8055
8056 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
8057 {
8058 if( pulPreviousNotificationValue != NULL )
8059 {
8060 *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
8061 }
8062
8063 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
8064 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
8065
8066 switch( eAction )
8067 {
8068 case eSetBits:
8069 pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
8070 break;
8071
8072 case eIncrement:
8073 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
8074 break;
8075
8076 case eSetValueWithOverwrite:
8077 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
8078 break;
8079
8080 case eSetValueWithoutOverwrite:
8081
8082 if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
8083 {
8084 pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
8085 }
8086 else
8087 {
8088 /* The value could not be written to the task. */
8089 xReturn = pdFAIL;
8090 }
8091
8092 break;
8093
8094 case eNoAction:
8095
8096 /* The task is being notified without its notify value being
8097 * updated. */
8098 break;
8099
8100 default:
8101
8102 /* Should not get here if all enums are handled.
8103 * Artificially force an assert by testing a value the
8104 * compiler can't assume is const. */
8105 configASSERT( xTickCount == ( TickType_t ) 0 );
8106 break;
8107 }
8108
8109 traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
8110
8111 /* If the task is in the blocked state specifically to wait for a
8112 * notification then unblock it now. */
8113 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
8114 {
8115 /* The task should not have been on an event list. */
8116 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
8117
8118 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
8119 {
8120 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
8121 prvAddTaskToReadyList( pxTCB );
8122 }
8123 else
8124 {
8125 /* The delayed and ready lists cannot be accessed, so hold
8126 * this task pending until the scheduler is resumed. */
8127 listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
8128 }
8129
8130 #if ( configNUMBER_OF_CORES == 1 )
8131 {
8132 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
8133 {
8134 /* The notified task has a priority above the currently
8135 * executing task so a yield is required. */
8136 if( pxHigherPriorityTaskWoken != NULL )
8137 {
8138 *pxHigherPriorityTaskWoken = pdTRUE;
8139 }
8140
8141 /* Mark that a yield is pending in case the user is not
8142 * using the "xHigherPriorityTaskWoken" parameter to an ISR
8143 * safe FreeRTOS function. */
8144 xYieldPendings[ 0 ] = pdTRUE;
8145 }
8146 else
8147 {
8148 mtCOVERAGE_TEST_MARKER();
8149 }
8150 }
8151 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
8152 {
8153 #if ( configUSE_PREEMPTION == 1 )
8154 {
8155 prvYieldForTask( pxTCB );
8156
8157 if( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE )
8158 {
8159 if( pxHigherPriorityTaskWoken != NULL )
8160 {
8161 *pxHigherPriorityTaskWoken = pdTRUE;
8162 }
8163 }
8164 }
8165 #endif /* if ( configUSE_PREEMPTION == 1 ) */
8166 }
8167 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
8168 }
8169 }
8170 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
8171
8172 traceRETURN_xTaskGenericNotifyFromISR( xReturn );
8173
8174 return xReturn;
8175 }
8176
8177 #endif /* configUSE_TASK_NOTIFICATIONS */
8178 /*-----------------------------------------------------------*/
8179
8180 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
8181
vTaskGenericNotifyGiveFromISR(TaskHandle_t xTaskToNotify,UBaseType_t uxIndexToNotify,BaseType_t * pxHigherPriorityTaskWoken)8182 void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
8183 UBaseType_t uxIndexToNotify,
8184 BaseType_t * pxHigherPriorityTaskWoken )
8185 {
8186 TCB_t * pxTCB;
8187 uint8_t ucOriginalNotifyState;
8188 UBaseType_t uxSavedInterruptStatus;
8189
8190 traceENTER_vTaskGenericNotifyGiveFromISR( xTaskToNotify, uxIndexToNotify, pxHigherPriorityTaskWoken );
8191
8192 configASSERT( xTaskToNotify );
8193 configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
8194
8195 /* RTOS ports that support interrupt nesting have the concept of a
8196 * maximum system call (or maximum API call) interrupt priority.
8197 * Interrupts that are above the maximum system call priority are keep
8198 * permanently enabled, even when the RTOS kernel is in a critical section,
8199 * but cannot make any calls to FreeRTOS API functions. If configASSERT()
8200 * is defined in FreeRTOSConfig.h then
8201 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
8202 * failure if a FreeRTOS API function is called from an interrupt that has
8203 * been assigned a priority above the configured maximum system call
8204 * priority. Only FreeRTOS functions that end in FromISR can be called
8205 * from interrupts that have been assigned a priority at or (logically)
8206 * below the maximum system call interrupt priority. FreeRTOS maintains a
8207 * separate interrupt safe API to ensure interrupt entry is as fast and as
8208 * simple as possible. More information (albeit Cortex-M specific) is
8209 * provided on the following link:
8210 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
8211 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
8212
8213 pxTCB = xTaskToNotify;
8214
8215 uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
8216 {
8217 ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
8218 pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
8219
8220 /* 'Giving' is equivalent to incrementing a count in a counting
8221 * semaphore. */
8222 ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
8223
8224 traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
8225
8226 /* If the task is in the blocked state specifically to wait for a
8227 * notification then unblock it now. */
8228 if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
8229 {
8230 /* The task should not have been on an event list. */
8231 configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
8232
8233 if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
8234 {
8235 listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
8236 prvAddTaskToReadyList( pxTCB );
8237 }
8238 else
8239 {
8240 /* The delayed and ready lists cannot be accessed, so hold
8241 * this task pending until the scheduler is resumed. */
8242 listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
8243 }
8244
8245 #if ( configNUMBER_OF_CORES == 1 )
8246 {
8247 if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
8248 {
8249 /* The notified task has a priority above the currently
8250 * executing task so a yield is required. */
8251 if( pxHigherPriorityTaskWoken != NULL )
8252 {
8253 *pxHigherPriorityTaskWoken = pdTRUE;
8254 }
8255
8256 /* Mark that a yield is pending in case the user is not
8257 * using the "xHigherPriorityTaskWoken" parameter in an ISR
8258 * safe FreeRTOS function. */
8259 xYieldPendings[ 0 ] = pdTRUE;
8260 }
8261 else
8262 {
8263 mtCOVERAGE_TEST_MARKER();
8264 }
8265 }
8266 #else /* #if ( configNUMBER_OF_CORES == 1 ) */
8267 {
8268 #if ( configUSE_PREEMPTION == 1 )
8269 {
8270 prvYieldForTask( pxTCB );
8271
8272 if( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE )
8273 {
8274 if( pxHigherPriorityTaskWoken != NULL )
8275 {
8276 *pxHigherPriorityTaskWoken = pdTRUE;
8277 }
8278 }
8279 }
8280 #endif /* #if ( configUSE_PREEMPTION == 1 ) */
8281 }
8282 #endif /* #if ( configNUMBER_OF_CORES == 1 ) */
8283 }
8284 }
8285 taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
8286
8287 traceRETURN_vTaskGenericNotifyGiveFromISR();
8288 }
8289
8290 #endif /* configUSE_TASK_NOTIFICATIONS */
8291 /*-----------------------------------------------------------*/
8292
8293 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
8294
xTaskGenericNotifyStateClear(TaskHandle_t xTask,UBaseType_t uxIndexToClear)8295 BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
8296 UBaseType_t uxIndexToClear )
8297 {
8298 TCB_t * pxTCB;
8299 BaseType_t xReturn;
8300
8301 traceENTER_xTaskGenericNotifyStateClear( xTask, uxIndexToClear );
8302
8303 configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
8304
8305 /* If null is passed in here then it is the calling task that is having
8306 * its notification state cleared. */
8307 pxTCB = prvGetTCBFromHandle( xTask );
8308
8309 taskENTER_CRITICAL();
8310 {
8311 if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
8312 {
8313 pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
8314 xReturn = pdPASS;
8315 }
8316 else
8317 {
8318 xReturn = pdFAIL;
8319 }
8320 }
8321 taskEXIT_CRITICAL();
8322
8323 traceRETURN_xTaskGenericNotifyStateClear( xReturn );
8324
8325 return xReturn;
8326 }
8327
8328 #endif /* configUSE_TASK_NOTIFICATIONS */
8329 /*-----------------------------------------------------------*/
8330
8331 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
8332
ulTaskGenericNotifyValueClear(TaskHandle_t xTask,UBaseType_t uxIndexToClear,uint32_t ulBitsToClear)8333 uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
8334 UBaseType_t uxIndexToClear,
8335 uint32_t ulBitsToClear )
8336 {
8337 TCB_t * pxTCB;
8338 uint32_t ulReturn;
8339
8340 traceENTER_ulTaskGenericNotifyValueClear( xTask, uxIndexToClear, ulBitsToClear );
8341
8342 configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
8343
8344 /* If null is passed in here then it is the calling task that is having
8345 * its notification state cleared. */
8346 pxTCB = prvGetTCBFromHandle( xTask );
8347
8348 taskENTER_CRITICAL();
8349 {
8350 /* Return the notification as it was before the bits were cleared,
8351 * then clear the bit mask. */
8352 ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
8353 pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
8354 }
8355 taskEXIT_CRITICAL();
8356
8357 traceRETURN_ulTaskGenericNotifyValueClear( ulReturn );
8358
8359 return ulReturn;
8360 }
8361
8362 #endif /* configUSE_TASK_NOTIFICATIONS */
8363 /*-----------------------------------------------------------*/
8364
8365 #if ( configGENERATE_RUN_TIME_STATS == 1 )
8366
ulTaskGetRunTimeCounter(const TaskHandle_t xTask)8367 configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask )
8368 {
8369 TCB_t * pxTCB;
8370
8371 traceENTER_ulTaskGetRunTimeCounter( xTask );
8372
8373 pxTCB = prvGetTCBFromHandle( xTask );
8374
8375 traceRETURN_ulTaskGetRunTimeCounter( pxTCB->ulRunTimeCounter );
8376
8377 return pxTCB->ulRunTimeCounter;
8378 }
8379
8380 #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
8381 /*-----------------------------------------------------------*/
8382
8383 #if ( configGENERATE_RUN_TIME_STATS == 1 )
8384
ulTaskGetRunTimePercent(const TaskHandle_t xTask)8385 configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask )
8386 {
8387 TCB_t * pxTCB;
8388 configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
8389
8390 traceENTER_ulTaskGetRunTimePercent( xTask );
8391
8392 ulTotalTime = ( configRUN_TIME_COUNTER_TYPE ) portGET_RUN_TIME_COUNTER_VALUE();
8393
8394 /* For percentage calculations. */
8395 ulTotalTime /= ( configRUN_TIME_COUNTER_TYPE ) 100;
8396
8397 /* Avoid divide by zero errors. */
8398 if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 )
8399 {
8400 pxTCB = prvGetTCBFromHandle( xTask );
8401 ulReturn = pxTCB->ulRunTimeCounter / ulTotalTime;
8402 }
8403 else
8404 {
8405 ulReturn = 0;
8406 }
8407
8408 traceRETURN_ulTaskGetRunTimePercent( ulReturn );
8409
8410 return ulReturn;
8411 }
8412
8413 #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
8414 /*-----------------------------------------------------------*/
8415
8416 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
8417
ulTaskGetIdleRunTimeCounter(void)8418 configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void )
8419 {
8420 configRUN_TIME_COUNTER_TYPE ulReturn = 0;
8421 BaseType_t i;
8422
8423 traceENTER_ulTaskGetIdleRunTimeCounter();
8424
8425 for( i = 0; i < ( BaseType_t ) configNUMBER_OF_CORES; i++ )
8426 {
8427 ulReturn += xIdleTaskHandles[ i ]->ulRunTimeCounter;
8428 }
8429
8430 traceRETURN_ulTaskGetIdleRunTimeCounter( ulReturn );
8431
8432 return ulReturn;
8433 }
8434
8435 #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
8436 /*-----------------------------------------------------------*/
8437
8438 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
8439
ulTaskGetIdleRunTimePercent(void)8440 configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void )
8441 {
8442 configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
8443 configRUN_TIME_COUNTER_TYPE ulRunTimeCounter = 0;
8444 BaseType_t i;
8445
8446 traceENTER_ulTaskGetIdleRunTimePercent();
8447
8448 ulTotalTime = portGET_RUN_TIME_COUNTER_VALUE() * configNUMBER_OF_CORES;
8449
8450 /* For percentage calculations. */
8451 ulTotalTime /= ( configRUN_TIME_COUNTER_TYPE ) 100;
8452
8453 /* Avoid divide by zero errors. */
8454 if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 )
8455 {
8456 for( i = 0; i < ( BaseType_t ) configNUMBER_OF_CORES; i++ )
8457 {
8458 ulRunTimeCounter += xIdleTaskHandles[ i ]->ulRunTimeCounter;
8459 }
8460
8461 ulReturn = ulRunTimeCounter / ulTotalTime;
8462 }
8463 else
8464 {
8465 ulReturn = 0;
8466 }
8467
8468 traceRETURN_ulTaskGetIdleRunTimePercent( ulReturn );
8469
8470 return ulReturn;
8471 }
8472
8473 #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
8474 /*-----------------------------------------------------------*/
8475
prvAddCurrentTaskToDelayedList(TickType_t xTicksToWait,const BaseType_t xCanBlockIndefinitely)8476 static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
8477 const BaseType_t xCanBlockIndefinitely )
8478 {
8479 TickType_t xTimeToWake;
8480 const TickType_t xConstTickCount = xTickCount;
8481 List_t * const pxDelayedList = pxDelayedTaskList;
8482 List_t * const pxOverflowDelayedList = pxOverflowDelayedTaskList;
8483
8484 #if ( INCLUDE_xTaskAbortDelay == 1 )
8485 {
8486 /* About to enter a delayed list, so ensure the ucDelayAborted flag is
8487 * reset to pdFALSE so it can be detected as having been set to pdTRUE
8488 * when the task leaves the Blocked state. */
8489 pxCurrentTCB->ucDelayAborted = pdFALSE;
8490 }
8491 #endif
8492
8493 /* Remove the task from the ready list before adding it to the blocked list
8494 * as the same list item is used for both lists. */
8495 if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
8496 {
8497 /* The current task must be in a ready list, so there is no need to
8498 * check, and the port reset macro can be called directly. */
8499 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
8500 }
8501 else
8502 {
8503 mtCOVERAGE_TEST_MARKER();
8504 }
8505
8506 #if ( INCLUDE_vTaskSuspend == 1 )
8507 {
8508 if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
8509 {
8510 /* Add the task to the suspended task list instead of a delayed task
8511 * list to ensure it is not woken by a timing event. It will block
8512 * indefinitely. */
8513 listINSERT_END( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
8514 }
8515 else
8516 {
8517 /* Calculate the time at which the task should be woken if the event
8518 * does not occur. This may overflow but this doesn't matter, the
8519 * kernel will manage it correctly. */
8520 xTimeToWake = xConstTickCount + xTicksToWait;
8521
8522 /* The list item will be inserted in wake time order. */
8523 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
8524
8525 if( xTimeToWake < xConstTickCount )
8526 {
8527 /* Wake time has overflowed. Place this item in the overflow
8528 * list. */
8529 traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
8530 vListInsert( pxOverflowDelayedList, &( pxCurrentTCB->xStateListItem ) );
8531 }
8532 else
8533 {
8534 /* The wake time has not overflowed, so the current block list
8535 * is used. */
8536 traceMOVED_TASK_TO_DELAYED_LIST();
8537 vListInsert( pxDelayedList, &( pxCurrentTCB->xStateListItem ) );
8538
8539 /* If the task entering the blocked state was placed at the
8540 * head of the list of blocked tasks then xNextTaskUnblockTime
8541 * needs to be updated too. */
8542 if( xTimeToWake < xNextTaskUnblockTime )
8543 {
8544 xNextTaskUnblockTime = xTimeToWake;
8545 }
8546 else
8547 {
8548 mtCOVERAGE_TEST_MARKER();
8549 }
8550 }
8551 }
8552 }
8553 #else /* INCLUDE_vTaskSuspend */
8554 {
8555 /* Calculate the time at which the task should be woken if the event
8556 * does not occur. This may overflow but this doesn't matter, the kernel
8557 * will manage it correctly. */
8558 xTimeToWake = xConstTickCount + xTicksToWait;
8559
8560 /* The list item will be inserted in wake time order. */
8561 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
8562
8563 if( xTimeToWake < xConstTickCount )
8564 {
8565 traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
8566 /* Wake time has overflowed. Place this item in the overflow list. */
8567 vListInsert( pxOverflowDelayedList, &( pxCurrentTCB->xStateListItem ) );
8568 }
8569 else
8570 {
8571 traceMOVED_TASK_TO_DELAYED_LIST();
8572 /* The wake time has not overflowed, so the current block list is used. */
8573 vListInsert( pxDelayedList, &( pxCurrentTCB->xStateListItem ) );
8574
8575 /* If the task entering the blocked state was placed at the head of the
8576 * list of blocked tasks then xNextTaskUnblockTime needs to be updated
8577 * too. */
8578 if( xTimeToWake < xNextTaskUnblockTime )
8579 {
8580 xNextTaskUnblockTime = xTimeToWake;
8581 }
8582 else
8583 {
8584 mtCOVERAGE_TEST_MARKER();
8585 }
8586 }
8587
8588 /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
8589 ( void ) xCanBlockIndefinitely;
8590 }
8591 #endif /* INCLUDE_vTaskSuspend */
8592 }
8593 /*-----------------------------------------------------------*/
8594
8595 #if ( portUSING_MPU_WRAPPERS == 1 )
8596
xTaskGetMPUSettings(TaskHandle_t xTask)8597 xMPU_SETTINGS * xTaskGetMPUSettings( TaskHandle_t xTask )
8598 {
8599 TCB_t * pxTCB;
8600
8601 traceENTER_xTaskGetMPUSettings( xTask );
8602
8603 pxTCB = prvGetTCBFromHandle( xTask );
8604
8605 traceRETURN_xTaskGetMPUSettings( &( pxTCB->xMPUSettings ) );
8606
8607 return &( pxTCB->xMPUSettings );
8608 }
8609
8610 #endif /* portUSING_MPU_WRAPPERS */
8611 /*-----------------------------------------------------------*/
8612
8613 /* Code below here allows additional code to be inserted into this source file,
8614 * especially where access to file scope functions and data is needed (for example
8615 * when performing module tests). */
8616
8617 #ifdef FREERTOS_MODULE_TEST
8618 #include "tasks_test_access_functions.h"
8619 #endif
8620
8621
8622 #if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
8623
8624 #include "freertos_tasks_c_additions.h"
8625
8626 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
freertos_tasks_c_additions_init(void)8627 static void freertos_tasks_c_additions_init( void )
8628 {
8629 FREERTOS_TASKS_C_ADDITIONS_INIT();
8630 }
8631 #endif
8632
8633 #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
8634 /*-----------------------------------------------------------*/
8635
8636 #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
8637
8638 /*
8639 * This is the kernel provided implementation of vApplicationGetIdleTaskMemory()
8640 * to provide the memory that is used by the Idle task. It is used when
8641 * configKERNEL_PROVIDED_STATIC_MEMORY is set to 1. The application can provide
8642 * it's own implementation of vApplicationGetIdleTaskMemory by setting
8643 * configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined.
8644 */
vApplicationGetIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize)8645 void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
8646 StackType_t ** ppxIdleTaskStackBuffer,
8647 uint32_t * pulIdleTaskStackSize )
8648 {
8649 static StaticTask_t xIdleTaskTCB;
8650 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
8651
8652 *ppxIdleTaskTCBBuffer = &( xIdleTaskTCB );
8653 *ppxIdleTaskStackBuffer = &( uxIdleTaskStack[ 0 ] );
8654 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
8655 }
8656
8657 #if ( configNUMBER_OF_CORES > 1 )
8658
vApplicationGetPassiveIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize,BaseType_t xPassiveIdleTaskIndex)8659 void vApplicationGetPassiveIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
8660 StackType_t ** ppxIdleTaskStackBuffer,
8661 uint32_t * pulIdleTaskStackSize,
8662 BaseType_t xPassiveIdleTaskIndex )
8663 {
8664 static StaticTask_t xIdleTaskTCBs[ configNUMBER_OF_CORES - 1 ];
8665 static StackType_t uxIdleTaskStacks[ configNUMBER_OF_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
8666
8667 *ppxIdleTaskTCBBuffer = &( xIdleTaskTCBs[ xPassiveIdleTaskIndex ] );
8668 *ppxIdleTaskStackBuffer = &( uxIdleTaskStacks[ xPassiveIdleTaskIndex ][ 0 ] );
8669 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
8670 }
8671
8672 #endif /* #if ( configNUMBER_OF_CORES > 1 ) */
8673
8674 #endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */
8675 /*-----------------------------------------------------------*/
8676
8677 #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
8678
8679 /*
8680 * This is the kernel provided implementation of vApplicationGetTimerTaskMemory()
8681 * to provide the memory that is used by the Timer service task. It is used when
8682 * configKERNEL_PROVIDED_STATIC_MEMORY is set to 1. The application can provide
8683 * it's own implementation of vApplicationGetTimerTaskMemory by setting
8684 * configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined.
8685 */
vApplicationGetTimerTaskMemory(StaticTask_t ** ppxTimerTaskTCBBuffer,StackType_t ** ppxTimerTaskStackBuffer,uint32_t * pulTimerTaskStackSize)8686 void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
8687 StackType_t ** ppxTimerTaskStackBuffer,
8688 uint32_t * pulTimerTaskStackSize )
8689 {
8690 static StaticTask_t xTimerTaskTCB;
8691 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
8692
8693 *ppxTimerTaskTCBBuffer = &( xTimerTaskTCB );
8694 *ppxTimerTaskStackBuffer = &( uxTimerTaskStack[ 0 ] );
8695 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
8696 }
8697
8698 #endif /* #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configKERNEL_PROVIDED_STATIC_MEMORY == 1 ) && ( portUSING_MPU_WRAPPERS == 0 ) ) */
8699 /*-----------------------------------------------------------*/
8700
