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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 09:38:32 -04:00
Added xQueueSendToBack, xQueueSendToFront, xQueuePeek and xSemaphoreCreateMutex - along with GenQTest.c to demonstrate their usage.
This commit is contained in:
Richard Barry
parent
ac14fdb0b7
commit
60338bd872
18 changed files with 2005 additions and 367 deletions
157
Source/tasks.c
157
Source/tasks.c
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@ -229,10 +229,6 @@ Changes since V4.3.1:
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#define configMAX_TASK_NAME_LEN 16
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#endif
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#ifndef INCLUDE_xTaskGetCurrentTaskHandle
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#define INCLUDE_xTaskGetCurrentTaskHandle 0
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#endif
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#ifndef configIDLE_SHOULD_YIELD
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#define configIDLE_SHOULD_YIELD 1
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#endif
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@ -261,9 +257,16 @@ typedef struct tskTaskControlBlock
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xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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unsigned portSHORT usStackDepth; /*< Total depth of the stack (when empty). This is defined as the number of variables the stack can hold, not the number of bytes. */
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#if ( configUSE_TRACE_FACILITY == 1 )
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unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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#endif
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#if ( configUSE_MUTEXES == 1 )
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unsigned portBASE_TYPE uxBasePriority;
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#endif
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} tskTCB;
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/*lint -e956 */
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@ -429,7 +432,7 @@ register tskTCB *pxTCB; \
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* Utility to ready a TCB for a given task. Mainly just copies the parameters
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* into the TCB structure.
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*/
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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/*
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* Utility to ready all the lists used by the scheduler. This is called
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@ -485,7 +488,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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#endif
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@ -496,7 +499,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte );
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unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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#endif
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@ -524,7 +527,9 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR
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{
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signed portBASE_TYPE xReturn;
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tskTCB * pxNewTCB;
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static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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#if ( configUSE_TRACE_FACILITY == 1 )
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static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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#endif
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/* Allocate the memory required by the TCB and stack for the new task.
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checking that the allocation was successful. */
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@ -535,7 +540,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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portSTACK_TYPE *pxTopOfStack;
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/* Setup the newly allocated TCB with the initial state of the task. */
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prvInitialiseTCBVariables( pxNewTCB, usStackDepth, pcName, uxPriority );
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prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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/* Calculate the top of stack address. This depends on whether the
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stack grows from high memory to low (as per the 80x86) or visa versa.
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@ -543,7 +548,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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required by the port. */
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#if portSTACK_GROWTH < 0
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{
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pxTopOfStack = pxNewTCB->pxStack + ( pxNewTCB->usStackDepth - 1 );
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pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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}
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#else
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{
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@ -593,9 +598,13 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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uxTopUsedPriority = pxNewTCB->uxPriority;
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}
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/* Add a counter into the TCB for tracing only. */
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pxNewTCB->uxTCBNumber = uxTaskNumber;
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uxTaskNumber++;
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#if ( configUSE_TRACE_FACILITY == 1 )
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{
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/* Add a counter into the TCB for tracing only. */
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pxNewTCB->uxTCBNumber = uxTaskNumber;
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uxTaskNumber++;
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}
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#endif
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prvAddTaskToReadyQueue( pxNewTCB );
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@ -695,7 +704,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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#if ( INCLUDE_vTaskDelayUntil == 1 )
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void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement )
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void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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{
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portTickType xTimeToWake;
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portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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@ -867,13 +876,22 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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/* If null is passed in here then we are changing the
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priority of the calling function. */
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pxTCB = prvGetTCBFromHandle( pxTask );
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uxCurrentPriority = pxTCB->uxPriority;
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#if ( configUSE_MUTEXES == 1 )
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{
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uxCurrentPriority = pxTCB->uxBasePriority;
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}
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#else
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{
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uxCurrentPriority = pxTCB->uxPriority;
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}
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#endif
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if( uxCurrentPriority != uxNewPriority )
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{
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/* The priority change may have readied a task of higher
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priority than the calling task. */
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if( uxNewPriority > pxCurrentTCB->uxPriority )
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if( uxNewPriority > uxCurrentPriority )
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{
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if( pxTask != NULL )
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{
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@ -891,7 +909,26 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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xYieldRequired = pdTRUE;
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}
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pxTCB->uxPriority = uxNewPriority;
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#if ( configUSE_MUTEXES == 1 )
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{
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/* Only change the priority being used if the task is not
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currently using an inherited priority. */
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if( pxTCB->uxBasePriority == pxTCB->uxPriority )
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{
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pxTCB->uxPriority = uxNewPriority;
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}
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/* The base priority gets set whatever. */
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pxTCB->uxBasePriority = uxNewPriority;
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}
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#else
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{
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pxTCB->uxPriority = uxNewPriority;
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}
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#endif
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listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxNewPriority );
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/* If the task is in the blocked or suspended list we need do
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@ -1051,7 +1088,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat
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{
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/* We cannot access the delayed or ready lists, so will hold this
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task pending until the scheduler is resumed, at which point a
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yield will be preformed if necessary. */
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yield will be performed if necessary. */
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vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
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}
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}
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@ -1457,7 +1494,7 @@ void vTaskSwitchContext( void )
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}
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/*-----------------------------------------------------------*/
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void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait )
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void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
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{
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portTickType xTimeToWake;
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@ -1527,7 +1564,7 @@ portTickType xTimeToWake;
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}
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/*-----------------------------------------------------------*/
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signed portBASE_TYPE xTaskRemoveFromEventList( const xList *pxEventList )
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signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
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{
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tskTCB *pxUnblockedTCB;
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portBASE_TYPE xReturn;
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@ -1574,14 +1611,14 @@ portBASE_TYPE xReturn;
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}
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/*-----------------------------------------------------------*/
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void vTaskSetTimeOutState( xTimeOutType *pxTimeOut )
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void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
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{
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pxTimeOut->xOverflowCount = xNumOfOverflows;
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pxTimeOut->xTimeOnEntering = xTickCount;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType * const pxTicksToWait )
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portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
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{
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portBASE_TYPE xReturn;
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@ -1701,10 +1738,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
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{
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pxTCB->usStackDepth = usStackDepth;
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/* Store the function name in the TCB. */
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strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
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pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
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@ -1716,6 +1751,11 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStack
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}
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pxTCB->uxPriority = uxPriority;
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#if ( configUSE_MUTEXES == 1 )
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{
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pxTCB->uxBasePriority = uxPriority;
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}
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#endif
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vListInitialiseItem( &( pxTCB->xGenericListItem ) );
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vListInitialiseItem( &( pxTCB->xEventListItem ) );
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@ -1831,7 +1871,7 @@ tskTCB *pxNewTCB;
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#if ( configUSE_TRACE_FACILITY == 1 )
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static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
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static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
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{
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volatile tskTCB *pxNextTCB, *pxFirstTCB;
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static portCHAR pcStatusString[ 50 ];
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@ -1853,7 +1893,7 @@ tskTCB *pxNewTCB;
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/*-----------------------------------------------------------*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte )
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unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
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{
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register unsigned portSHORT usCount = 0;
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@ -1933,4 +1973,63 @@ tskTCB *pxNewTCB;
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#endif
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#if ( configUSE_MUTEXES == 1 )
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void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
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{
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tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
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if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
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{
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/* Adjust the mutex holder state to account for its new priority. */
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listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
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/* If the task being modified is in the read state it will need to
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be moved in to a new list. */
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if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
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{
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vListRemove( &( pxTCB->xGenericListItem ) );
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/* Inherit the priority before being moved into the new list. */
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pxTCB->uxPriority = pxCurrentTCB->uxPriority;
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prvAddTaskToReadyQueue( pxTCB );
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}
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else
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{
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/* Just inherit the priority. */
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pxTCB->uxPriority = pxCurrentTCB->uxPriority;
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}
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}
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}
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#endif
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#if ( configUSE_MUTEXES == 1 )
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void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
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{
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tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
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if( pxMutexHolder != NULL )
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{
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if( pxTCB->uxPriority != pxTCB->uxBasePriority )
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{
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/* We must be the running task to be able to give the mutex back.
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Remove ourselves from the ready list we currently appear in. */
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vListRemove( &( pxTCB->xGenericListItem ) );
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/* Disinherit the priority before adding ourselves into the new
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ready list. */
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pxTCB->uxPriority = pxTCB->uxBasePriority;
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listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
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prvAddTaskToReadyQueue( pxTCB );
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}
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}
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}
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#endif
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