Synced with FreeRTOS.

queue.c

@@ -203,7 +203,7 @@ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer
 	 * Checks to see if a queue is a member of a queue set, and if so, notifies
 	 * the queue set that the queue contains data.
 	 */
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -373,17 +373,10 @@ Queue_t * const pxQueue = xQueue;
 
 		configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
 
-		if( uxItemSize == ( UBaseType_t ) 0 )
-		{
-			/* There is not going to be a queue storage area. */
-			xQueueSizeInBytes = ( size_t ) 0;
-		}
-		else
-		{
 		/* Allocate enough space to hold the maximum number of items that
-			can be in the queue at any time. */
+		can be in the queue at any time.  It is valid for uxItemSize to be
+		zero in the case the queue is used as a semaphore. */
 		xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-		}
 
 		/* Allocate the queue and storage area.  Justification for MISRA
 		deviation as follows:  pvPortMalloc() always ensures returned memory
@@ -777,7 +770,7 @@ Queue_t * const pxQueue = xQueue;
 
 				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-				UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+				const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
 
 					xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
@@ -790,7 +783,7 @@ Queue_t * const pxQueue = xQueue;
 							in the queue has not changed. */
 							mtCOVERAGE_TEST_MARKER();
 						}
-						else if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
+						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The queue is a member of a queue set, and posting
 							to the queue set caused a higher priority task to
@@ -993,6 +986,14 @@ Queue_t * const pxQueue = xQueue;
 
 			traceQUEUE_SEND_FROM_ISR( pxQueue );
 
+			/* The event list is not altered if the queue is locked.  This will
+			be done when the queue is unlocked later. */
+			if( cTxLock == queueUNLOCKED )
+			{
+				#if ( configUSE_QUEUE_SETS == 1 )
+				{
+					const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+
 					/* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
 					semaphore or mutex.  That means prvCopyDataToQueue() cannot result
 					in a task disinheriting a priority and prvCopyDataToQueue() can be
@@ -1000,15 +1001,16 @@ Queue_t * const pxQueue = xQueue;
 					the scheduler is suspended before accessing the ready lists. */
 					( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-			/* The event list is not altered if the queue is locked.  This will
-			be done when the queue is unlocked later. */
-			if( cTxLock == queueUNLOCKED )
-			{
-				#if ( configUSE_QUEUE_SETS == 1 )
-				{
 					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
+						if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
+						{
+							/* Do not notify the queue set as an existing item
+							was overwritten in the queue so the number of items
+							in the queue has not changed. */
+							mtCOVERAGE_TEST_MARKER();
+						}
+						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The queue is a member of a queue set, and posting
 							to the queue set caused a higher priority task to
@@ -1057,6 +1059,13 @@ Queue_t * const pxQueue = xQueue;
 				}
 				#else /* configUSE_QUEUE_SETS */
 				{
+					/* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
+					semaphore or mutex.  That means prvCopyDataToQueue() cannot result
+					in a task disinheriting a priority and prvCopyDataToQueue() can be
+					called here even though the disinherit function does not check if
+					the scheduler is suspended before accessing the ready lists. */
+					( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+
 					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 					{
 						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
@@ -1173,7 +1182,7 @@ Queue_t * const pxQueue = xQueue;
 				{
 					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
+						if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The semaphore is a member of a queue set, and
 							posting	to the queue set caused a higher priority
@@ -2185,7 +2194,7 @@ static void prvUnlockQueue( Queue_t * const pxQueue )
 			{
 				if( pxQueue->pxQueueSetContainer != NULL )
 				{
-					if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
+					if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 					{
 						/* The queue is a member of a queue set, and posting to
 						the queue set caused a higher priority task to unblock.
@@ -2875,7 +2884,7 @@ Queue_t * const pxQueue = xQueue;
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
+	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
 	{
 	Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
 	BaseType_t xReturn = pdFALSE;
@@ -2892,7 +2901,7 @@ Queue_t * const pxQueue = xQueue;
 			traceQUEUE_SEND( pxQueueSetContainer );
 
 			/* The data copied is the handle of the queue that contains data. */
-			xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+			xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
 
 			if( cTxLock == queueUNLOCKED )
 			{

tasks.c

@@ -300,7 +300,10 @@ typedef struct tskTaskControlBlock 			/* The old naming convention is used to pr
 		responsible for resulting newlib operation.  User must be familiar with
 		newlib and must provide system-wide implementations of the necessary
 		stubs. Be warned that (at the time of writing) the current newlib design
-		implements a system-wide malloc() that must be provided with locks. */
+		implements a system-wide malloc() that must be provided with locks.
+
+		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+		for additional information. */
 		struct	_reent xNewLib_reent;
 	#endif
 
@@ -993,7 +996,9 @@ UBaseType_t x;
 
 	#if ( configUSE_NEWLIB_REENTRANT == 1 )
 	{
-		/* Initialise this task's Newlib reent structure. */
+		/* Initialise this task's Newlib reent structure.
+		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+		for additional information. */
 		_REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
 	}
 	#endif
@@ -1204,6 +1209,10 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 				check the xTasksWaitingTermination list. */
 				++uxDeletedTasksWaitingCleanUp;
 
+				/* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
+				portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
+				traceTASK_DELETE( pxTCB );
+
 				/* The pre-delete hook is primarily for the Windows simulator,
 				in which Windows specific clean up operations are performed,
 				after which it is not possible to yield away from this task -
@@ -1214,14 +1223,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 			else
 			{
 				--uxCurrentNumberOfTasks;
+				traceTASK_DELETE( pxTCB );
 				prvDeleteTCB( pxTCB );
 
 				/* Reset the next expected unblock time in case it referred to
 				the task that has just been deleted. */
 				prvResetNextTaskUnblockTime();
 			}
-
-			traceTASK_DELETE( pxTCB );
 		}
 		taskEXIT_CRITICAL();
 
@@ -2041,7 +2049,9 @@ BaseType_t xReturn;
 		#if ( configUSE_NEWLIB_REENTRANT == 1 )
 		{
 			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to the task that will run first. */
+			structure specific to the task that will run first.
+			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+			for additional information. */
 			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
 		}
 		#endif /* configUSE_NEWLIB_REENTRANT */
@@ -2103,7 +2113,17 @@ void vTaskSuspendAll( void )
 	BaseType_t.  Please read Richard Barry's reply in the following link to a
 	post in the FreeRTOS support forum before reporting this as a bug! -
 	http://goo.gl/wu4acr */
+
+	/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
+	do not otherwise exhibit real time behaviour. */
+	portSOFTWARE_BARRIER();
+
+	/* The scheduler is suspended if uxSchedulerSuspended is non-zero.  An increment
+	is used to allow calls to vTaskSuspendAll() to nest. */
 	++uxSchedulerSuspended;
+
+	/* Enforces ordering for ports and optimised compilers that may otherwise place
+	the above increment elsewhere. */
 	portMEMORY_BARRIER();
 }
 /*----------------------------------------------------------*/
@@ -2616,7 +2636,7 @@ BaseType_t xYieldRequired = pdFALSE;
 	relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
 	configASSERT( uxSchedulerSuspended == 0 );
 
-	/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occuring when
+	/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
 	the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
 	vTaskSuspendAll();
 	xPendedTicks += xTicksToCatchUp;
@@ -2626,6 +2646,91 @@ BaseType_t xYieldRequired = pdFALSE;
 }
 /*----------------------------------------------------------*/
 
+#if ( INCLUDE_xTaskAbortDelay == 1 )
+
+	BaseType_t xTaskAbortDelayFromISR( TaskHandle_t xTask, BaseType_t * const pxHigherPriorityTaskWoken )
+	{
+	TCB_t *pxTCB = xTask;
+	BaseType_t xReturn;
+	UBaseType_t uxSavedInterruptStatus;
+
+		configASSERT( pxTCB );
+
+		/* RTOS ports that support interrupt nesting have the concept of a maximum
+		system call (or maximum API call) interrupt priority.  Interrupts that are
+		above the maximum system call priority are kept permanently enabled, even
+		when the RTOS kernel is in a critical section, but cannot make any calls to
+		FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+		then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+		failure if a FreeRTOS API function is called from an interrupt that has been
+		assigned a priority above the configured maximum system call priority.
+		Only FreeRTOS functions that end in FromISR can be called from interrupts
+		that have been assigned a priority at or (logically) below the maximum
+		system call	interrupt priority.  FreeRTOS maintains a separate interrupt
+		safe API to ensure interrupt entry is as fast and as simple as possible.
+		More information (albeit Cortex-M specific) is provided on the following
+		link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+		{
+			/* A task can only be prematurely removed from the Blocked state if
+			it is actually in the Blocked state. */
+			if( eTaskGetState( xTask ) == eBlocked )
+			{
+				xReturn = pdPASS;
+
+				/* Remove the reference to the task from the blocked list.  A higher
+				priority interrupt won't touch the xStateListItem because of the
+				critical section. */
+				( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+
+				/* Is the task waiting on an event also?  If so remove it from
+				the event list too. */
+				if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+				{
+					( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+
+					/* This lets the task know it was forcibly removed from the
+					blocked state so it should not re-evaluate its block time and
+					then block again. */
+					pxTCB->ucDelayAborted = pdTRUE;
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+
+				/* Place the unblocked task into the appropriate ready list. */
+				prvAddTaskToReadyList( pxTCB );
+
+				if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+				{
+					if( pxHigherPriorityTaskWoken != NULL )
+					{
+						/* Pend the yield to be performed when the scheduler
+						is unsuspended. */
+						*pxHigherPriorityTaskWoken = pdTRUE;
+					}
+				}
+				else
+				{
+					mtCOVERAGE_TEST_MARKER();
+				}
+			}
+			else
+			{
+				xReturn = pdFAIL;
+			}
+		}
+		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+		return xReturn;
+	}
+
+#endif
+/*----------------------------------------------------------*/
+
 #if ( INCLUDE_xTaskAbortDelay == 1 )
 
 	BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
@@ -2657,6 +2762,10 @@ BaseType_t xYieldRequired = pdFALSE;
 					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
 					{
 						( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+
+						/* This lets the task know it was forcibly removed from the
+						blocked state so it should not re-evaluate its block time and
+						then block again. */
 						pxTCB->ucDelayAborted = pdTRUE;
 					}
 					else
@@ -2843,19 +2952,6 @@ BaseType_t xSwitchRequired = pdFALSE;
 			}
 		}
 		#endif /* configUSE_TICK_HOOK */
-	}
-	else
-	{
-		++xPendedTicks;
-
-		/* The tick hook gets called at regular intervals, even if the
-		scheduler is locked. */
-		#if ( configUSE_TICK_HOOK == 1 )
-		{
-			vApplicationTickHook();
-		}
-		#endif
-	}
 
 		#if ( configUSE_PREEMPTION == 1 )
 		{
@@ -2869,6 +2965,19 @@ BaseType_t xSwitchRequired = pdFALSE;
 			}
 		}
 		#endif /* configUSE_PREEMPTION */
+	}
+	else
+	{
+		++xPendedTicks;
+
+		/* The tick hook gets called at regular intervals, even if the
+		scheduler is locked. */
+		#if ( configUSE_TICK_HOOK == 1 )
+		{
+			vApplicationTickHook();
+		}
+		#endif
+	}
 
 	return xSwitchRequired;
 }
@@ -3049,7 +3158,9 @@ void vTaskSwitchContext( void )
 		#if ( configUSE_NEWLIB_REENTRANT == 1 )
 		{
 			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to this task. */
+			structure specific to this task.
+			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+			for additional information. */
 			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
 		}
 		#endif /* configUSE_NEWLIB_REENTRANT */
@@ -3216,6 +3327,20 @@ TCB_t *pxUnblockedTCB;
 	configASSERT( pxUnblockedTCB );
 	( void ) uxListRemove( pxEventListItem );
 
+	#if( configUSE_TICKLESS_IDLE != 0 )
+	{
+		/* If a task is blocked on a kernel object then xNextTaskUnblockTime
+		might be set to the blocked task's time out time.  If the task is
+		unblocked for a reason other than a timeout xNextTaskUnblockTime is
+		normally left unchanged, because it is automatically reset to a new
+		value when the tick count equals xNextTaskUnblockTime.  However if
+		tickless idling is used it might be more important to enter sleep mode
+		at the earliest possible time - so reset xNextTaskUnblockTime here to
+		ensure it is updated at the earliest possible time. */
+		prvResetNextTaskUnblockTime();
+	}
+	#endif
+
 	/* Remove the task from the delayed list and add it to the ready list.  The
 	scheduler is suspended so interrupts will not be accessing the ready
 	lists. */
@@ -3496,6 +3621,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 	const UBaseType_t uxNonApplicationTasks = 1;
 	eSleepModeStatus eReturn = eStandardSleep;
 
+		/* This function must be called from a critical section. */
+
 		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
 		{
 			/* A task was made ready while the scheduler was suspended. */
@@ -3537,6 +3664,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
 		{
 			pxTCB = prvGetTCBFromHandle( xTaskToSet );
+			configASSERT( pxTCB != NULL );
 			pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
 		}
 	}
@@ -3871,7 +3999,9 @@ static void prvCheckTasksWaitingTermination( void )
 		portCLEAN_UP_TCB( pxTCB );
 
 		/* Free up the memory allocated by the scheduler for the task.  It is up
-		to the task to free any memory allocated at the application level. */
+		to the task to free any memory allocated at the application level.
+		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+		for additional information. */
 		#if ( configUSE_NEWLIB_REENTRANT == 1 )
 		{
 			_reclaim_reent( &( pxTCB->xNewLib_reent ) );
@@ -5082,7 +5212,6 @@ TickType_t uxReturn;
 	}
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
-
 /*-----------------------------------------------------------*/
 
 #if( configUSE_TASK_NOTIFICATIONS == 1 )
@@ -5116,6 +5245,32 @@ TickType_t uxReturn;
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+	uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
+	{
+	TCB_t *pxTCB;
+	uint32_t ulReturn;
+
+		/* If null is passed in here then it is the calling task that is having
+		its notification state cleared. */
+		pxTCB = prvGetTCBFromHandle( xTask );
+
+		taskENTER_CRITICAL();
+		{
+			/* Return the notification as it was before the bits were cleared,
+			then clear the bit mask. */
+			ulReturn = pxCurrentTCB->ulNotifiedValue;
+			pxTCB->ulNotifiedValue &= ~ulBitsToClear;
+		}
+		taskEXIT_CRITICAL();
+
+		return ulReturn;
+	}
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
 
 	uint32_t ulTaskGetIdleRunTimeCounter( void )

timers.c

@@ -182,7 +182,7 @@ static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const Tic
 
 /*
  * An active timer has reached its expire time.  Reload the timer if it is an
- * auto reload timer, then call its callback.
+ * auto-reload timer, then call its callback.
  */
 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
 
@@ -292,7 +292,7 @@ BaseType_t xReturn = pdFAIL;
 		if( pxNewTimer != NULL )
 		{
 			/* Status is thus far zero as the timer is not created statically
-			and has not been started.  The autoreload bit may get set in
+			and has not been started.  The auto-reload bit may get set in
 			prvInitialiseNewTimer. */
 			pxNewTimer->ucStatus = 0x00;
 			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
@@ -334,7 +334,7 @@ BaseType_t xReturn = pdFAIL;
 		{
 			/* Timers can be created statically or dynamically so note this
 			timer was created statically in case it is later deleted.  The
-			autoreload bit may get set in prvInitialiseNewTimer(). */
+			auto-reload bit may get set in prvInitialiseNewTimer(). */
 			pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
 
 			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
@@ -459,6 +459,31 @@ Timer_t * pxTimer =  xTimer;
 }
 /*-----------------------------------------------------------*/
 
+UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer )
+{
+Timer_t * pxTimer =  xTimer;
+UBaseType_t uxReturn;
+
+	configASSERT( xTimer );
+	taskENTER_CRITICAL();
+	{
+		if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 )
+		{
+			/* Not an auto-reload timer. */
+			uxReturn = ( UBaseType_t ) pdFALSE;
+		}
+		else
+		{
+			/* Is an auto-reload timer. */
+			uxReturn = ( UBaseType_t ) pdTRUE;
+		}
+	}
+	taskEXIT_CRITICAL();
+
+	return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
 {
 Timer_t * pxTimer =  xTimer;
@@ -489,7 +514,7 @@ Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTi
 	( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 	traceTIMER_EXPIRED( pxTimer );
 
-	/* If the timer is an auto reload timer then calculate the next
+	/* If the timer is an auto-reload timer then calculate the next
 	expiry time and re-insert the timer in the list of active timers. */
 	if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
 	{