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+ New feature added: Task notifications.

Browse source 
+ Optimise Cortex-M4F ports by inlining some critical section macros.
+ Original ports used a #define to set the path to portmacro.h - that method has been obsolete for years and now all the old definitions have been moved into a separate header files called deprecated_definitions.h.
+ Cortex-M port now check the active vector bits against 0xff when determining if a function is called from an interrupt - previously only a subset of the bits (0x1f) were checked.
+ Add in new standard demo/test files TaskNotify.c/h and include the files in the simulator demos.
+ Update trace recorder code, and some demos to use the new version (more to do).
+ Introduce uxTaskPriorityGetFromISR().
+ Minor typo corrections.
+ Update MingW simulator demo to match the MSVC simulator demo.
This commit is contained in:
Richard Barry 2014-12-15 14:13:03 +00:00
parent ca22607d14
commit 85fb1cc024
65 changed files with 5524 additions and 4527 deletions
Download patch file Download diff file Expand all files Collapse all files

3
FreeRTOS/Source/event_groups.c
View file

@ -276,6 +276,7 @@ BaseType_t xTimeoutOccurred = pdFALSE;
/* Check the user is not attempting to wait on the bits used by the kernel
itself, and that at least one bit is being requested. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
configASSERT( uxBitsToWaitFor != 0 );
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
@ -421,6 +422,7 @@ EventBits_t uxReturn;
/* Check the user is not attempting to clear the bits used by the kernel
itself. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
taskENTER_CRITICAL();
@ -482,6 +484,7 @@ BaseType_t xMatchFound = pdFALSE;
/* Check the user is not attempting to set the bits used by the kernel
itself. */
configASSERT( xEventGroup );
configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
pxList = &( pxEventBits->xTasksWaitingForBits );

4
FreeRTOS/Source/include/FreeRTOS.h
View file

@ -723,6 +723,10 @@ extern "C" {
#define configAPPLICATION_ALLOCATED_HEAP 0
#endif
#ifndef configUSE_TASK_NOTIFICATIONS
#define configUSE_TASK_NOTIFICATIONS 1
#endif
/* Definitions to allow backward compatibility with FreeRTOS versions prior to
V8 if desired. */
#ifndef configENABLE_BACKWARD_COMPATIBILITY

317
FreeRTOS/Source/include/deprecated_definitions.h Normal file
View file

@ -0,0 +1,317 @@
/*
FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef DEPRECATED_DEFINITIONS_H
#define DEPRECATED_DEFINITIONS_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used. The
definitions below remain in the code for backward compatibility only. New
projects should not use them. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h"
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef __GNUC__
#ifdef __AVR32_AVR32A__
#include "portmacro.h"
#endif
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__
#if __CORE__ == __AVR32A__
#include "portmacro.h"
#endif
#endif
#endif
#ifdef __91467D
#include "portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#endif /* DEPRECATED_DEFINITIONS_H */

267
FreeRTOS/Source/include/portable.h
View file

@ -70,253 +70,22 @@
#ifndef PORTABLE_H
#define PORTABLE_H
/* Include the macro file relevant to the port being used.
NOTE: The following definitions are *DEPRECATED* as it is preferred to instead
just add the path to the correct portmacro.h header file to the compiler's
include path. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used.
Purely for reasons of backward compatibility the old method is still valid, but
to make it clear that new projects should not use it, support for the port
specific constants has been moved into the deprecated_definitions.h header
file. */
#include "deprecated_definitions.h"
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h"
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef __GNUC__
#ifdef __AVR32_AVR32A__
#include "portmacro.h"
#endif
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__
#if __CORE__ == __AVR32A__
#include "portmacro.h"
#endif
#endif
#endif
#ifdef __91467D
#include "portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
/* Catch all to ensure portmacro.h is included in the build. Newer demos
have the path as part of the project options, rather than as relative from
the project location. If portENTER_CRITICAL() has not been defined then
portmacro.h has not yet been included - as every portmacro.h provides a
portENTER_CRITICAL() definition. Check the demo application for your demo
to find the path to the correct portmacro.h file. */
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
did not result in a portmacro.h header file being included - and it should be
included here. In this case the path to the correct portmacro.h header file
must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL
#include "portmacro.h"
#endif
@ -370,15 +139,15 @@ typedef struct HeapRegion
size_t xSizeInBytes;
} HeapRegion_t;
/*
/*
* Used to define multiple heap regions for use by heap_5.c. This function
* must be called before any calls to pvPortMalloc() - not creating a task,
* queue, semaphore, mutex, software timer, event group, etc. will result in
* pvPortMalloc being called.
*
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array.
*/
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions );

438
FreeRTOS/Source/include/task.h
View file

@ -114,13 +114,23 @@ typedef enum
eDeleted /* The task being queried has been deleted, but its TCB has not yet been freed. */
} eTaskState;
/* Actions that can be performed when vTaskNotify() is called. */
typedef enum
{
eNoAction, /* Notify the task without updating its notify value. */
eSetBits, /* Set bits in the task's notification value. */
eIncrement, /* Increment the task's notification value. */
eSetValueWithOverwrite, /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */
} eNotifyAction;
/*
* Used internally only.
*/
typedef struct xTIME_OUT
{
BaseType_t xOverflowCount;
TickType_t xTimeOnEntering;
TickType_t xTimeOnEntering;
} TimeOut_t;
/*
@ -1358,6 +1368,432 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
*/
void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
/**
* task. h
* <PRE>BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );</PRE>
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this function to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or xTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for details of when
* it is best to use a task notification to send an event to a task compared to
* when it is best to use an intermediary object (such as a queue, semaphore,
* mutex or event group) to send an event to a task.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param ulValue Data that can be sent with the notification. How the data is
* used depends on the value of the eAction parameter.
*
* @param eAction Specifies how the notification updates the task's notification
* value, if at all. Valid values for eAction are as follows:
*
* eSetBits -
* The task's notification value is bitwise ORed with ulValue. xTaskNofify()
* always returns pdPASS in this case.
*
* eIncrement -
* The task's notification value is incremented. ulValue is not used and
* xTaskNotify() always returns pdPASS in this case.
*
* eSetValueWithOverwrite -
* The task's notification value is set to the value of ulValue, even if the
* task being notified had not yet processed the previous notification (the
* task already had a notification pending). xTaskNotify() always returns
* pdPASS in this case.
*
* eSetValueWithoutOverwrite -
* If the task being notified did not already have a notification pending then
* the task's notification value is set to ulValue and xTaskNotify() will
* return pdPASS. If the task being notified already had a notification
* pending then no action is performed and pdFAIL is returned.
*
* eNoAction -
* The task receives a notification without its notification value being
* updated. ulValue is not used and xTaskNotify() always returns pdPASS in
* this case.
*
* @return Dependent on the value of eAction. See the description of the
* eAction parameter.
*
* \defgroup xTaskNotify xTaskNotify
* \ingroup TaskNotifications
*/
BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );
/**
* task. h
* <PRE>BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this function to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* A version of xTaskNotify() that can be used from an interrupt service routine
* (ISR).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or xTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for details of when
* it is best to use a task notification to send an event to a task compared to
* when it is best to use an intermediary object (such as a queue, semaphore,
* mutex or event group) to send an event to a task.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param ulValue Data that can be sent with the notification. How the data is
* used depends on the value of the eAction parameter.
*
* @param eAction Specifies how the notification updates the task's notification
* value, if at all. Valid values for eAction are as follows:
*
* eSetBits -
* The task's notification value is bitwise ORed with ulValue. xTaskNofify()
* always returns pdPASS in this case.
*
* eIncrement -
* The task's notification value is incremented. ulValue is not used and
* xTaskNotify() always returns pdPASS in this case.
*
* eSetValueWithOverwrite -
* The task's notification value is set to the value of ulValue, even if the
* task being notified had not yet processed the previous notification (the
* task already had a notification pending). xTaskNotify() always returns
* pdPASS in this case.
*
* eSetValueWithoutOverwrite -
* If the task being notified did not already have a notification pending then
* the task's notification value is set to ulValue and xTaskNotify() will
* return pdPASS. If the task being notified already had a notification
* pending then no action is performed and pdFAIL is returned.
*
* eNoAction -
* The task receives a notification without its notification value being
* updated. ulValue is not used and xTaskNotify() always returns pdPASS in
* this case.
*
* @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
* task to which the notification was sent to leave the Blocked state, and the
* unblocked task has a priority higher than the currently running task. If
* xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should
* be requested before the interrupt is exited. How a context switch is
* requested from an ISR is dependent on the port - see the documentation page
* for the port in use.
*
* @return Dependent on the value of eAction. See the description of the
* eAction parameter.
*
* \defgroup xTaskNotify xTaskNotify
* \ingroup TaskNotifications
*/
BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
/**
* task. h
* <PRE>BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, BaseType_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );</pre>
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this function to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or xTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for details of when
* it is best to use a task notification to send an event to a task compared to
* when it is best to use an intermediary object (such as a queue, semaphore,
* mutex or event group) to send an event to a task.
*
* @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value
* will be cleared in the calling task's notification value before the task
* checks to see if any notifications are pending, and optionally blocks if no
* notifications are pending. Setting ulBitsToClearOnEntry to ULONG_MAX (if
* limits.h is included) or 0xffffffffUL (if limits.h is not included) will have
* the effect of resetting the task's notification value to 0. Setting
* ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged.
*
* @param ulBitsToClearOnExit If a notification is pending or received before
* the calling task exits the xTaskNotifyWait() function then the task's
* notification value (see the xTaskNotify() API function) is passed out using
* the pulNotificationValue parameter. Then any bits that are set in
* ulBitsToClearOnExit will be cleared in the task's notification value (note
* *pulNotificationValue is set before any bits are cleared). Setting
* ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL
* (if limits.h is not included) will have the effect of resetting the task's
* notification value to 0 before the function exits. Setting
* ulBitsToClearOnExit to 0 will leave the task's notification value unchanged
* when the function exits (in which case the value passed out in
* pulNotificationValue will match the task's notification value).
*
* @param pulNotificationValue Used to pass the task's notification value out
* of the function. Note the value passed out will not be effected by the
* clearing of any bits caused by ulBitsToClearOnExit being non-zero.
*
* @param xTicksToWait The maximum amount of time that the task should wait in
* the Blocked state for a notification to be received, should a notification
* not already be pending when xTaskNotifyWait() was called. The task
* will not consume any processing time while it is in the Blocked state. This
* is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be
* used to convert a time specified in milliseconds to a time specified in
* ticks.
*
* @return If a notification was received (including notifications that were
* already pending when xTaskNotifyWait was called) then pdPASS is
* returned. Otherwise pdFAIL is returned.
*
* \defgroup xTaskNotifyWait xTaskNotifyWait
* \ingroup TaskNotifications
*/
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, BaseType_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
/**
* task. h
* <PRE>BaseType_t xTaskNotifyGive( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this macro to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* xTaskNotifyGive() is a helper macro intended for use when task notifications
* are used as light weight and faster binary or counting semaphore equivalents.
* Actual FreeRTOS semaphores are given using the xSemaphoreGive() API function,
* the equivalent action that instead uses a task notification is
* xTaskNotifyGive().
*
* When task notifications are being used as a binary or counting semaphore
* equivalent then the task being notified should wait for the notification
* using the ulTaskNotificationTake() API function rather than the
* xTaskNotifyWait() API function.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for more details.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the
* eAction parameter set to eIncrement - so pdPASS is always returned.
*
* \defgroup xTaskNotifyGive xTaskNotifyGive
* \ingroup TaskNotifications
*/
#define xTaskNotifyGive( xTaskToNotify ) xTaskNotify( ( xTaskToNotify ), 0, eIncrement );
/**
* task. h
* <PRE>BaseType_t xTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this macro to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* A version of xTaskNotifyGive() that can be called from an interrupt service
* routine (ISR).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* xTaskNotifyGiveFromISR() is a helper macro intended for use when task
* notifications are used as light weight and faster binary or counting
* semaphore equivalents. Actual FreeRTOS semaphores are given from an ISR
* using the xSemaphoreGiveFromISR() API function, the equivalent action that
* instead uses a task notification is xTaskNotifyGiveFromISR().
*
* When task notifications are being used as a binary or counting semaphore
* equivalent then the task being notified should wait for the notification
* using the ulTaskNotificationTake() API function rather than the
* xTaskNotifyWait() API function.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for more details.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param pxHigherPriorityTaskWoken xTaskNotifyGiveFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
* task to which the notification was sent to leave the Blocked state, and the
* unblocked task has a priority higher than the currently running task. If
* xTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch
* should be requested before the interrupt is exited. How a context switch is
* requested from an ISR is dependent on the port - see the documentation page
* for the port in use.
*
* @return xTaskNotifyGiveFromISR() is a macro that calls xTaskNotifyFromISR()
* with the eAction parameter set to eIncrement - so pdPASS is always returned.
*
* \defgroup xTaskNotifyWait xTaskNotifyWait
* \ingroup TaskNotifications
*/
#define xTaskNotifyGiveFromISR( xTaskToNotify, pxHigherPriorityTaskWoken ) xTaskNotifyFromISR( ( xTaskToNotify ), 0, eIncrement, ( pxHigherPriorityTaskWoken ) )
/**
* task. h
* <PRE>uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );</pre>
*
* configUSE_TASK_NOTIFICATIONS must be defined as 1 for this function to be
* available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
* are a method of sending an event directly to a task without the need for such
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
*
* ulTaskNotifyTake() is intended for use when a task notification is used as a
* faster and lighter weight binary or counting semaphore alternative. Actual
* FreeRTOS semaphores are taken using the xSemaphoreTake() API function, the
* equivalent action that instead uses a task notification is
* xTaskNotifyTake().
*
* When a task is using its notification value as a binary or counting semaphore
* other tasks should send notifications to it using the xTaskNotifyGive()
* macro, or xTaskNotify() function with the eAction parameter set to
* eIncrement.
*
* xTaskNotifyTake() can either clear the task's notification value to
* zero on exit, in which case the notification value acts like a binary
* semaphore, or decrement the task's notification value on exit, in which case
* the notification value acts like a counting semaphore.
*
* A task can use xTaskNotifyTake() to [optionally] block to wait for a
* the tasks notification value to be non-zero. The task does not consume any
* CPU time while it is in the Blocked state.
*
* Where as xTaskNotifyWait() will return when a notification is pending,
* xTaskNotifyTake() will return when the task's notification value is
* not zero.
*
* See http://www.FreeRTOS.org/RTOS_task_notifications.html for details of when
* it is best to use a task notification to send an event to a task compared to
* when it is best to use an intermediary object (such as a queue, semaphore,
* mutex or event group) to send an event to a task.
*
* @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's
* notification value is decremented when the function exits. In this way the
* notification value acts like a counting semaphore. If xClearCountOnExit is
* not pdFALSE then the task's notification value is cleared to zero when the
* function exits. In this way the notification value acts like a binary
* semaphore.
*
* @param xTicksToWait The maximum amount of time that the task should wait in
* the Blocked state for the task's notification value to be greater than zero,
* should the count not already be greater than zero when
* xTaskNotifyTake() was called. The task will not consume any processing
* time while it is in the Blocked state. This is specified in kernel ticks,
* the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time
* specified in milliseconds to a time specified in ticks.
*
* @return The task's notification count before it is either cleared to zero or
* decremented (see the xClearCountOnExit parameter).
*
* \defgroup ulTaskNotifyTake ulTaskNotifyTake
* \ingroup TaskNotifications
*/
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
/*-----------------------------------------------------------
* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
*----------------------------------------------------------*/

31
FreeRTOS/Source/list.c
View file

@ -125,13 +125,12 @@ const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
/* Insert the new list item into the list, sorted in xItemValue order.
If the list already contains a list item with the same item value then
the new list item should be placed after it. This ensures that TCB's which
are stored in ready lists (all of which have the same xItemValue value)
get an equal share of the CPU. However, if the xItemValue is the same as
the back marker the iteration loop below will not end. This means we need
to guard against this by checking the value first and modifying the
algorithm slightly if necessary. */
If the list already contains a list item with the same item value then the
new list item should be placed after it. This ensures that TCB's which are
stored in ready lists (all of which have the same xItemValue value) get a
share of the CPU. However, if the xItemValue is the same as the back marker
the iteration loop below will not end. Therefore the value is checked
first, and the algorithm slightly modified if necessary. */
if( xValueOfInsertion == portMAX_DELAY )
{
pxIterator = pxList->xListEnd.pxPrevious;
@ -139,27 +138,31 @@ const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
else
{
/* *** NOTE ***********************************************************
If you find your application is crashing here then likely causes are:
If you find your application is crashing here then likely causes are
listed below. In addition see http://www.freertos.org/FAQHelp.html for
more tips, and ensure configASSERT() is defined!
http://www.freertos.org/a00110.html#configASSERT
1) Stack overflow -
see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
2) Incorrect interrupt priority assignment, especially on Cortex-M3
2) Incorrect interrupt priority assignment, especially on Cortex-M
parts where numerically high priority values denote low actual
interrupt priorities, which can seem counter intuitive. See
configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
of configMAX_SYSCALL_INTERRUPT_PRIORITY on
http://www.freertos.org/a00110.html
3) Calling an API function from within a critical section or when
the scheduler is suspended, or calling an API function that does
not end in "FromISR" from an interrupt.
4) Using a queue or semaphore before it has been initialised or
before the scheduler has been started (are interrupts firing
before vTaskStartScheduler() has been called?).
See http://www.freertos.org/FAQHelp.html for more tips, and ensure
configASSERT() is defined! http://www.freertos.org/a00110.html#configASSERT
**********************************************************************/
for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
{
/* There is nothing to do here, we are just iterating to the
wanted insertion position. */
/* There is nothing to do here, just iterating to the wanted
insertion position. */
}
}

4
FreeRTOS/Source/portable/GCC/ARM_CA9/port.c
View file

@ -167,8 +167,8 @@ the CPU itself before modifying certain hardware registers. */
{ \
portCPU_IRQ_DISABLE(); \
portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
__asm( "DSB \n" \
"ISB \n" ); \
__asm volatile ( "DSB \n" \
"ISB \n" ); \
portCPU_IRQ_ENABLE(); \
}

2
FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
View file

@ -114,7 +114,7 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
#define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000UL )

53
FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
View file

@ -111,7 +111,7 @@
#define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
@ -384,27 +384,13 @@ void vPortEndScheduler( void )
}
/*-----------------------------------------------------------*/
void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__asm volatile( "dsb" );
__asm volatile( "isb" );
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
__asm volatile( "dsb" );
__asm volatile( "isb" );
/* This is not the interrupt safe version of the enter critical function so
assert() if it is being called from an interrupt context. Only API
assert() if it is being called from an interrupt context. Only API
functions that end in "FromISR" can be used in an interrupt. Only assert if
the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */
@ -426,37 +412,6 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) uint32_t ulPortSetInterruptMask( void )
{
__asm volatile \
( \
" mrs r0, basepri \n" \
" mov r1, %0 \n" \
" msr basepri, r1 \n" \
" bx lr \n" \
:: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \
);
/* This return will not be reached but is necessary to prevent compiler
warnings. */
return 0;
}
/*-----------------------------------------------------------*/
__attribute__(( naked )) void vPortClearInterruptMask( uint32_t ulNewMaskValue )
{
__asm volatile \
( \
" msr basepri, r0 \n" \
" bx lr \n" \
:::"r0" \
);
/* Just to avoid compiler warnings. */
( void ) ulNewMaskValue;
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
@ -480,6 +435,8 @@ void xPortPendSVHandler( void )
" stmdb sp!, {r3} \n"
" mov r0, %0 \n"
" msr basepri, r0 \n"
" dsb \n"
" isb \n"
" bl vTaskSwitchContext \n"
" mov r0, #0 \n"
" msr basepri, r0 \n"

63
FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
View file

@ -109,25 +109,21 @@ typedef unsigned long UBaseType_t;
#define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
extern uint32_t ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask(0)
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
#define portDISABLE_INTERRUPTS() ulPortRaiseBASEPRI()
#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0)
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
@ -188,6 +184,53 @@ not necessary for to use this port. They are defined so the common demo files
/* portNOP() is not required by this port. */
#define portNOP()
#ifndef portFORCE_INLINE
#define portFORCE_INLINE inline __attribute__(( always_inline))
#endif
/*-----------------------------------------------------------*/
portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
{
uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
__asm volatile
(
" mrs %0, basepri \n" \
" mov %1, %2 \n" \
" msr basepri, %1 \n" \
" isb \n" \
" dsb \n" \
:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
);
/* This return will not be reached but is necessary to prevent compiler
warnings. */
return ulOriginalBASEPRI;
}
/*-----------------------------------------------------------*/
portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
{
__asm volatile
(
" msr basepri, %0 " :: "r" ( ulNewMaskValue )
);
}
/*-----------------------------------------------------------*/
portFORCE_INLINE static void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__asm volatile( "dsb" );
__asm volatile( "isb" );
}
#ifdef __cplusplus
}
#endif

2
FreeRTOS/Source/portable/GCC/MicroBlazeV8/portmacro.h
View file

@ -217,7 +217,7 @@ typedef struct PORT_REGISTER_DUMP
/* The human readable name of the task that was running at the time the
exception occurred. This is the name that was given to the task when the
task was created using the FreeRTOS xTaskCreate() API function. */
int8_t *pcCurrentTaskName;
char *pcCurrentTaskName;
/* The handle of the task that was running a the time the exception
occurred. */

6
FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
View file

@ -114,7 +114,7 @@
#define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
@ -327,9 +327,9 @@ void vPortEnterCritical( void )
uxCriticalNesting++;
__DSB();
__ISB();
/* This is not the interrupt safe version of the enter critical function so
assert() if it is being called from an interrupt context. Only API
assert() if it is being called from an interrupt context. Only API
functions that end in "FromISR" can be used in an interrupt. Only assert if
the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */

20
FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
View file

@ -118,7 +118,7 @@
#define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
@ -335,27 +335,13 @@ void vPortEndScheduler( void )
}
/*-----------------------------------------------------------*/
void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__DSB();
__ISB();
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
__DSB();
__ISB();
/* This is not the interrupt safe version of the enter critical function so
assert() if it is being called from an interrupt context. Only API
assert() if it is being called from an interrupt context. Only API
functions that end in "FromISR" can be used in an interrupt. Only assert if
the critical nesting count is 1 to protect against recursive calls if the
assert function also uses a critical section. */

18
FreeRTOS/Source/portable/IAR/ARM_CM4F/portasm.s
View file

@ -72,8 +72,6 @@
EXTERN vTaskSwitchContext
PUBLIC xPortPendSVHandler
PUBLIC ulPortSetInterruptMask
PUBLIC vPortClearInterruptMask
PUBLIC vPortSVCHandler
PUBLIC vPortStartFirstTask
PUBLIC vPortEnableVFP
@ -102,6 +100,8 @@ xPortPendSVHandler:
stmdb sp!, {r3}
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r0
dsb
isb
bl vTaskSwitchContext
mov r0, #0
msr basepri, r0
@ -134,20 +134,6 @@ xPortPendSVHandler:
/*-----------------------------------------------------------*/
ulPortSetInterruptMask:
mrs r0, basepri
mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r1
bx r14
/*-----------------------------------------------------------*/
vPortClearInterruptMask:
msr basepri, r0
bx r14
/*-----------------------------------------------------------*/
vPortSVCHandler:
/* Get the location of the current TCB. */
ldr r3, =pxCurrentTCB

58
FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h
View file

@ -110,11 +110,10 @@ typedef unsigned long UBaseType_t;
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
@ -145,15 +144,13 @@ extern void vPortYield( void );
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
extern uint32_t ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( uint32_t ulNewMask );
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 )
#define portDISABLE_INTERRUPTS() ulPortRaiseBASEPRI()
#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask( x )
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI( x )
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
@ -179,6 +176,51 @@ not necessary for to use this port. They are defined so the common demo files
/* portNOP() is not required by this port. */
#define portNOP()
#ifndef portFORCE_INLINE
#define portFORCE_INLINE _Pragma("inline=forced")
#endif
portFORCE_INLINE static void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__DSB();
__ISB();
}
/*-----------------------------------------------------------*/
portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
{
uint32_t ulOriginalBASEPRI;
__asm volatile
(
" mrs %0, basepri \n" \
" mov r1, %1 \n" \
" msr basepri, r1 \n" \
" isb \n" \
" dsb \n" \
:"=r" (ulOriginalBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r1"
);
/* This return will not be reached but is necessary to prevent compiler
warnings. */
return ulOriginalBASEPRI;
}
/*-----------------------------------------------------------*/
portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
{
__asm volatile
(
" msr basepri, %0 " :: "r" ( ulNewMaskValue )
);
}
/*-----------------------------------------------------------*/
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
the source code because to do so would cause other compilers to generate
warnings. */

2
FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
View file

@ -111,7 +111,7 @@ is defined. */
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

41
FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
View file

@ -124,7 +124,7 @@ is defined. */
#define portPRIGROUP_SHIFT ( 8UL )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
@ -134,9 +134,6 @@ is defined. */
#define portINITIAL_XPSR ( 0x01000000 )
#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
/* Constants used with memory barrier intrinsics. */
#define portSY_FULL_READ_WRITE ( 15 )
/* The systick is a 24-bit counter. */
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
@ -401,24 +398,10 @@ void vPortEndScheduler( void )
}
/*-----------------------------------------------------------*/
void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__dsb( portSY_FULL_READ_WRITE );
__isb( portSY_FULL_READ_WRITE );
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
__dsb( portSY_FULL_READ_WRITE );
__isb( portSY_FULL_READ_WRITE );
/* This is not the interrupt safe version of the enter critical function so
assert() if it is being called from an interrupt context. Only API
@ -471,6 +454,8 @@ __asm void xPortPendSVHandler( void )
stmdb sp!, {r3}
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r0
dsb
isb
bl vTaskSwitchContext
mov r0, #0
msr basepri, r0
@ -702,26 +687,6 @@ void xPortSysTickHandler( void )
#endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
/*-----------------------------------------------------------*/
__asm uint32_t ulPortSetInterruptMask( void )
{
PRESERVE8
mrs r0, basepri
mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r1
bx r14
}
/*-----------------------------------------------------------*/
__asm void vPortClearInterruptMask( uint32_t ulNewMask )
{
PRESERVE8
msr basepri, r0
bx r14
}
/*-----------------------------------------------------------*/
__asm uint32_t vPortGetIPSR( void )
{
PRESERVE8

64
FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
View file

@ -107,29 +107,30 @@ typedef unsigned long UBaseType_t;
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
/* Constants used with memory barrier intrinsics. */
#define portSY_FULL_READ_WRITE ( 15 )
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYield( void );
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portYIELD() vPortYield()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) vPortYield()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
extern uint32_t ulPortSetInterruptMask( void );
extern void vPortClearInterruptMask( uint32_t ulNewMask );
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
#define portENABLE_INTERRUPTS() vPortClearInterruptMask( 0 )
#define portDISABLE_INTERRUPTS() ulPortRaiseBASEPRI()
#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetInterruptMask()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
/*-----------------------------------------------------------*/
@ -178,6 +179,53 @@ not necessary for to use this port. They are defined so the common demo files
/* portNOP() is not required by this port. */
#define portNOP()
#ifndef portFORCE_INLINE
#define portFORCE_INLINE __forceinline
#endif
/*-----------------------------------------------------------*/
static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI )
{
__asm
{
/* Barrier instructions are not used as this function is only used to
lower the BASEPRI value. */
msr basepri, ulBASEPRI
}
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void )
{
uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY;
__asm
{
/* Set BASEPRI to the max syscall priority to effect a critical
section. */
mrs ulReturn, basepri
msr basepri, ulNewBASEPRI
dsb
isb
}
return ulReturn;
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE void vPortYield( void )
{
/* Set a PendSV to request a context switch. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
/* Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__dsb( portSY_FULL_READ_WRITE );
__isb( portSY_FULL_READ_WRITE );
}
/*-----------------------------------------------------------*/
#ifdef __cplusplus
}
#endif

2
FreeRTOS/Source/portable/Tasking/ARM_CM4F/port.c
View file

@ -82,7 +82,7 @@
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
#define portVECTACTIVE_MASK ( 0x1FUL )
#define portVECTACTIVE_MASK ( 0xFFUL )
/* Constants required to manipulate the VFP. */
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */

4
FreeRTOS/Source/queue.c
View file

@ -1377,8 +1377,8 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
{
taskENTER_CRITICAL();
{
/* Is there data in the queue now? To be running we must be
the highest priority task wanting to access the queue. */
/* Is there data in the queue now? To be running the calling task
must be the highest priority task wanting to access the queue. */
if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
{
/* Remember the read position in case the queue is only being

563
FreeRTOS/Source/tasks.c
View file

@ -114,6 +114,14 @@ functions but without including stdio.h here. */
#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
/* Value that can be assigned to the eNotifyState member of the TCB. */
typedef enum
{
eNotWaitingNotification,
eWaitingNotification,
eNotified
} eNotifyValue;
/*
* Task control block. A task control block (TCB) is allocated for each task,
* and stores task state information, including a pointer to the task's context
@ -170,6 +178,11 @@ typedef struct tskTaskControlBlock
struct _reent xNewLib_reent;
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulNotifiedValue;
eNotifyValue eNotifyState;
#endif
} tskTCB;
/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
@ -228,8 +241,8 @@ PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = portMAX_DELAY;
/* Context switches are held pending while the scheduler is suspended. Also,
interrupts must not manipulate the xStateListItem of a TCB, or any of the
lists the xStateListItem can be referenced from, if the scheduler is suspended.
interrupts must not manipulate the xGenericListItem of a TCB, or any of the
lists the xGenericListItem can be referenced from, if the scheduler is suspended.
If an interrupt needs to unblock a task while the scheduler is suspended then it
moves the task's event list item into the xPendingReadyList, ready for the
kernel to move the task from the pending ready list into the real ready list
@ -515,6 +528,15 @@ static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t *
*/
static void prvResetNextTaskUnblockTime( void );
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
/*
* Helper function used to pad task names with spaces when printing out
* human readable tables of task information.
*/
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName );
#endif
/*-----------------------------------------------------------*/
BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
@ -995,7 +1017,7 @@ TCB_t * pxNewTCB;
}
#endif
else
else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
{
/* If the task is not in any other state, it must be in the
Ready (including pending ready) state. */
@ -1031,6 +1053,46 @@ TCB_t * pxNewTCB;
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGetFromISR( TaskHandle_t xTask )
{
TCB_t *pxTCB;
UBaseType_t uxReturn, uxSavedInterruptState;
/* RTOS ports that support interrupt nesting have the concept of a
maximum system call (or maximum API call) interrupt priority.
Interrupts that are above the maximum system call priority are keep
permanently enabled, even when the RTOS kernel is in a critical section,
but cannot make any calls to FreeRTOS API functions. If configASSERT()
is defined in FreeRTOSConfig.h then
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
failure if a FreeRTOS API function is called from an interrupt that has
been assigned a priority above the configured maximum system call
priority. Only FreeRTOS functions that end in FromISR can be called
from interrupts that have been assigned a priority at or (logically)
below the maximum system call interrupt priority. FreeRTOS maintains a
separate interrupt safe API to ensure interrupt entry is as fast and as
simple as possible. More information (albeit Cortex-M specific) is
provided on the following link:
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
@ -1614,8 +1676,8 @@ BaseType_t xAlreadyYielded = pdFALSE;
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* If we have moved a task that has a priority higher than
the current task then we should yield. */
/* If the moved task has a priority higher than the current
task then a yield must be performed. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xYieldPending = pdTRUE;
@ -1884,7 +1946,7 @@ BaseType_t xSwitchRequired = pdFALSE;
/* See if this tick has made a timeout expire. Tasks are stored in
the queue in the order of their wake time - meaning once one task
has been found whose block time has not expired there is no need to
look any further down the list. */
look any further down the list. */
if( xConstTickCount >= xNextTaskUnblockTime )
{
for( ;; )
@ -2395,6 +2457,20 @@ BaseType_t xReturn;
xReturn = pdFALSE;
}
#if( configUSE_TICKLESS_IDLE == 1 )
{
/* 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 get reset to a new
value when the tick count equals xNextTaskUnblockTime. However if
tickless idling is used it might be more important to enter sleep mode
at the earliest possible time - so reset xNextTaskUnblockTime here to
ensure it is updated at the earliest possible time. */
prvResetNextTaskUnblockTime();
}
#endif
return xReturn;
}
/*-----------------------------------------------------------*/
@ -2788,6 +2864,13 @@ UBaseType_t x;
}
#endif /* portUSING_MPU_WRAPPERS */
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
pxTCB->ulNotifiedValue = 0;
pxTCB->eNotifyState = eNotWaitingNotification;
}
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Initialise this task's Newlib reent structure. */
@ -3416,6 +3499,32 @@ TCB_t *pxTCB;
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
{
BaseType_t x;
/* Start by copying the entire string. */
strcpy( pcBuffer, pcTaskName );
/* Pad the end of the string with spaces to ensure columns line up when
printed out. */
for( x = strlen( pcBuffer ); x < configMAX_TASK_NAME_LEN; x++ )
{
pcBuffer[ x ] = ' ';
}
/* Terminate. */
pcBuffer[ x ] = 0x00;
/* Return the new end of string. */
return &( pcBuffer[ x ] );
}
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
void vTaskList( char * pcWriteBuffer )
@ -3487,7 +3596,12 @@ TCB_t *pxTCB;
break;
}
sprintf( pcWriteBuffer, "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
/* Write the task name to the string, padding with spaces so it
can be printed in tabular form more easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
/* Write the rest of the string. */
sprintf( pcWriteBuffer, "\t\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
pcWriteBuffer += strlen( pcWriteBuffer );
}
@ -3573,15 +3687,20 @@ TCB_t *pxTCB;
if( ulStatsAsPercentage > 0UL )
{
/* Write the task name to the string, padding with
spaces so it can be printed in tabular form more
easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
sprintf( pcWriteBuffer, "\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
sprintf( pcWriteBuffer, "\t\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
}
#endif
}
@ -3651,7 +3770,433 @@ TickType_t uxReturn;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
uint32_t ulReturn;
taskENTER_CRITICAL();
{
/* Only block if the notification count is not already non-zero. */
if( pxCurrentTCB->ulNotifiedValue == 0UL )
{
/* Mark this task as waiting for a notification. */
pxCurrentTCB->eNotifyState = eWaitingNotification;
if( xTicksToWait > 0 )
{
/* The task is going to block. First it must be removed
from the ready list. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead
of a delayed task list to ensure the task is not
woken by a timing event. It will block
indefinitely. */
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be
woken if no notification events occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be
woken if the event does not occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
taskENTER_CRITICAL();
{
ulReturn = pxCurrentTCB->ulNotifiedValue;
if( ulReturn != 0 )
{
if( xClearCountOnExit != pdFALSE )
{
pxCurrentTCB->ulNotifiedValue = 0UL;
}
else
{
( pxCurrentTCB->ulNotifiedValue )--;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxCurrentTCB->eNotifyState = eNotWaitingNotification;
}
taskEXIT_CRITICAL();
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, BaseType_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
{
TickType_t xTimeToWake;
BaseType_t xReturn;
taskENTER_CRITICAL();
{
/* Only block if a notification is not already pending. */
if( pxCurrentTCB->eNotifyState != eNotified )
{
/* Clear bits in the task's notification value as bits may get
set by the notifying task or interrupt. This can be used to
clear the value to zero. */
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */
pxCurrentTCB->eNotifyState = eWaitingNotification;
if( xTicksToWait > 0 )
{
/* The task is going to block. First it must be removed
from the ready list. */
if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
{
/* The current task must be in a ready list, so there is
no need to check, and the port reset macro can be called
directly. */
portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( xTicksToWait == portMAX_DELAY )
{
/* Add the task to the suspended task list instead
of a delayed task list to ensure the task is not
woken by a timing event. It will block
indefinitely. */
vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
}
else
{
/* Calculate the time at which the task should be
woken if no notification events occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
}
#else /* INCLUDE_vTaskSuspend */
{
/* Calculate the time at which the task should be
woken if the event does not occur. This may
overflow but this doesn't matter, the scheduler will
handle it. */
xTimeToWake = xTickCount + xTicksToWait;
prvAddCurrentTaskToDelayedList( xTimeToWake );
}
#endif /* INCLUDE_vTaskSuspend */
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
taskENTER_CRITICAL();
{
if( pulNotificationValue != NULL )
{
/* Output the current notification value, which may or may not
have changed. */
*pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
}
/* If eNotifyValue is set then either the task never entered the
blocked state (because a notification was already pending) or the
task unblocked because of a notification. Otherwise the task
unblocked because of a timeout. */
if( pxCurrentTCB->eNotifyState == eWaitingNotification )
{
/* A notification was not received. */
xReturn = pdFALSE;
}
else
{
/* A notification was already pending or a notification was
received while the task was waiting. */
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
xReturn = pdTRUE;
}
pxCurrentTCB->eNotifyState = eNotWaitingNotification;
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction )
{
TCB_t * pxTCB;
eNotifyValue eOriginalNotifyState;
BaseType_t xReturn = pdPASS;
configASSERT( xTaskToNotify );
pxTCB = ( TCB_t * ) xTaskToNotify;
taskENTER_CRITICAL();
{
eOriginalNotifyState = pxTCB->eNotifyState;
pxTCB->eNotifyState = eNotified;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( eOriginalNotifyState != eNotified )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
default :
/* The task is being notified without its notify value being
updated. */
break;
}
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( eOriginalNotifyState == eWaitingNotification )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
eNotifyValue eOriginalNotifyState;
BaseType_t xReturn = pdPASS;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
/* RTOS ports that support interrupt nesting have the concept of a
maximum system call (or maximum API call) interrupt priority.
Interrupts that are above the maximum system call priority are keep
permanently enabled, even when the RTOS kernel is in a critical section,
but cannot make any calls to FreeRTOS API functions. If configASSERT()
is defined in FreeRTOSConfig.h then
portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
failure if a FreeRTOS API function is called from an interrupt that has
been assigned a priority above the configured maximum system call
priority. Only FreeRTOS functions that end in FromISR can be called
from interrupts that have been assigned a priority at or (logically)
below the maximum system call interrupt priority. FreeRTOS maintains a
separate interrupt safe API to ensure interrupt entry is as fast and as
simple as possible. More information (albeit Cortex-M specific) is
provided on the following link:
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
pxTCB = ( TCB_t * ) xTaskToNotify;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
eOriginalNotifyState = pxTCB->eNotifyState;
pxTCB->eNotifyState = eNotified;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( eOriginalNotifyState != eNotified )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
default :
/* The task is being notified without its notify value being
updated. */
break;
}
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( eOriginalNotifyState == eWaitingNotification )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#ifdef FREERTOS_MODULE_TEST