diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index 96cf880a4..e49d11607 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -126,8 +126,28 @@
#define INCLUDE_vTaskSuspend 0
#endif
-#ifndef INCLUDE_vTaskDelayUntil
- #define INCLUDE_vTaskDelayUntil 0
+#ifdef INCLUDE_xTaskDelayUntil
+ #ifdef INCLUDE_vTaskDelayUntil
+ /* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward
+ * compatibility is maintained if only one or the other is defined, but
+ * there is a conflict if both are defined. */
+ #error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed
+ #endif
+#endif
+
+#ifndef INCLUDE_xTaskDelayUntil
+ #ifdef INCLUDE_vTaskDelayUntil
+ /* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then
+ * the project's FreeRTOSConfig.h probably pre-dates the introduction of
+ * xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever
+ * INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility.
+ */
+ #define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil
+ #endif
+#endif
+
+#ifndef INCLUDE_xTaskDelayUntil
+ #define INCLUDE_xTaskDelayUntil 0
#endif
#ifndef INCLUDE_vTaskDelay
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index d95dcd8c4..b7412b9ca 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -58,7 +58,7 @@ void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask,
const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 6d2f5629d..a217be982 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -51,7 +51,7 @@
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay
- #define vTaskDelayUntil MPU_vTaskDelayUntil
+ #define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState
diff --git a/include/task.h b/include/task.h
index 730deec5a..bce2a6b8c 100644
--- a/include/task.h
+++ b/include/task.h
@@ -750,7 +750,7 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
* of controlling the frequency of a periodic task as the path taken through the
* code, as well as other task and interrupt activity, will effect the frequency
* at which vTaskDelay() gets called and therefore the time at which the task
- * next executes. See vTaskDelayUntil() for an alternative API function designed
+ * next executes. See xTaskDelayUntil() for an alternative API function designed
* to facilitate fixed frequency execution. It does this by specifying an
* absolute time (rather than a relative time) at which the calling task should
* unblock.
@@ -781,10 +781,10 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
/**
* task. h
*
- * void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
+ * BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
*
*
- * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
+ * INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
* See the configuration section for more information.
*
* Delay a task until a specified time. This function can be used by periodic
@@ -799,22 +799,26 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* each time it executes].
*
* Whereas vTaskDelay () specifies a wake time relative to the time at which the function
- * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
+ * is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* unblock.
*
- * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
+ * The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a
+ * time specified in milliseconds with a resolution of one tick period.
*
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
* task was last unblocked. The variable must be initialised with the current time
* prior to its first use (see the example below). Following this the variable is
- * automatically updated within vTaskDelayUntil ().
+ * automatically updated within xTaskDelayUntil ().
*
* @param xTimeIncrement The cycle time period. The task will be unblocked at
- * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
+ * time *pxPreviousWakeTime + xTimeIncrement. Calling xTaskDelayUntil with the
* same xTimeIncrement parameter value will cause the task to execute with
* a fixed interface period.
*
+ * @return Value which can be used to check whether the task was actually delayed.
+ * Will be pdTRUE if the task way delayed and pdFALSE otherwise. A task will not
+ * be delayed if the next expected wake time is in the past.
+ *
* Example usage:
*
* // Perform an action every 10 ticks.
@@ -822,23 +826,35 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* {
* TickType_t xLastWakeTime;
* const TickType_t xFrequency = 10;
+ * BaseType_t xWasDelayed;
*
- * // Initialise the xLastWakeTime variable with the current time.
- * xLastWakeTime = xTaskGetTickCount ();
- * for( ;; )
- * {
- * // Wait for the next cycle.
- * vTaskDelayUntil( &xLastWakeTime, xFrequency );
+ * // Initialise the xLastWakeTime variable with the current time.
+ * xLastWakeTime = xTaskGetTickCount ();
+ * for( ;; )
+ * {
+ * // Wait for the next cycle.
+ * xWasDelayed = xTaskDelayUntil( &xLastWakeTime, xFrequency );
*
- * // Perform action here.
- * }
+ * // Perform action here. xWasDelayed value can be used to determine
+ * // whether a deadline was missed if the code here took too long.
+ * }
* }
*
- * \defgroup vTaskDelayUntil vTaskDelayUntil
+ * \defgroup xTaskDelayUntil xTaskDelayUntil
* \ingroup TaskCtrl
*/
-void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+
+/*
+ * vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
+ * return a value.
+ */
+#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \
+{ \
+ ( void ) xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); \
+}
+
/**
* task. h
@@ -1299,7 +1315,7 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
* made.
*
* API functions that have the potential to cause a context switch (for example,
- * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
+ * xTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
* is suspended.
*
* Example usage:
@@ -1585,28 +1601,28 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
#endif
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
-
+
/**
* task.h
* void vApplicationStackOverflowHook( TaskHandle_t xTask char *pcTaskName);
- *
+ *
* The application stack overflow hook is called when a stack overflow is detected for a task.
- *
+ *
* Details on stack overflow detection can be found here: https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
- *
+ *
* @param xTask the task that just exceeded its stack boundaries.
* @param pcTaskName A character string containing the name of the offending task.
*/
void vApplicationStackOverflowHook( TaskHandle_t xTask,
- char * pcTaskName );
-
-#endif
-
+ char * pcTaskName );
+
+#endif
+
#if ( configUSE_TICK_HOOK > 0 )
- /**
+ /**
* task.h
* void vApplicationTickHook( void );
- *
+ *
* This hook function is called in the system tick handler after any OS work is completed.
*/
void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
@@ -1617,10 +1633,10 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
/**
* task.h
* void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
- *
- * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Task TCB. This function is required when
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Task TCB. This function is required when
* configSUPPORT_STATIC_ALLOCATION is set. For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION
- *
+ *
* @param ppxIdleTaskTCBBuffer A handle to a statically allocated TCB buffer
* @param ppxIdleTaskStackBuffer A handle to a statically allocated Stack buffer for thie idle task
* @param pulIdleTaskStackSize A pointer to the number of elements that will fit in the allocated stack buffer
@@ -2458,7 +2474,7 @@ void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
* task. h
*
* uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
- *
+ *
* uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
*
*
@@ -2564,7 +2580,7 @@ uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
* task. h
*
* BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );
- *
+ *
* BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
*
*
@@ -2628,7 +2644,7 @@ BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
* task. h
*
* uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );
- *
+ *
* uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );
*
*
diff --git a/lexicon.txt b/lexicon.txt
index 8cb6e9f9b..2e6e9a956 100644
--- a/lexicon.txt
+++ b/lexicon.txt
@@ -2976,6 +2976,7 @@ xtaskcreate
xtaskcreaterestricted
xtaskcreaterestrictedstatic
xtaskcreatestatic
+xtaskdelayuntil
xtaskdetails
xtaskendscheduler
xtaskgetapplicationtasktag
@@ -3076,6 +3077,7 @@ xvalueofinsertion
xvtorconst
xwaitforallbits
xwantedsize
+xwasdelayed
xwritevalue
xxr
xyieldpending
diff --git a/portable/Common/mpu_wrappers.c b/portable/Common/mpu_wrappers.c
index 60469fcc5..dea5809e4 100644
--- a/portable/Common/mpu_wrappers.c
+++ b/portable/Common/mpu_wrappers.c
@@ -171,14 +171,16 @@ void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask,
#endif
/*-----------------------------------------------------------*/
-#if ( INCLUDE_vTaskDelayUntil == 1 )
- void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
+#if ( INCLUDE_xTaskDelayUntil == 1 )
+ BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+ BaseType_t xReturn;
- vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
+ xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
vPortResetPrivilege( xRunningPrivileged );
+ return xReturn;
}
#endif
/*-----------------------------------------------------------*/
@@ -513,7 +515,7 @@ BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) /* FREERTOS_SYSTE
#endif
/*-----------------------------------------------------------*/
-#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ))
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) /* FREERTOS_SYSTEM_CALL */
{
TaskHandle_t xReturn;
diff --git a/stream_buffer.c b/stream_buffer.c
index c2d600ed5..9dd4ad04e 100644
--- a/stream_buffer.c
+++ b/stream_buffer.c
@@ -518,6 +518,10 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
size_t xRequiredSpace = xDataLengthBytes;
TimeOut_t xTimeOut;
+ /* The maximum amount of space a stream buffer will ever report is its length
+ * minus 1. */
+ const size_t xMaxReportedSpace = pxStreamBuffer->xLength - ( size_t ) 1;
+
configASSERT( pvTxData );
configASSERT( pxStreamBuffer );
@@ -534,7 +538,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
/* If this is a message buffer then it must be possible to write the
* whole message. */
- if( xRequiredSpace > pxStreamBuffer->xLength )
+ if( xRequiredSpace > xMaxReportedSpace )
{
/* The message would not fit even if the entire buffer was empty,
* so don't wait for space. */
@@ -550,9 +554,9 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
/* If this is a stream buffer then it is acceptable to write only part
* of the message to the buffer. Cap the length to the total length of
* the buffer. */
- if( xRequiredSpace > pxStreamBuffer->xLength )
+ if( xRequiredSpace > xMaxReportedSpace )
{
- xRequiredSpace = pxStreamBuffer->xLength;
+ xRequiredSpace = xMaxReportedSpace;
}
else
{
diff --git a/tasks.c b/tasks.c
index cbd23b98c..94b3e1f86 100644
--- a/tasks.c
+++ b/tasks.c
@@ -1244,10 +1244,10 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
-#if ( INCLUDE_vTaskDelayUntil == 1 )
+#if ( INCLUDE_xTaskDelayUntil == 1 )
- void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- const TickType_t xTimeIncrement )
+ BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
@@ -1324,9 +1324,11 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
mtCOVERAGE_TEST_MARKER();
}
+
+ return xShouldDelay;
}
-#endif /* INCLUDE_vTaskDelayUntil */
+#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
@@ -2098,8 +2100,8 @@ void vTaskStartScheduler( void )
/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
* meaning xIdleTaskHandle is not used anywhere else. */
( void ) xIdleTaskHandle;
-
- /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
+
+ /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
* from getting optimized out as it is no longer used by the kernel. */
( void ) uxTopUsedPriority;
}