mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-12-23 11:09:28 -05:00
Changes ready for V4.1.0.
This commit is contained in:
Richard Barry
parent
b7199e5967
commit
b18929ef7d
9 changed files with 870 additions and 235 deletions
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@ -39,16 +39,18 @@ typedef void (*pdTASK_CODE)( void * );
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#define pdTRUE ( 1 )
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#define pdFALSE ( 0 )
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#define pdPASS ( 1 )
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#define pdFAIL ( 0 )
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#define pdPASS ( 1 )
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#define pdFAIL ( 0 )
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#define errQUEUE_EMPTY ( 0 )
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#define errQUEUE_FULL ( 0 )
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/* Error definitions. */
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#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
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#define errNO_TASK_TO_RUN ( -2 )
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#define errQUEUE_FULL ( -3 )
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#define errQUEUE_BLOCKED ( -4 )
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#define errQUEUE_YIELD ( -5 )
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#endif
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#endif /* PROJDEFS_H */
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@ -54,6 +54,15 @@
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*/
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typedef void * xTaskHandle;
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/*
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* Used internally only.
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*/
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typedef struct xTIME_OUT
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{
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portBASE_TYPE xOverflowCount;
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portTickType xTimeOnEntering;
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} xTimeOutType;
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/*
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* Defines the priority used by the idle task. This must not be modified.
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*
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@ -919,6 +928,22 @@ inline void vTaskSwitchContext( void );
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*/
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xTaskHandle xTaskGetCurrentTaskHandle( void );
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/*
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* Capture the current time status for future reference.
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*/
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void vTaskSetTimeOutState( xTimeOutType *pxTimeOut );
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/*
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* Compare the time status now with that previously captured to see if the
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* timeout has expired.
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*/
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portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType *pxTicksToWait );
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/*
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* Shortcut used by the queue implementation to prevent unnecessary call to
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* taskYIELD();
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*/
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void vTaskMissedYield( void );
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#endif /* TASK_H */
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293
Source/queue.c
293
Source/queue.c
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@ -54,6 +54,12 @@ Changes from V3.2.3
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+ Added the queue functions that can be used from co-routines.
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Changes from V4.0.5
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+ Added a loop within xQueueSend() and xQueueReceive() to prevent the
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functions exiting when a block time remains and the function has
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not completed.
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*/
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#include <stdlib.h>
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@ -68,6 +74,7 @@ Changes from V3.2.3
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/* Constants used with the cRxLock and cTxLock structure members. */
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#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 )
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#define queueERRONEOUS_UNBLOCK ( -1 )
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/*
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* Definition of the queue used by the scheduler.
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@ -128,7 +135,7 @@ signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer,
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* to indicate that a task may require unblocking. When the queue in unlocked
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* these lock counts are inspected, and the appropriate action taken.
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*/
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static signed portBASE_TYPE prvUnlockQueue( xQueueHandle pxQueue );
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static void prvUnlockQueue( xQueueHandle pxQueue );
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/*
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* Uses a critical section to determine if there is any data in a queue.
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@ -230,10 +237,14 @@ size_t xQueueSizeInBytes;
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signed portBASE_TYPE xQueueSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
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{
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signed portBASE_TYPE xReturn;
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xTimeOutType xTimeOut;
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/* Make sure other tasks do not access the queue. */
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vTaskSuspendAll();
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/* Capture the current time status for future reference. */
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vTaskSetTimeOutState( &xTimeOut );
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/* It is important that this is the only thread/ISR that modifies the
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ready or delayed lists until xTaskResumeAll() is called. Places where
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the ready/delayed lists are modified include:
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@ -272,108 +283,105 @@ signed portBASE_TYPE xReturn;
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*/
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/* If the queue is already full we may have to block. */
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if( prvIsQueueFull( pxQueue ) )
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do
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{
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/* The queue is full - do we want to block or just leave without
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posting? */
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if( xTicksToWait > ( portTickType ) 0 )
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if( prvIsQueueFull( pxQueue ) )
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{
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/* We are going to place ourselves on the xTasksWaitingToSend event
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list, and will get woken should the delay expire, or space become
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available on the queue.
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As detailed above we do not require mutual exclusion on the event
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list as nothing else can modify it or the ready lists while we
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have the scheduler suspended and queue locked.
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It is possible that an ISR has removed data from the queue since we
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checked if any was available. If this is the case then the data
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will have been copied from the queue, and the queue variables
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updated, but the event list will not yet have been checked to see if
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anything is waiting as the queue is locked. */
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vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
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/* Force a context switch now as we are blocked. We can do
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this from within a critical section as the task we are
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switching to has its own context. When we return here (i.e. we
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unblock) we will leave the critical section as normal.
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It is possible that an ISR has caused an event on an unrelated and
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unlocked queue. If this was the case then the event list for that
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queue will have been updated but the ready lists left unchanged -
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instead the readied task will have been added to the pending ready
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list. */
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taskENTER_CRITICAL();
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/* The queue is full - do we want to block or just leave without
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posting? */
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if( xTicksToWait > ( portTickType ) 0 )
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{
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/* We can safely unlock the queue and scheduler here as
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interrupts are disabled. We must not yield with anything
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locked, but we can yield from within a critical section.
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/* We are going to place ourselves on the xTasksWaitingToSend event
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list, and will get woken should the delay expire, or space become
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available on the queue.
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Tasks that have been placed on the pending ready list cannot
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be tasks that are waiting for events on this queue. See
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in comment xTaskRemoveFromEventList(). */
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prvUnlockQueue( pxQueue );
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/* Resuming the scheduler may cause a yield. If so then there
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is no point yielding again here. */
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if( !xTaskResumeAll() )
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As detailed above we do not require mutual exclusion on the event
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list as nothing else can modify it or the ready lists while we
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have the scheduler suspended and queue locked.
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It is possible that an ISR has removed data from the queue since we
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checked if any was available. If this is the case then the data
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will have been copied from the queue, and the queue variables
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updated, but the event list will not yet have been checked to see if
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anything is waiting as the queue is locked. */
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vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
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/* Force a context switch now as we are blocked. We can do
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this from within a critical section as the task we are
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switching to has its own context. When we return here (i.e. we
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unblock) we will leave the critical section as normal.
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It is possible that an ISR has caused an event on an unrelated and
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unlocked queue. If this was the case then the event list for that
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queue will have been updated but the ready lists left unchanged -
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instead the readied task will have been added to the pending ready
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list. */
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taskENTER_CRITICAL();
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{
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taskYIELD();
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/* We can safely unlock the queue and scheduler here as
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interrupts are disabled. We must not yield with anything
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locked, but we can yield from within a critical section.
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Tasks that have been placed on the pending ready list cannot
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be tasks that are waiting for events on this queue. See
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in comment xTaskRemoveFromEventList(). */
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prvUnlockQueue( pxQueue );
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/* Resuming the scheduler may cause a yield. If so then there
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is no point yielding again here. */
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if( !xTaskResumeAll() )
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{
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taskYIELD();
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}
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/* Before leaving the critical section we have to ensure
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exclusive access again. */
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vTaskSuspendAll();
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prvLockQueue( pxQueue );
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}
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/* Before leaving the critical section we have to ensure
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exclusive access again. */
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vTaskSuspendAll();
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prvLockQueue( pxQueue );
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taskEXIT_CRITICAL();
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}
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taskEXIT_CRITICAL();
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}
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}
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/* When we are here it is possible that we unblocked as space became
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available on the queue. It is also possible that an ISR posted to the
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queue since we left the critical section, so it may be that again there
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is no space. This would only happen if a task and ISR post onto the
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same queue. */
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taskENTER_CRITICAL();
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{
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if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
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/* When we are here it is possible that we unblocked as space became
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available on the queue. It is also possible that an ISR posted to the
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queue since we left the critical section, so it may be that again there
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is no space. This would only happen if a task and ISR post onto the
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same queue. */
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taskENTER_CRITICAL();
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{
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/* There is room in the queue, copy the data into the queue. */
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prvCopyQueueData( pxQueue, pvItemToQueue );
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xReturn = pdPASS;
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if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
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{
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/* There is room in the queue, copy the data into the queue. */
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prvCopyQueueData( pxQueue, pvItemToQueue );
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xReturn = pdPASS;
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/* Update the TxLock count so prvUnlockQueue knows to check for
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tasks waiting for data to become available in the queue. */
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++( pxQueue->xTxLock );
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}
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else
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{
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xReturn = errQUEUE_FULL;
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}
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}
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taskEXIT_CRITICAL();
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/* Update the TxLock count so prvUnlockQueue knows to check for
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tasks waiting for data to become available in the queue. */
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++( pxQueue->xTxLock );
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}
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else
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if( xReturn == errQUEUE_FULL )
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{
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xReturn = errQUEUE_FULL;
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if( xTicksToWait > 0 )
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{
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if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
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{
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xReturn = queueERRONEOUS_UNBLOCK;
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}
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}
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}
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}
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taskEXIT_CRITICAL();
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while( xReturn == queueERRONEOUS_UNBLOCK );
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/* We no longer require exclusive access to the queue. prvUnlockQueue
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will remove any tasks suspended on a receive if either this function
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or an ISR has posted onto the queue. */
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if( prvUnlockQueue( pxQueue ) )
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{
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/* Resume the scheduler - making ready any tasks that were woken
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by an event while the scheduler was locked. Resuming the
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scheduler may cause a yield, in which case there is no point
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yielding again here. */
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if( !xTaskResumeAll() )
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{
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taskYIELD();
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}
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}
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else
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{
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/* Resume the scheduler - making ready any tasks that were woken
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by an event while the scheduler was locked. */
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xTaskResumeAll();
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}
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prvUnlockQueue( pxQueue );
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xTaskResumeAll();
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return xReturn;
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}
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@ -424,6 +432,7 @@ signed portBASE_TYPE xQueueSendFromISR( xQueueHandle pxQueue, const void *pvItem
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signed portBASE_TYPE xQueueReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
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{
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signed portBASE_TYPE xReturn;
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xTimeOutType xTimeOut;
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/* This function is very similar to xQueueSend(). See comments within
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xQueueSend() for a more detailed explanation.
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@ -431,68 +440,76 @@ signed portBASE_TYPE xReturn;
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Make sure other tasks do not access the queue. */
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vTaskSuspendAll();
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/* Capture the current time status for future reference. */
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vTaskSetTimeOutState( &xTimeOut );
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/* Make sure interrupts do not access the queue. */
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prvLockQueue( pxQueue );
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/* If there are no messages in the queue we may have to block. */
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if( prvIsQueueEmpty( pxQueue ) )
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do
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{
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/* There are no messages in the queue, do we want to block or just
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leave with nothing? */
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if( xTicksToWait > ( portTickType ) 0 )
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/* If there are no messages in the queue we may have to block. */
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if( prvIsQueueEmpty( pxQueue ) )
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{
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vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
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taskENTER_CRITICAL();
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/* There are no messages in the queue, do we want to block or just
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leave with nothing? */
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if( xTicksToWait > ( portTickType ) 0 )
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{
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prvUnlockQueue( pxQueue );
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if( !xTaskResumeAll() )
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vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
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taskENTER_CRITICAL();
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{
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taskYIELD();
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prvUnlockQueue( pxQueue );
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if( !xTaskResumeAll() )
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{
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taskYIELD();
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}
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vTaskSuspendAll();
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prvLockQueue( pxQueue );
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}
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vTaskSuspendAll();
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prvLockQueue( pxQueue );
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taskEXIT_CRITICAL();
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}
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taskEXIT_CRITICAL();
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}
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}
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taskENTER_CRITICAL();
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{
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if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
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taskENTER_CRITICAL();
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{
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pxQueue->pcReadFrom += pxQueue->uxItemSize;
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if( pxQueue->pcReadFrom >= pxQueue->pcTail )
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if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
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{
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pxQueue->pcReadFrom = pxQueue->pcHead;
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pxQueue->pcReadFrom += pxQueue->uxItemSize;
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if( pxQueue->pcReadFrom >= pxQueue->pcTail )
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{
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pxQueue->pcReadFrom = pxQueue->pcHead;
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}
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--( pxQueue->uxMessagesWaiting );
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memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
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/* Increment the lock count so prvUnlockQueue knows to check for
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tasks waiting for space to become available on the queue. */
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++( pxQueue->xRxLock );
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xReturn = pdPASS;
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}
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--( pxQueue->uxMessagesWaiting );
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memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
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else
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{
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xReturn = errQUEUE_EMPTY;
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}
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}
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taskEXIT_CRITICAL();
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/* Increment the lock count so prvUnlockQueue knows to check for
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tasks waiting for space to become available on the queue. */
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++( pxQueue->xRxLock );
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xReturn = pdPASS;
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}
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else
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if( xReturn == errQUEUE_EMPTY )
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{
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xReturn = pdFAIL;
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if( xTicksToWait > 0 )
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{
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if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
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{
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xReturn = queueERRONEOUS_UNBLOCK;
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}
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}
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}
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}
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taskEXIT_CRITICAL();
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} while( xReturn == queueERRONEOUS_UNBLOCK );
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/* We no longer require exclusive access to the queue. */
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if( prvUnlockQueue( pxQueue ) )
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{
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if( !xTaskResumeAll() )
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{
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taskYIELD();
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}
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}
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else
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{
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xTaskResumeAll();
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}
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prvUnlockQueue( pxQueue );
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xTaskResumeAll();
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return xReturn;
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}
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@ -571,10 +588,8 @@ void vQueueDelete( xQueueHandle pxQueue )
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}
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/*-----------------------------------------------------------*/
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static signed portBASE_TYPE prvUnlockQueue( xQueueHandle pxQueue )
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static void prvUnlockQueue( xQueueHandle pxQueue )
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{
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signed portBASE_TYPE xYieldRequired = pdFALSE;
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/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
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/* The lock counts contains the number of extra data items placed or
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@ -600,7 +615,7 @@ signed portBASE_TYPE xYieldRequired = pdFALSE;
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{
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/* The task waiting has a higher priority so record that a
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context switch is required. */
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xYieldRequired = pdTRUE;
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vTaskMissedYield();
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}
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}
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}
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@ -620,14 +635,12 @@ signed portBASE_TYPE xYieldRequired = pdFALSE;
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{
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if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
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{
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xYieldRequired = pdTRUE;
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vTaskMissedYield();
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}
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}
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}
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}
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taskEXIT_CRITICAL();
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return xYieldRequired;
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}
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/*-----------------------------------------------------------*/
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|
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|
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@ -176,6 +176,11 @@ Changed from V4.0.4
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This has not been necessary since V4.0.1 when the xMissedYield handling
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was added.
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+ Implement xTaskResumeFromISR().
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Changes from V4.0.5
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|
||||
+ Added utility functions and xOverflowCount variable to facilitate the
|
||||
queue.c changes.
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
|
@ -261,13 +266,13 @@ static xList xPendingReadyList; /*< Tasks that have been readied while the
|
|||
/* File private variables. --------------------------------*/
|
||||
static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
|
||||
static volatile portTickType xTickCount = ( portTickType ) 0;
|
||||
static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
|
||||
static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
|
||||
static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
|
||||
static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
|
||||
static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
|
||||
static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
|
||||
static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
|
||||
|
||||
static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
|
||||
/* Debugging and trace facilities private variables and macros. ------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -1281,6 +1286,7 @@ inline void vTaskIncrementTick( void )
|
|||
pxTemp = pxDelayedTaskList;
|
||||
pxDelayedTaskList = pxOverflowDelayedTaskList;
|
||||
pxOverflowDelayedTaskList = pxTemp;
|
||||
xNumOfOverflows++;
|
||||
}
|
||||
|
||||
/* See if this tick has made a timeout expire. */
|
||||
|
|
@ -1481,10 +1487,47 @@ portBASE_TYPE xReturn;
|
|||
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vTaskSetTimeOutState( xTimeOutType *pxTimeOut )
|
||||
{
|
||||
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
||||
pxTimeOut->xTimeOnEntering = xTickCount;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType *pxTicksToWait )
|
||||
{
|
||||
portBASE_TYPE xReturn;
|
||||
|
||||
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount > pxTimeOut->xTimeOnEntering ) )
|
||||
{
|
||||
/* The tick count is greater than the time at which vTaskSetTimeout()
|
||||
was called, but has also overflowed since vTaskSetTimeOut() was called.
|
||||
It must have wrapped all the way around and gone past us again. This
|
||||
passed since vTaskSetTimeout() was called. */
|
||||
xReturn = pdTRUE;
|
||||
}
|
||||
else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
|
||||
{
|
||||
/* Not a genuine timeout. Adjust parameters for time remaining. */
|
||||
*pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
|
||||
vTaskSetTimeOutState( pxTimeOut );
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = pdTRUE;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vTaskMissedYield( void )
|
||||
{
|
||||
xMissedYield = pdTRUE;
|
||||
}
|
||||
|
||||
/*
|
||||
* -----------------------------------------------------------
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue