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First version that includes the FreeRTOS-MPU implementation.

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This commit is contained in:
Richard Barry 2009-09-30 20:16:26 +00:00
parent 291ea26bfe
commit cf717acaae
1 changed files with 160 additions and 87 deletions
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219
Source/tasks.c
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@ -50,15 +50,24 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
all the API functions to use the MPU wrappers. That should only be done when
task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "StackMacros.h" #include "StackMacros.h"
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* /*
* Macro to define the amount of stack available to the idle task. * Macro to define the amount of stack available to the idle task.
*/ */
#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
/* /*
* Task control block. A task control block (TCB) is allocated to each task, * Task control block. A task control block (TCB) is allocated to each task,
* and stores the context of the task. * and stores the context of the task.
@ -66,6 +75,11 @@
typedef struct tskTaskControlBlock typedef struct tskTaskControlBlock
{ {
volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */ volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
#endif
xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */ xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
xListItem xEventListItem; /*< List item used to place the TCB in event lists. */ xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */ unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
@ -98,6 +112,7 @@ typedef struct tskTaskControlBlock
} tskTCB; } tskTCB;
/* /*
* Some kernel aware debuggers require data to be viewed to be global, rather * Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope. * than file scope.
@ -107,48 +122,47 @@ typedef struct tskTaskControlBlock
#endif #endif
/*lint -e956 */ /*lint -e956 */
PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
tskTCB * volatile pxCurrentTCB = NULL;
/* Lists for ready and blocked tasks. --------------------*/ /* Lists for ready and blocked tasks. --------------------*/
static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
static xList xDelayedTaskList1; /*< Delayed tasks. */ PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
#if ( INCLUDE_vTaskDelete == 1 ) #if ( INCLUDE_vTaskDelete == 1 )
static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0; PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
#endif #endif
#if ( INCLUDE_vTaskSuspend == 1 ) #if ( INCLUDE_vTaskSuspend == 1 )
static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
#endif #endif
/* File private variables. --------------------------------*/ /* File private variables. --------------------------------*/
static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0; PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
static volatile portTickType xTickCount = ( portTickType ) 0; PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0; PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0; PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
#if ( configGENERATE_RUN_TIME_STATS == 1 ) #if ( configGENERATE_RUN_TIME_STATS == 1 )
static portCHAR pcStatsString[ 50 ]; PRIVILEGED_DATA static portCHAR pcStatsString[ 50 ] ;
static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */ PRIVILEGED_DATA static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime ); static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime ) PRIVILEGED_FUNCTION;
#endif #endif
@ -174,12 +188,12 @@ static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
#if ( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) ) #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
static volatile signed portCHAR * volatile pcTraceBuffer; PRIVILEGED_DATA static volatile signed portCHAR * volatile pcTraceBuffer;
static signed portCHAR *pcTraceBufferStart; PRIVILEGED_DATA static signed portCHAR *pcTraceBufferStart;
static signed portCHAR *pcTraceBufferEnd; PRIVILEGED_DATA static signed portCHAR *pcTraceBufferEnd;
static signed portBASE_TYPE xTracing = pdFALSE; PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
static unsigned portBASE_TYPE uxPreviousTask = 255; PRIVILEGED_DATA static unsigned portBASE_TYPE uxPreviousTask = 255;
static portCHAR pcStatusString[ 50 ]; PRIVILEGED_DATA static portCHAR pcStatusString[ 50 ];
#endif #endif
@ -283,13 +297,13 @@ register tskTCB *pxTCB; \
* Utility to ready a TCB for a given task. Mainly just copies the parameters * Utility to ready a TCB for a given task. Mainly just copies the parameters
* into the TCB structure. * into the TCB structure.
*/ */
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ); static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned portSHORT usStackDepth ) PRIVILEGED_FUNCTION;
/* /*
* Utility to ready all the lists used by the scheduler. This is called * Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first task. * automatically upon the creation of the first task.
*/ */
static void prvInitialiseTaskLists( void ); static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
/* /*
* The idle task, which as all tasks is implemented as a never ending loop. * The idle task, which as all tasks is implemented as a never ending loop.
@ -313,7 +327,7 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
*/ */
#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
static void prvDeleteTCB( tskTCB *pxTCB ); static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
#endif #endif
@ -322,13 +336,13 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
* in the list of tasks waiting to be deleted. If so the task is cleaned up * in the list of tasks waiting to be deleted. If so the task is cleaned up
* and its TCB deleted. * and its TCB deleted.
*/ */
static void prvCheckTasksWaitingTermination( void ); static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
/* /*
* Allocates memory from the heap for a TCB and associated stack. Checks the * Allocates memory from the heap for a TCB and associated stack. Checks the
* allocation was successful. * allocation was successful.
*/ */
static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ); static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
/* /*
* Called from vTaskList. vListTasks details all the tasks currently under * Called from vTaskList. vListTasks details all the tasks currently under
@ -341,7 +355,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
*/ */
#if ( configUSE_TRACE_FACILITY == 1 ) #if ( configUSE_TRACE_FACILITY == 1 )
static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ); static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ) PRIVILEGED_FUNCTION;
#endif #endif
@ -352,7 +366,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
*/ */
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ); static unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ) PRIVILEGED_FUNCTION;
#endif #endif
@ -365,27 +379,36 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
* TASK CREATION API documented in task.h * TASK CREATION API documented in task.h
*----------------------------------------------------------*/ *----------------------------------------------------------*/
signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask ) signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
{ {
signed portBASE_TYPE xReturn; signed portBASE_TYPE xReturn;
tskTCB * pxNewTCB; tskTCB * pxNewTCB;
portBASE_TYPE xRunPrivileged;
/* Allocate the memory required by the TCB and stack for the new task. /* Allocate the memory required by the TCB and stack for the new task,
checking that the allocation was successful. */ checking that the allocation was successful. */
pxNewTCB = prvAllocateTCBAndStack( usStackDepth ); pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
if( pxNewTCB != NULL ) if( pxNewTCB != NULL )
{ {
portSTACK_TYPE *pxTopOfStack; portSTACK_TYPE *pxTopOfStack;
/* Setup the newly allocated TCB with the initial state of the task. */ /* Should the task be created in privileged mode? */
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority ); if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
{
xRunPrivileged = pdTRUE;
}
else
{
xRunPrivileged = pdFALSE;
}
uxPriority &= ~portPRIVILEGE_BIT;
/* Calculate the top of stack address. This depends on whether the /* Calculate the top of stack address. This depends on whether the
stack grows from high memory to low (as per the 80x86) or visa versa. stack grows from high memory to low (as per the 80x86) or visa versa.
portSTACK_GROWTH is used to make the result positive or negative as portSTACK_GROWTH is used to make the result positive or negative as
required by the port. */ required by the port. */
#if portSTACK_GROWTH < 0 #if( portSTACK_GROWTH < 0 )
{ {
pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ) - ( ( usStackDepth - 1 ) % portBYTE_ALIGNMENT ); pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ) - ( ( usStackDepth - 1 ) % portBYTE_ALIGNMENT );
} }
@ -400,11 +423,23 @@ tskTCB * pxNewTCB;
} }
#endif #endif
/* Setup the newly allocated TCB with the initial state of the task. */
prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
/* Initialize the TCB stack to look as if the task was already running, /* Initialize the TCB stack to look as if the task was already running,
but had been interrupted by the scheduler. The return address is set but had been interrupted by the scheduler. The return address is set
to the start of the task function. Once the stack has been initialised to the start of the task function. Once the stack has been initialised
the top of stack variable is updated. */ the top of stack variable is updated. */
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters ); #if( portUSING_MPU_WRAPPERS == 1 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#else
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
( void ) xRunPrivileged;
}
#endif
/* We are going to manipulate the task queues to add this task to a /* We are going to manipulate the task queues to add this task to a
ready list, so must make sure no interrupts occur. */ ready list, so must make sure no interrupts occur. */
@ -479,7 +514,7 @@ tskTCB * pxNewTCB;
then it should run now. */ then it should run now. */
if( pxCurrentTCB->uxPriority < uxPriority ) if( pxCurrentTCB->uxPriority < uxPriority )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
} }
@ -494,7 +529,7 @@ tskTCB * pxNewTCB;
{ {
tskTCB *pxTCB; tskTCB *pxTCB;
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
/* Ensure a yield is performed if the current task is being /* Ensure a yield is performed if the current task is being
deleted. */ deleted. */
@ -531,14 +566,14 @@ tskTCB * pxNewTCB;
traceTASK_DELETE( pxTCB ); traceTASK_DELETE( pxTCB );
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
/* Force a reschedule if we have just deleted the current task. */ /* Force a reschedule if we have just deleted the current task. */
if( xSchedulerRunning != pdFALSE ) if( xSchedulerRunning != pdFALSE )
{ {
if( ( void * ) pxTaskToDelete == NULL ) if( ( void * ) pxTaskToDelete == NULL )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
} }
@ -624,7 +659,7 @@ tskTCB * pxNewTCB;
have put ourselves to sleep. */ have put ourselves to sleep. */
if( !xAlreadyYielded ) if( !xAlreadyYielded )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
@ -685,7 +720,7 @@ tskTCB * pxNewTCB;
have put ourselves to sleep. */ have put ourselves to sleep. */
if( !xAlreadyYielded ) if( !xAlreadyYielded )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
@ -699,14 +734,14 @@ tskTCB * pxNewTCB;
tskTCB *pxTCB; tskTCB *pxTCB;
unsigned portBASE_TYPE uxReturn; unsigned portBASE_TYPE uxReturn;
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
/* If null is passed in here then we are changing the /* If null is passed in here then we are changing the
priority of the calling function. */ priority of the calling function. */
pxTCB = prvGetTCBFromHandle( pxTask ); pxTCB = prvGetTCBFromHandle( pxTask );
uxReturn = pxTCB->uxPriority; uxReturn = pxTCB->uxPriority;
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
return uxReturn; return uxReturn;
} }
@ -727,7 +762,7 @@ tskTCB * pxNewTCB;
uxNewPriority = configMAX_PRIORITIES - 1; uxNewPriority = configMAX_PRIORITIES - 1;
} }
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
if( pxTask == pxCurrentTCB ) if( pxTask == pxCurrentTCB )
{ {
@ -809,11 +844,11 @@ tskTCB * pxNewTCB;
if( xYieldRequired == pdTRUE ) if( xYieldRequired == pdTRUE )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
} }
#endif #endif
@ -825,7 +860,7 @@ tskTCB * pxNewTCB;
{ {
tskTCB *pxTCB; tskTCB *pxTCB;
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
/* Ensure a yield is performed if the current task is being /* Ensure a yield is performed if the current task is being
suspended. */ suspended. */
@ -850,12 +885,12 @@ tskTCB * pxNewTCB;
vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
/* We may have just suspended the current task. */ /* We may have just suspended the current task. */
if( ( void * ) pxTaskToSuspend == NULL ) if( ( void * ) pxTaskToSuspend == NULL )
{ {
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
@ -907,7 +942,7 @@ tskTCB * pxNewTCB;
currently executing task. */ currently executing task. */
if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) ) if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
{ {
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE ) if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
{ {
@ -923,11 +958,11 @@ tskTCB * pxNewTCB;
{ {
/* This yield may not cause the task just resumed to run, but /* This yield may not cause the task just resumed to run, but
will leave the lists in the correct state for the next yield. */ will leave the lists in the correct state for the next yield. */
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
} }
} }
@ -981,7 +1016,7 @@ void vTaskStartScheduler( void )
portBASE_TYPE xReturn; portBASE_TYPE xReturn;
/* Add the idle task at the lowest priority. */ /* Add the idle task at the lowest priority. */
xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL ); xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
if( xReturn == pdPASS ) if( xReturn == pdPASS )
{ {
@ -1098,7 +1133,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
{ {
xAlreadyYielded = pdTRUE; xAlreadyYielded = pdTRUE;
xMissedYield = pdFALSE; xMissedYield = pdFALSE;
taskYIELD(); portYIELD_WITHIN_API();
} }
} }
} }
@ -1124,11 +1159,11 @@ portTickType xTaskGetTickCount( void )
portTickType xTicks; portTickType xTicks;
/* Critical section required if running on a 16 bit processor. */ /* Critical section required if running on a 16 bit processor. */
taskENTER_CRITICAL(); portENTER_CRITICAL();
{ {
xTicks = xTickCount; xTicks = xTickCount;
} }
taskEXIT_CRITICAL(); portEXIT_CRITICAL();
return xTicks; return xTicks;
} }
@ -1800,7 +1835,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ) static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned portSHORT usStackDepth )
{ {
/* Store the function name in the TCB. */ /* Store the function name in the TCB. */
#if configMAX_TASK_NAME_LEN > 1 #if configMAX_TASK_NAME_LEN > 1
@ -1811,7 +1846,8 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * co
#endif #endif
pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0'; pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
/* This is used as an array index so must ensure it's not too large. */ /* This is used as an array index so must ensure it's not too large. First
remove the privilege bit if one is present. */
if( uxPriority >= configMAX_PRIORITIES ) if( uxPriority >= configMAX_PRIORITIES )
{ {
uxPriority = configMAX_PRIORITIES - 1; uxPriority = configMAX_PRIORITIES - 1;
@ -1852,9 +1888,39 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * co
pxTCB->ulRunTimeCounter = 0UL; pxTCB->ulRunTimeCounter = 0UL;
} }
#endif #endif
#if ( portUSING_MPU_WRAPPERS == 1 )
{
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
}
#else
{
( void ) xRegions;
( void ) usStackDepth;
}
#endif
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if ( portUSING_MPU_WRAPPERS == 1 )
void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
{
tskTCB *pxTCB;
if( xTaskToModify == pxCurrentTCB )
{
xTaskToModify = NULL;
}
/* If null is passed in here then we are deleting ourselves. */
pxTCB = prvGetTCBFromHandle( xTaskToModify );
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
}
/*-----------------------------------------------------------*/
#endif
static void prvInitialiseTaskLists( void ) static void prvInitialiseTaskLists( void )
{ {
unsigned portBASE_TYPE uxPriority; unsigned portBASE_TYPE uxPriority;
@ -1922,7 +1988,7 @@ static void prvCheckTasksWaitingTermination( void )
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ) static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth, portSTACK_TYPE *puxStackBuffer )
{ {
tskTCB *pxNewTCB; tskTCB *pxNewTCB;
@ -1935,7 +2001,7 @@ tskTCB *pxNewTCB;
/* Allocate space for the stack used by the task being created. /* Allocate space for the stack used by the task being created.
The base of the stack memory stored in the TCB so the task can The base of the stack memory stored in the TCB so the task can
be deleted later if required. */ be deleted later if required. */
pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ); pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
if( pxNewTCB->pxStack == NULL ) if( pxNewTCB->pxStack == NULL )
{ {
@ -2028,7 +2094,7 @@ tskTCB *pxNewTCB;
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ) static unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
{ {
register unsigned portSHORT usCount = 0; register unsigned portSHORT usCount = 0;
@ -2052,6 +2118,7 @@ tskTCB *pxNewTCB;
{ {
tskTCB *pxTCB; tskTCB *pxTCB;
unsigned portCHAR *pcEndOfStack; unsigned portCHAR *pcEndOfStack;
unsigned portBASE_TYPE uxReturn;
pxTCB = prvGetTCBFromHandle( xTask ); pxTCB = prvGetTCBFromHandle( xTask );
@ -2065,7 +2132,9 @@ tskTCB *pxNewTCB;
} }
#endif #endif
return usTaskCheckFreeStackSpace( pcEndOfStack ); uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
return uxReturn;
} }
#endif #endif
@ -2077,7 +2146,7 @@ tskTCB *pxNewTCB;
{ {
/* Free up the memory allocated by the scheduler for the task. It is up to /* Free up the memory allocated by the scheduler for the task. It is up to
the task to free any memory allocated at the application level. */ the task to free any memory allocated at the application level. */
vPortFree( pxTCB->pxStack ); vPortFreeAligned( pxTCB->pxStack );
vPortFree( pxTCB ); vPortFree( pxTCB );
} }
@ -2090,10 +2159,14 @@ tskTCB *pxNewTCB;
xTaskHandle xTaskGetCurrentTaskHandle( void ) xTaskHandle xTaskGetCurrentTaskHandle( void )
{ {
xTaskHandle xReturn;
/* A critical section is not required as this is not called from /* A critical section is not required as this is not called from
an interrupt and the current TCB will always be the same for any an interrupt and the current TCB will always be the same for any
individual execution thread. */ individual execution thread. */
return pxCurrentTCB; xReturn = pxCurrentTCB;
return xReturn;
} }
#endif #endif