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First version that includes the FreeRTOS-MPU implementation.
This commit is contained in:
Richard Barry
parent
291ea26bfe
commit
cf717acaae
247
Source/tasks.c
247
Source/tasks.c
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@ -24,10 +24,10 @@
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***************************************************************************
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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@ -50,15 +50,24 @@
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#include <stdlib.h>
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#include <string.h>
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/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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all the API functions to use the MPU wrappers. That should only be done when
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task.h is included from an application file. */
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#include "FreeRTOS.h"
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#include "task.h"
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#include "StackMacros.h"
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#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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/*
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* Macro to define the amount of stack available to the idle task.
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*/
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#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
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/*
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* Task control block. A task control block (TCB) is allocated to each task,
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* and stores the context of the task.
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@ -66,6 +75,11 @@
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typedef struct tskTaskControlBlock
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{
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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. */
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#if ( portUSING_MPU_WRAPPERS == 1 )
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xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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#endif
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xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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@ -93,11 +107,12 @@ typedef struct tskTaskControlBlock
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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unsigned portLONG ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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unsigned portLONG ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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#endif
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} tskTCB;
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/*
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* Some kernel aware debuggers require data to be viewed to be global, rather
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* than file scope.
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@ -107,48 +122,47 @@ typedef struct tskTaskControlBlock
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#endif
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/*lint -e956 */
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tskTCB * volatile pxCurrentTCB = NULL;
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PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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/* Lists for ready and blocked tasks. --------------------*/
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static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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static xList xDelayedTaskList1; /*< Delayed tasks. */
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static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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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. */
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PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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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. */
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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. */
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#if ( INCLUDE_vTaskDelete == 1 )
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static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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#endif
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#if ( INCLUDE_vTaskSuspend == 1 )
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static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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#endif
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/* File private variables. --------------------------------*/
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static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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static volatile portTickType xTickCount = ( portTickType ) 0;
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static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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static portCHAR pcStatsString[ 50 ];
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static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime );
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PRIVILEGED_DATA static portCHAR pcStatsString[ 50 ] ;
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PRIVILEGED_DATA static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime ) PRIVILEGED_FUNCTION;
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#endif
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@ -174,12 +188,12 @@ static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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#if ( configUSE_TRACE_FACILITY == 1 )
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#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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static volatile signed portCHAR * volatile pcTraceBuffer;
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static signed portCHAR *pcTraceBufferStart;
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static signed portCHAR *pcTraceBufferEnd;
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static signed portBASE_TYPE xTracing = pdFALSE;
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static unsigned portBASE_TYPE uxPreviousTask = 255;
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static portCHAR pcStatusString[ 50 ];
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PRIVILEGED_DATA static volatile signed portCHAR * volatile pcTraceBuffer;
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PRIVILEGED_DATA static signed portCHAR *pcTraceBufferStart;
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PRIVILEGED_DATA static signed portCHAR *pcTraceBufferEnd;
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PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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PRIVILEGED_DATA static unsigned portBASE_TYPE uxPreviousTask = 255;
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PRIVILEGED_DATA static portCHAR pcStatusString[ 50 ];
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#endif
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@ -283,13 +297,13 @@ register tskTCB *pxTCB; \
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* Utility to ready a TCB for a given task. Mainly just copies the parameters
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* into the TCB structure.
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*/
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned portSHORT usStackDepth ) PRIVILEGED_FUNCTION;
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/*
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* Utility to ready all the lists used by the scheduler. This is called
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* automatically upon the creation of the first task.
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*/
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static void prvInitialiseTaskLists( void );
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static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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/*
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* The idle task, which as all tasks is implemented as a never ending loop.
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@ -313,7 +327,7 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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*/
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#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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static void prvDeleteTCB( tskTCB *pxTCB );
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static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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#endif
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@ -322,13 +336,13 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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* in the list of tasks waiting to be deleted. If so the task is cleaned up
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* and its TCB deleted.
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*/
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static void prvCheckTasksWaitingTermination( void );
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static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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/*
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* Allocates memory from the heap for a TCB and associated stack. Checks the
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* allocation was successful.
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*/
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static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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/*
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* Called from vTaskList. vListTasks details all the tasks currently under
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@ -341,7 +355,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ) PRIVILEGED_FUNCTION;
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#endif
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@ -352,7 +366,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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*/
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#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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static unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ) PRIVILEGED_FUNCTION;
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#endif
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@ -365,27 +379,36 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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* TASK CREATION API documented in task.h
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*----------------------------------------------------------*/
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signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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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 )
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{
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signed portBASE_TYPE xReturn;
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tskTCB * pxNewTCB;
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portBASE_TYPE xRunPrivileged;
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/* Allocate the memory required by the TCB and stack for the new task.
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/* Allocate the memory required by the TCB and stack for the new task,
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checking that the allocation was successful. */
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pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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if( pxNewTCB != NULL )
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{
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portSTACK_TYPE *pxTopOfStack;
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/* Setup the newly allocated TCB with the initial state of the task. */
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prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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/* Should the task be created in privileged mode? */
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if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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{
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xRunPrivileged = pdTRUE;
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}
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else
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{
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xRunPrivileged = pdFALSE;
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}
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uxPriority &= ~portPRIVILEGE_BIT;
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/* Calculate the top of stack address. This depends on whether the
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stack grows from high memory to low (as per the 80x86) or visa versa.
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portSTACK_GROWTH is used to make the result positive or negative as
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required by the port. */
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#if portSTACK_GROWTH < 0
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#if( portSTACK_GROWTH < 0 )
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{
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pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ) - ( ( usStackDepth - 1 ) % portBYTE_ALIGNMENT );
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}
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@ -400,11 +423,23 @@ tskTCB * pxNewTCB;
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}
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#endif
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/* Setup the newly allocated TCB with the initial state of the task. */
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prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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/* Initialize the TCB stack to look as if the task was already running,
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but had been interrupted by the scheduler. The return address is set
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to the start of the task function. Once the stack has been initialised
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the top of stack variable is updated. */
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pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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#if( portUSING_MPU_WRAPPERS == 1 )
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{
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pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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}
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#else
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{
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pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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( void ) xRunPrivileged;
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}
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#endif
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/* We are going to manipulate the task queues to add this task to a
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ready list, so must make sure no interrupts occur. */
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@ -479,7 +514,7 @@ tskTCB * pxNewTCB;
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then it should run now. */
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if( pxCurrentTCB->uxPriority < uxPriority )
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{
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taskYIELD();
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portYIELD_WITHIN_API();
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}
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}
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}
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@ -494,7 +529,7 @@ tskTCB * pxNewTCB;
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{
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tskTCB *pxTCB;
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taskENTER_CRITICAL();
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portENTER_CRITICAL();
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{
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/* Ensure a yield is performed if the current task is being
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deleted. */
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@ -531,14 +566,14 @@ tskTCB * pxNewTCB;
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traceTASK_DELETE( pxTCB );
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}
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taskEXIT_CRITICAL();
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portEXIT_CRITICAL();
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/* Force a reschedule if we have just deleted the current task. */
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if( xSchedulerRunning != pdFALSE )
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{
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if( ( void * ) pxTaskToDelete == NULL )
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{
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taskYIELD();
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portYIELD_WITHIN_API();
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}
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}
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}
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@ -624,7 +659,7 @@ tskTCB * pxNewTCB;
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have put ourselves to sleep. */
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if( !xAlreadyYielded )
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{
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taskYIELD();
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portYIELD_WITHIN_API();
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}
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}
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@ -685,7 +720,7 @@ tskTCB * pxNewTCB;
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have put ourselves to sleep. */
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if( !xAlreadyYielded )
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{
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taskYIELD();
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portYIELD_WITHIN_API();
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}
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}
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@ -699,14 +734,14 @@ tskTCB * pxNewTCB;
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tskTCB *pxTCB;
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unsigned portBASE_TYPE uxReturn;
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taskENTER_CRITICAL();
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portENTER_CRITICAL();
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{
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/* If null is passed in here then we are changing the
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priority of the calling function. */
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pxTCB = prvGetTCBFromHandle( pxTask );
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uxReturn = pxTCB->uxPriority;
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}
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taskEXIT_CRITICAL();
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portEXIT_CRITICAL();
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return uxReturn;
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}
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@ -727,7 +762,7 @@ tskTCB * pxNewTCB;
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uxNewPriority = configMAX_PRIORITIES - 1;
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}
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taskENTER_CRITICAL();
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portENTER_CRITICAL();
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{
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if( pxTask == pxCurrentTCB )
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{
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@ -809,11 +844,11 @@ tskTCB * pxNewTCB;
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if( xYieldRequired == pdTRUE )
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{
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taskYIELD();
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portYIELD_WITHIN_API();
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}
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}
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}
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taskEXIT_CRITICAL();
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portEXIT_CRITICAL();
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}
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#endif
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@ -825,7 +860,7 @@ tskTCB * pxNewTCB;
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{
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tskTCB *pxTCB;
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taskENTER_CRITICAL();
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portENTER_CRITICAL();
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{
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/* Ensure a yield is performed if the current task is being
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suspended. */
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@ -850,12 +885,12 @@ tskTCB * pxNewTCB;
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vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
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}
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taskEXIT_CRITICAL();
|
||||
portEXIT_CRITICAL();
|
||||
|
||||
/* We may have just suspended the current task. */
|
||||
if( ( void * ) pxTaskToSuspend == NULL )
|
||||
{
|
||||
taskYIELD();
|
||||
portYIELD_WITHIN_API();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -907,7 +942,7 @@ tskTCB * pxNewTCB;
|
|||
currently executing task. */
|
||||
if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
|
||||
{
|
||||
taskENTER_CRITICAL();
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
|
||||
{
|
||||
|
|
@ -923,11 +958,11 @@ tskTCB * pxNewTCB;
|
|||
{
|
||||
/* This yield may not cause the task just resumed to run, but
|
||||
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;
|
||||
|
||||
/* 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 )
|
||||
{
|
||||
|
|
@ -1087,7 +1122,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
|
|||
/* As we have processed some ticks it is appropriate to yield
|
||||
to ensure the highest priority task that is ready to run is
|
||||
the task actually running. */
|
||||
#if configUSE_PREEMPTION == 1
|
||||
#if configUSE_PREEMPTION == 1
|
||||
{
|
||||
xYieldRequired = pdTRUE;
|
||||
}
|
||||
|
|
@ -1098,7 +1133,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
|
|||
{
|
||||
xAlreadyYielded = pdTRUE;
|
||||
xMissedYield = pdFALSE;
|
||||
taskYIELD();
|
||||
portYIELD_WITHIN_API();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1124,11 +1159,11 @@ portTickType xTaskGetTickCount( void )
|
|||
portTickType xTicks;
|
||||
|
||||
/* Critical section required if running on a 16 bit processor. */
|
||||
taskENTER_CRITICAL();
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
xTicks = xTickCount;
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
portEXIT_CRITICAL();
|
||||
|
||||
return xTicks;
|
||||
}
|
||||
|
|
@ -1151,7 +1186,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
|||
/* This is a VERY costly function that should be used for debug only.
|
||||
It leaves interrupts disabled for a LONG time. */
|
||||
|
||||
vTaskSuspendAll();
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Run through all the lists that could potentially contain a TCB and
|
||||
report the task name, state and stack high water mark. */
|
||||
|
|
@ -1199,7 +1234,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
|||
}
|
||||
#endif
|
||||
}
|
||||
xTaskResumeAll();
|
||||
xTaskResumeAll();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1215,7 +1250,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
|||
/* This is a VERY costly function that should be used for debug only.
|
||||
It leaves interrupts disabled for a LONG time. */
|
||||
|
||||
vTaskSuspendAll();
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Run through all the lists that could potentially contain a TCB,
|
||||
generating a table of run timer percentages in the provided
|
||||
|
|
@ -1264,7 +1299,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
|||
}
|
||||
#endif
|
||||
}
|
||||
xTaskResumeAll();
|
||||
xTaskResumeAll();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -1330,7 +1365,7 @@ void vTaskIncrementTick( void )
|
|||
pxTemp = pxDelayedTaskList;
|
||||
pxDelayedTaskList = pxOverflowDelayedTaskList;
|
||||
pxOverflowDelayedTaskList = pxTemp;
|
||||
xNumOfOverflows++;
|
||||
xNumOfOverflows++;
|
||||
}
|
||||
|
||||
/* See if this tick has made a timeout expire. */
|
||||
|
|
@ -1671,8 +1706,8 @@ portBASE_TYPE xReturn;
|
|||
|
||||
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
|
||||
{
|
||||
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
||||
pxTimeOut->xTimeOnEntering = xTickCount;
|
||||
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
||||
pxTimeOut->xTimeOnEntering = xTickCount;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
@ -1715,7 +1750,7 @@ portBASE_TYPE xReturn;
|
|||
}
|
||||
portEXIT_CRITICAL();
|
||||
|
||||
return xReturn;
|
||||
return xReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
@ -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. */
|
||||
#if configMAX_TASK_NAME_LEN > 1
|
||||
|
|
@ -1811,7 +1846,8 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * co
|
|||
#endif
|
||||
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 )
|
||||
{
|
||||
uxPriority = configMAX_PRIORITIES - 1;
|
||||
|
|
@ -1852,9 +1888,39 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * co
|
|||
pxTCB->ulRunTimeCounter = 0UL;
|
||||
}
|
||||
#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 )
|
||||
{
|
||||
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;
|
||||
|
||||
|
|
@ -1935,7 +2001,7 @@ tskTCB *pxNewTCB;
|
|||
/* 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
|
||||
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 )
|
||||
{
|
||||
|
|
@ -2028,7 +2094,7 @@ tskTCB *pxNewTCB;
|
|||
|
||||
#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;
|
||||
|
||||
|
|
@ -2052,6 +2118,7 @@ tskTCB *pxNewTCB;
|
|||
{
|
||||
tskTCB *pxTCB;
|
||||
unsigned portCHAR *pcEndOfStack;
|
||||
unsigned portBASE_TYPE uxReturn;
|
||||
|
||||
pxTCB = prvGetTCBFromHandle( xTask );
|
||||
|
||||
|
|
@ -2065,7 +2132,9 @@ tskTCB *pxNewTCB;
|
|||
}
|
||||
#endif
|
||||
|
||||
return usTaskCheckFreeStackSpace( pcEndOfStack );
|
||||
uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
|
||||
|
||||
return uxReturn;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -2077,7 +2146,7 @@ tskTCB *pxNewTCB;
|
|||
{
|
||||
/* 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. */
|
||||
vPortFree( pxTCB->pxStack );
|
||||
vPortFreeAligned( pxTCB->pxStack );
|
||||
vPortFree( pxTCB );
|
||||
}
|
||||
|
||||
|
|
@ -2090,10 +2159,14 @@ tskTCB *pxNewTCB;
|
|||
|
||||
xTaskHandle xTaskGetCurrentTaskHandle( void )
|
||||
{
|
||||
xTaskHandle xReturn;
|
||||
|
||||
/* 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
|
||||
individual execution thread. */
|
||||
return pxCurrentTCB;
|
||||
xReturn = pxCurrentTCB;
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in a new issue