@ -201,12 +201,11 @@ PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been r
/* File private variables. --------------------------------*/
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U ;
PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U ;
PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY ;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY ;
PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE ;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE ;
PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U ;
PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE ;
PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE ;
PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0 ;
PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U ;
PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY ;
@ -214,7 +213,7 @@ PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTic
# if ( configGENERATE_RUN_TIME_STATS == 1 )
PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL ; /*< Holds the value of a timer/counter the last time a task was switched in. */
PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL ; /*< Holds the total amount of execution time as defined by the run time counter clock. */
PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL ; /*< Holds the total amount of execution time as defined by the run time counter clock. */
# endif
@ -587,13 +586,6 @@ tskTCB * pxNewTCB;
}
}
/* Remember the top priority to make context switching faster. Use
the priority in pxNewTCB as this has been capped to a valid value . */
if ( pxNewTCB - > uxPriority > uxTopUsedPriority )
{
uxTopUsedPriority = pxNewTCB - > uxPriority ;
}
uxTaskNumber + + ;
# if ( configUSE_TRACE_FACILITY == 1 )
@ -662,7 +654,7 @@ tskTCB * pxNewTCB;
}
/* Is the task waiting on an event also? */
if ( pxTCB - > xEventListItem . pvContainer ! = NULL )
if ( listLIST_ITEM_CONTAINER ( & ( pxTCB - > xEventListItem ) ) ! = NULL )
{
uxListRemove ( & ( pxTCB - > xEventListItem ) ) ;
}
@ -707,17 +699,21 @@ tskTCB * pxNewTCB;
vTaskSuspendAll ( ) ;
{
/* Minor optimisation. The tick count cannot change in this
block . */
const portTickType xConstTickCount = xTickCount ;
/* Generate the tick time at which the task wants to wake. */
xTimeToWake = * pxPreviousWakeTime + xTimeIncrement ;
if ( xTickCount < * pxPreviousWakeTime )
if ( x Const TickCount < * pxPreviousWakeTime )
{
/* The tick count has overflowed since this function was
lasted called . In this case the only time we should ever
actually delay is if the wake time has also overflowed ,
and the wake time is greater than the tick time . When this
is the case it is as if neither time had overflowed . */
if ( ( xTimeToWake < * pxPreviousWakeTime ) & & ( xTimeToWake > x TickCount ) )
if ( ( xTimeToWake < * pxPreviousWakeTime ) & & ( xTimeToWake > x Const TickCount ) )
{
xShouldDelay = pdTRUE ;
}
@ -727,7 +723,7 @@ tskTCB * pxNewTCB;
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed , and / or the
tick time is less than the wake time . */
if ( ( xTimeToWake < * pxPreviousWakeTime ) | | ( xTimeToWake > x TickCount ) )
if ( ( xTimeToWake < * pxPreviousWakeTime ) | | ( xTimeToWake > x Const TickCount ) )
{
xShouldDelay = pdTRUE ;
}
@ -825,9 +821,7 @@ tskTCB * pxNewTCB;
{
eTaskState eReturn ;
xList * pxStateList ;
tskTCB * pxTCB ;
pxTCB = ( tskTCB * ) xTask ;
const tskTCB * const pxTCB = ( tskTCB * ) xTask ;
if ( pxTCB = = pxCurrentTCB )
{
@ -1048,7 +1042,7 @@ tskTCB * pxNewTCB;
}
/* Is the task waiting on an event also? */
if ( pxTCB - > xEventListItem . pvContainer ! = NULL )
if ( listLIST_ITEM_CONTAINER ( & ( pxTCB - > xEventListItem ) ) ! = NULL )
{
uxListRemove ( & ( pxTCB - > xEventListItem ) ) ;
}
@ -1126,15 +1120,11 @@ tskTCB * pxNewTCB;
void vTaskResume ( xTaskHandle xTaskToResume )
{
tskTCB * pxTCB ;
tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume ;
/* It does not make sense to resume the calling task. */
configASSERT ( xTaskToResume ) ;
/* Remove the task from whichever list it is currently in, and place
it in the ready list . */
pxTCB = ( tskTCB * ) xTaskToResume ;
/* The parameter cannot be NULL as it is impossible to resume the
currently executing task . */
if ( ( pxTCB ! = NULL ) & & ( pxTCB ! = pxCurrentTCB ) )
@ -1172,31 +1162,29 @@ tskTCB * pxNewTCB;
portBASE_TYPE xTaskResumeFromISR ( xTaskHandle xTaskToResume )
{
portBASE_TYPE xYieldRequired = pdFALSE ;
tskTCB * pxTCB ;
tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume ;
unsigned portBASE_TYPE uxSavedInterruptStatus ;
configASSERT ( xTaskToResume ) ;
/* RTOS ports that support interrupt nesting have the concept of a
maximum system call ( or maximum API call ) interrupt priority .
Interrupts that are above the maximum system call priority are keep
permanently enabled , even when the RTOS kernel is in a critical section ,
but cannot make any calls to FreeRTOS API functions . If configASSERT ( )
is defined in FreeRTOSConfig . h then
/* RTOS ports that support interrupt nesting have the concept of a
maximum system call ( or maximum API call ) interrupt priority .
Interrupts that are above the maximum system call priority are keep
permanently enabled , even when the RTOS kernel is in a critical section ,
but cannot make any calls to FreeRTOS API functions . If configASSERT ( )
is defined in FreeRTOSConfig . h then
portASSERT_IF_INTERRUPT_PRIORITY_INVALID ( ) will result in an assertion
failure if a FreeRTOS API function is called from an interrupt that has
been assigned a priority above the configured maximum system call
priority . Only FreeRTOS functions that end in FromISR can be called
from interrupts that have been assigned a priority at or ( logically )
below the maximum system call interrupt priority . FreeRTOS maintains a
separate interrupt safe API to ensure interrupt entry is as fast and as
simple as possible . More information ( albeit Cortex - M specific ) is
provided on the following link :
failure if a FreeRTOS API function is called from an interrupt that has
been assigned a priority above the configured maximum system call
priority . Only FreeRTOS functions that end in FromISR can be called
from interrupts that have been assigned a priority at or ( logically )
below the maximum system call interrupt priority . FreeRTOS maintains a
separate interrupt safe API to ensure interrupt entry is as fast and as
simple as possible . More information ( albeit Cortex - M specific ) is
provided on the following link :
http : //www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID ( ) ;
pxTCB = ( tskTCB * ) xTaskToResume ;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR ( ) ;
{
if ( xTaskIsTaskSuspended ( pxTCB ) = = pdTRUE )
@ -1434,20 +1422,20 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
/* RTOS ports that support interrupt nesting have the concept of a maximum
system call ( or maximum API call ) interrupt priority . Interrupts that are
above the maximum system call priority are keep permanently enabled , even
above the maximum system call priority are keep permanently enabled , even
when the RTOS kernel is in a critical section , but cannot make any calls to
FreeRTOS API functions . If configASSERT ( ) is defined in FreeRTOSConfig . h
FreeRTOS API functions . If configASSERT ( ) is defined in FreeRTOSConfig . h
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID ( ) will result in an assertion
failure if a FreeRTOS API function is called from an interrupt that has been
assigned a priority above the configured maximum system call priority .
Only FreeRTOS functions that end in FromISR can be called from interrupts
that have been assigned a priority at or ( logically ) below the maximum
system call interrupt priority . FreeRTOS maintains a separate interrupt
safe API to ensure interrupt entry is as fast and as simple as possible .
More information ( albeit Cortex - M specific ) is provided on the following
that have been assigned a priority at or ( logically ) below the maximum
system call interrupt priority . FreeRTOS maintains a separate interrupt
safe API to ensure interrupt entry is as fast and as simple as possible .
More information ( albeit Cortex - M specific ) is provided on the following
link : http : //www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID ( ) ;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR ( ) ;
xReturn = xTickCount ;
portCLEAR_INTERRUPT_MASK_FROM_ISR ( uxSavedInterruptStatus ) ;
@ -1506,7 +1494,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
# if( INCLUDE_vTaskDelete == 1 )
{
/* Fill in an xTaskStatusType structure with information on
/* Fill in an xTaskStatusType structure with information on
each task that has been deleted but not yet cleaned up . */
uxTask + = prvListTaskWithinSingleList ( & ( pxTaskStatusArray [ uxTask ] ) , & xTasksWaitingTermination , eDeleted ) ;
}
@ -1514,7 +1502,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
# if ( INCLUDE_vTaskSuspend == 1 )
{
/* Fill in an xTaskStatusType structure with information on
/* Fill in an xTaskStatusType structure with information on
each task in the Suspended state . */
uxTask + = prvListTaskWithinSingleList ( & ( pxTaskStatusArray [ uxTask ] ) , & xSuspendedTaskList , eSuspended ) ;
}
@ -1522,11 +1510,17 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
# if ( configGENERATE_RUN_TIME_STATS == 1)
{
* pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE ( ) ;
if ( pulTotalRunTime ! = NULL )
{
* pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE ( ) ;
}
}
# else
{
* pulTotalRunTime = 0 ;
if ( pulTotalRunTime ! = NULL )
{
* pulTotalRunTime = 0 ;
}
}
# endif
}
@ -1585,75 +1579,82 @@ portBASE_TYPE xSwitchRequired = pdFALSE;
/* Increment the RTOS tick, switching the delayed and overflowed
delayed lists if it wraps to 0. */
+ + xTickCount ;
if ( xTickCount = = ( portTickType ) 0U )
{
taskSWITCH_DELAYED_LISTS ( ) ;
}
/* See if this tick has made a timeout expire. Tasks are stored in the
queue in the order of their wake time - meaning once one tasks has been
found whose block time has not expired there is no need not look any
further down the list . */
if ( xTickCount > = xNextTaskUnblockTime )
{
for ( ; ; )
/* Minor optimisation. The tick count cannot change in this
block . */
const portTickType xConstTickCount = xTickCount ;
if ( xConstTickCount = = ( portTickType ) 0U )
{
if ( listLIST_IS_EMPTY ( pxDelayedTaskList ) ! = pdFALSE )
{
/* The delayed list is empty. Set xNextTaskUnblockTime to
the maximum possible value so it is extremely unlikely that
the if ( xTickCount > = xNextTaskUnblockTime ) test will pass
next time through . */
xNextTaskUnblockTime = portMAX_DELAY ;
break ;
}
else
taskSWITCH_DELAYED_LISTS ( ) ;
}
/* See if this tick has made a timeout expire. Tasks are stored in the
queue in the order of their wake time - meaning once one tasks has been
found whose block time has not expired there is no need not look any
further down the list . */
if ( xConstTickCount > = xNextTaskUnblockTime )
{
for( ; ; )
{
/* The delayed list is not empty, get the value of the item
at the head of the delayed list . This is the time at which
the task at the head of the delayed list must be removed
from the Blocked state . */
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY ( pxDelayedTaskList ) ;
xItemValue = listGET_LIST_ITEM_VALUE ( & ( pxTCB - > xGenericListItem ) ) ;
if ( xTickCount < xItemValue )
if ( listLIST_IS_EMPTY ( pxDelayedTaskList ) ! = pdFALSE )
{
/* It is not time to unblock this item yet, but the item
value is the time at which the task at the head of the
blocked list must be removed from the Blocked state -
so record the item value in xNextTaskUnblockTime . */
xNextTaskUnblockTime = xItemValue ;
/* The delayed list is empty. Set xNextTaskUnblockTime to
the maximum possible value so it is extremely unlikely that
the if ( xTickCount > = xNextTaskUnblockTime ) test will pass
next time through . */
xNextTaskUnblockTime = portMAX_DELAY ;
break ;
}
else
{
/* The delayed list is not empty, get the value of the item
at the head of the delayed list . This is the time at which
the task at the head of the delayed list must be removed
from the Blocked state . */
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY ( pxDelayedTaskList ) ;
xItemValue = listGET_LIST_ITEM_VALUE ( & ( pxTCB - > xGenericListItem ) ) ;
if ( xConstTickCount < xItemValue )
{
/* It is not time to unblock this item yet, but the item
value is the time at which the task at the head of the
blocked list must be removed from the Blocked state -
so record the item value in xNextTaskUnblockTime . */
xNextTaskUnblockTime = xItemValue ;
break ;
}
/* It is time to remove the item from the Blocked state. */
uxListRemove ( & ( pxTCB - > xGenericListItem ) ) ;
/* It is time to remove the item from the Blocked state. */
uxListRemove ( & ( pxTCB - > xGenericListItem ) ) ;
/* Is the task waiting on an event also? If so remove it
from the event list . */
if ( pxTCB - > xEventListItem . pvContainer ! = NULL )
{
uxListRemove ( & ( pxTCB - > xEventListItem ) ) ;
}
/* Is the task waiting on an event also? If so remove it
from the event list . */
if ( listLIST_ITEM_CONTAINER ( & ( pxTCB - > xEventListItem ) ) ! = NULL )
{
uxListRemove ( & ( pxTCB - > xEventListItem ) ) ;
}
/* Place the unblocked task into the appropriate ready
list . */
prvAddTaskToReadyList ( pxTCB ) ;
/* Place the unblocked task into the appropriate ready
list . */
prvAddTaskToReadyList ( pxTCB ) ;
/* A task being unblocked cannot cause an immediate context
switch if preemption is turned off . */
# if ( configUSE_PREEMPTION == 1 )
{
/* Preemption is on, but a context switch should only
be performed if the unblocked task has a priority that
is equal to or higher than the currently executing
task . */
if ( pxTCB - > uxPriority > = pxCurrentTCB - > uxPriority )
/* A task being unblocked cannot cause an immediate context
switch if preemption is turned off . */
# if ( configUSE_PREEMPTION == 1 )
{
xSwitchRequired = pdTRUE ;
/* Preemption is on, but a context switch should only
be performed if the unblocked task has a priority that
is equal to or higher than the currently executing
task . */
if ( pxTCB - > uxPriority > = pxCurrentTCB - > uxPriority )
{
xSwitchRequired = pdTRUE ;
}
}
# endif /* configUSE_PREEMPTION */
}
# endif /* configUSE_PREEMPTION */
}
}
}
@ -1999,6 +2000,9 @@ portBASE_TYPE xReturn;
taskENTER_CRITICAL ( ) ;
{
/* Minor optimisation. The tick count cannot change in this block. */
const portTickType xConstTickCount = xTickCount ;
# if ( INCLUDE_vTaskSuspend == 1 )
/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
the maximum block time then the task should block indefinitely , and
@ -2010,7 +2014,7 @@ portBASE_TYPE xReturn;
else /* We are not blocking indefinitely, perform the checks below. */
# endif
if ( ( xNumOfOverflows ! = pxTimeOut - > xOverflowCount ) & & ( ( portTickType ) x TickCount > = ( portTickType ) pxTimeOut - > xTimeOnEntering ) )
if ( ( xNumOfOverflows ! = pxTimeOut - > xOverflowCount ) & & ( ( portTickType ) x Const TickCount > = ( portTickType ) pxTimeOut - > xTimeOnEntering ) )
{
/* The tick count is greater than the time at which vTaskSetTimeout()
was called , but has also overflowed since vTaskSetTimeOut ( ) was called .
@ -2018,10 +2022,10 @@ portBASE_TYPE xReturn;
passed since vTaskSetTimeout ( ) was called . */
xReturn = pdTRUE ;
}
else if ( ( ( portTickType ) ( ( portTickType ) x TickCount - ( portTickType ) pxTimeOut - > xTimeOnEntering ) ) < ( portTickType ) * pxTicksToWait )
else if ( ( ( portTickType ) ( ( portTickType ) x Const TickCount - ( portTickType ) pxTimeOut - > xTimeOnEntering ) ) < ( portTickType ) * pxTicksToWait )
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
* pxTicksToWait - = ( ( portTickType ) x TickCount - ( portTickType ) pxTimeOut - > xTimeOnEntering ) ;
* pxTicksToWait - = ( ( portTickType ) x Const TickCount - ( portTickType ) pxTimeOut - > xTimeOnEntering ) ;
vTaskSetTimeOutState ( pxTimeOut ) ;
xReturn = pdFALSE ;
}
@ -2458,10 +2462,10 @@ tskTCB *pxNewTCB;
unsigned portBASE_TYPE uxTask = 0 ;
if ( listCURRENT_LIST_LENGTH ( pxList ) > 0 )
{
{
listGET_OWNER_OF_NEXT_ENTRY ( pxFirstTCB , pxList ) ;
/* Populate an xTaskStatusType structure within the
/* Populate an xTaskStatusType structure within the
pxTaskStatusArray array for each task that is referenced from
pxList . See the definition of xTaskStatusType in task . h for the
meaning of each xTaskStatusType structure member . */
@ -2741,7 +2745,6 @@ tskTCB *pxNewTCB;
{
xTaskStatusType * pxTaskStatusArray ;
volatile unsigned portBASE_TYPE uxArraySize , x ;
unsigned long ulTotalRunTime ;
char cStatus ;
/*
@ -2782,7 +2785,7 @@ tskTCB *pxNewTCB;
if ( pxTaskStatusArray ! = NULL )
{
/* Generate the (binary) data. */
uxArraySize = xTaskGetSystemState ( pxTaskStatusArray , uxArraySize , & ulTotalRunTime ) ;
uxArraySize = xTaskGetSystemState ( pxTaskStatusArray , uxArraySize , NULL ) ;
/* Create a human readable table from the binary data. */
for ( x = 0 ; x < uxArraySize ; x + + )
@ -2825,7 +2828,7 @@ tskTCB *pxNewTCB;
{
xTaskStatusType * pxTaskStatusArray ;
volatile unsigned portBASE_TYPE uxArraySize , x ;
unsigned long ulTotal Run Time, ulStatsAsPercentage ;
unsigned long ulTotal Time, ulStatsAsPercentage ;
/*
* PLEASE NOTE :
@ -2865,13 +2868,13 @@ tskTCB *pxNewTCB;
if ( pxTaskStatusArray ! = NULL )
{
/* Generate the (binary) data. */
uxArraySize = xTaskGetSystemState ( pxTaskStatusArray , uxArraySize , & ulTotal Run Time ) ;
uxArraySize = xTaskGetSystemState ( pxTaskStatusArray , uxArraySize , & ulTotal Time ) ;
/* For percentage calculations. */
ulTotal Run Time / = 100UL ;
ulTotal Time / = 100UL ;
/* Avoid divide by zero errors. */
if ( ulTotal Run Time > 0 )
if ( ulTotal Time > 0 )
{
/* Create a human readable table from the binary data. */
for ( x = 0 ; x < uxArraySize ; x + + )
@ -2879,7 +2882,7 @@ tskTCB *pxNewTCB;
/* What percentage of the total run time has the task used?
This will always be rounded down to the nearest integer .
ulTotalRunTimeDiv100 has already been divided by 100. */
ulStatsAsPercentage = pxTaskStatusArray [ x ] . ulRunTimeCounter / ulTotal Run Time;
ulStatsAsPercentage = pxTaskStatusArray [ x ] . ulRunTimeCounter / ulTotal Time;
if ( ulStatsAsPercentage > 0UL )
{
Richard Barry
12 years ago