FreeRTOS source:
- Major refactor to consolidate the multiple places where a task is removed from a ready list and placed in a delay list into a single function, reducing code size, and enabling the easy addition of up-coming functionality.
- Replace the enum used for task notification states with a uint8_t to reduce the TCB struct size with some compilers, and allow additional members to be added without increasing its size.
- Rearrange FreeRTOS.h so all INCLUDE_ defaults are grouped together.
diff --git a/FreeRTOS-Plus/Source/FreeRTOS-Plus-Trace/Include/trcKernelPort.h b/FreeRTOS-Plus/Source/FreeRTOS-Plus-Trace/Include/trcKernelPort.h
index 7c82441..47b6fdc 100644
--- a/FreeRTOS-Plus/Source/FreeRTOS-Plus-Trace/Include/trcKernelPort.h
+++ b/FreeRTOS-Plus/Source/FreeRTOS-Plus-Trace/Include/trcKernelPort.h
@@ -56,7 +56,7 @@
#define TRACE_CPU_CLOCK_HZ configCPU_CLOCK_HZ /* Defined in "FreeRTOSConfig.h" */
#if (SELECTED_PORT == PORT_ARM_CortexM)
-
+
/* Uses CMSIS API */
#define TRACE_SR_ALLOC_CRITICAL_SECTION() int __irq_status;
@@ -571,8 +571,8 @@
/* Called on vTaskDelayUntil - note the use of FreeRTOS variable xTimeToWake */
#undef traceTASK_DELAY_UNTIL
-#define traceTASK_DELAY_UNTIL() \
- trcKERNEL_HOOKS_TASK_DELAY(TASK_DELAY_UNTIL, pxCurrentTCB, xTimeToWake); \
+#define traceTASK_DELAY_UNTIL( xTickTimeToWake ) \
+ trcKERNEL_HOOKS_TASK_DELAY(TASK_DELAY_UNTIL, pxCurrentTCB, ( xTickTimeToWake)); \
trcKERNEL_HOOKS_SET_TASK_INSTANCE_FINISHED();
#if (INCLUDE_OBJECT_DELETE == 1)
@@ -819,7 +819,7 @@
#undef traceTASK_NOTIFY_TAKE
#define traceTASK_NOTIFY_TAKE() \
- if (pxCurrentTCB->eNotifyState == eNotified) \
+ if (pxCurrentTCB->ucNotifyState == taskNOTIFICATION_RECEIVED) \
vTraceStoreKernelCallWithParam(TRACE_TASK_NOTIFY_TAKE, TRACE_CLASS_TASK, uxTaskGetTaskNumber(pxCurrentTCB), xTicksToWait); \
else \
vTraceStoreKernelCallWithParam(TRACE_TASK_NOTIFY_TAKE_FAILED, TRACE_CLASS_TASK, uxTaskGetTaskNumber(pxCurrentTCB), xTicksToWait);
@@ -831,7 +831,7 @@
#undef traceTASK_NOTIFY_WAIT
#define traceTASK_NOTIFY_WAIT() \
- if (pxCurrentTCB->eNotifyState == eNotified) \
+ if (pxCurrentTCB->ucNotifyState == taskNOTIFICATION_RECEIVED) \
vTraceStoreKernelCallWithParam(TRACE_TASK_NOTIFY_WAIT, TRACE_CLASS_TASK, uxTaskGetTaskNumber(pxCurrentTCB), xTicksToWait); \
else \
vTraceStoreKernelCallWithParam(TRACE_TASK_NOTIFY_WAIT_FAILED, TRACE_CLASS_TASK, uxTaskGetTaskNumber(pxCurrentTCB), xTicksToWait);
@@ -848,7 +848,7 @@
#undef traceTASK_NOTIFY_FROM_ISR
#define traceTASK_NOTIFY_FROM_ISR() \
vTraceStoreKernelCall(TRACE_TASK_NOTIFY_FROM_ISR, TRACE_CLASS_TASK, uxTaskGetTaskNumber(xTaskToNotify));
-
+
#undef traceTASK_NOTIFY_GIVE_FROM_ISR
#define traceTASK_NOTIFY_GIVE_FROM_ISR() \
vTraceStoreKernelCall(TRACE_TASK_NOTIFY_GIVE_FROM_ISR, TRACE_CLASS_TASK, uxTaskGetTaskNumber(xTaskToNotify));
diff --git a/FreeRTOS/Source/include/FreeRTOS.h b/FreeRTOS/Source/include/FreeRTOS.h
index 33a4d79..55306ad 100644
--- a/FreeRTOS/Source/include/FreeRTOS.h
+++ b/FreeRTOS/Source/include/FreeRTOS.h
@@ -129,30 +129,6 @@
#error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
#endif
-#ifndef INCLUDE_vTaskPrioritySet
- #error Missing definition: INCLUDE_vTaskPrioritySet must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_uxTaskPriorityGet
- #error Missing definition: INCLUDE_uxTaskPriorityGet must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelete
- #error Missing definition: INCLUDE_vTaskDelete must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskSuspend
- #error Missing definition: INCLUDE_vTaskSuspend must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelayUntil
- #error Missing definition: INCLUDE_vTaskDelayUntil must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef INCLUDE_vTaskDelay
- #error Missing definition: INCLUDE_vTaskDelay must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
#ifndef configUSE_16_BIT_TICKS
#error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
#endif
@@ -165,20 +141,38 @@
#define configUSE_CO_ROUTINES 0
#endif
-#if configUSE_CO_ROUTINES != 0
- #ifndef configMAX_CO_ROUTINE_PRIORITIES
- #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1.
- #endif
+#ifndef INCLUDE_vTaskPrioritySet
+ #define INCLUDE_vTaskPrioritySet 0
#endif
-#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK
- #define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#ifndef INCLUDE_uxTaskPriorityGet
+ #define INCLUDE_uxTaskPriorityGet 0
+#endif
+
+#ifndef INCLUDE_vTaskDelete
+ #define INCLUDE_vTaskDelete 0
+#endif
+
+#ifndef INCLUDE_vTaskSuspend
+ #define INCLUDE_vTaskSuspend 0
+#endif
+
+#ifndef INCLUDE_vTaskDelayUntil
+ #define INCLUDE_vTaskDelayUntil 0
+#endif
+
+#ifndef INCLUDE_vTaskDelay
+ #define INCLUDE_vTaskDelay 0
#endif
#ifndef INCLUDE_xTaskGetIdleTaskHandle
#define INCLUDE_xTaskGetIdleTaskHandle 0
#endif
+#ifndef INCLUDE_xTaskAbortDelay
+ #define INCLUDE_xTaskAbortDelay 0
+#endif
+
#ifndef INCLUDE_xTimerGetTimerDaemonTaskHandle
#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
#endif
@@ -199,14 +193,6 @@
#define INCLUDE_xTaskGetTaskHandle 0
#endif
-#ifndef configUSE_APPLICATION_TASK_TAG
- #define configUSE_APPLICATION_TASK_TAG 0
-#endif
-
-#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS
- #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
-#endif
-
#ifndef INCLUDE_uxTaskGetStackHighWaterMark
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#endif
@@ -215,6 +201,40 @@
#define INCLUDE_eTaskGetState 0
#endif
+#ifndef INCLUDE_xTaskResumeFromISR
+ #define INCLUDE_xTaskResumeFromISR 1
+#endif
+
+#ifndef INCLUDE_xTimerPendFunctionCall
+ #define INCLUDE_xTimerPendFunctionCall 0
+#endif
+
+#ifndef INCLUDE_xTaskGetSchedulerState
+ #define INCLUDE_xTaskGetSchedulerState 0
+#endif
+
+#ifndef INCLUDE_xTaskGetCurrentTaskHandle
+ #define INCLUDE_xTaskGetCurrentTaskHandle 0
+#endif
+
+#if configUSE_CO_ROUTINES != 0
+ #ifndef configMAX_CO_ROUTINE_PRIORITIES
+ #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1.
+ #endif
+#endif
+
+#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK
+ #define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#endif
+
+#ifndef configUSE_APPLICATION_TASK_TAG
+ #define configUSE_APPLICATION_TASK_TAG 0
+#endif
+
+#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS
+ #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
+#endif
+
#ifndef configUSE_RECURSIVE_MUTEXES
#define configUSE_RECURSIVE_MUTEXES 0
#endif
@@ -251,14 +271,6 @@
#error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
#endif
-#ifndef INCLUDE_xTaskResumeFromISR
- #define INCLUDE_xTaskResumeFromISR 1
-#endif
-
-#ifndef INCLUDE_xTimerPendFunctionCall
- #define INCLUDE_xTimerPendFunctionCall 0
-#endif
-
#ifndef configASSERT
#define configASSERT( x )
#define configASSERT_DEFINED 0
@@ -283,15 +295,6 @@
#endif /* configUSE_TIMERS */
-#ifndef INCLUDE_xTaskGetSchedulerState
- #define INCLUDE_xTaskGetSchedulerState 0
-#endif
-
-#ifndef INCLUDE_xTaskGetCurrentTaskHandle
- #define INCLUDE_xTaskGetCurrentTaskHandle 0
-#endif
-
-
#ifndef portSET_INTERRUPT_MASK_FROM_ISR
#define portSET_INTERRUPT_MASK_FROM_ISR() 0
#endif
@@ -515,7 +518,7 @@
#endif
#ifndef traceTASK_DELAY_UNTIL
- #define traceTASK_DELAY_UNTIL()
+ #define traceTASK_DELAY_UNTIL( x )
#endif
#ifndef traceTASK_DELAY
@@ -877,12 +880,6 @@
StaticMiniListItem_t xDummy3;
} StaticList_t;
-/* For data hiding purposes. */
-typedef enum
-{
- eNothing = 0
-} eDummy;
-
/*
* In line with software engineering best practice, especially when supplying a
* library that is likely to change in future versions, FreeRTOS implements a
@@ -932,7 +929,7 @@
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulDummy18;
- eDummy eDummy19;
+ uint8_t ucDummy19;
#endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
uint8_t uxDummy20;
diff --git a/FreeRTOS/Source/include/task.h b/FreeRTOS/Source/include/task.h
index b736b60..182d359 100644
--- a/FreeRTOS/Source/include/task.h
+++ b/FreeRTOS/Source/include/task.h
@@ -185,14 +185,6 @@
eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
} eSleepModeStatus;
-/* Value that can be assigned to the eNotifyState member of the TCB. */
-typedef enum
-{
- eNotWaitingNotification = 0,
- eWaitingNotification,
- eNotified
-} eNotifyValue;
-
/**
* Defines the priority used by the idle task. This must not be modified.
*
@@ -2105,7 +2097,7 @@
* indefinitely, whereas vTaskPlaceOnEventList() does.
*
*/
-void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
/*
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c
index d65e916..3dcb004 100644
--- a/FreeRTOS/Source/tasks.c
+++ b/FreeRTOS/Source/tasks.c
@@ -129,6 +129,11 @@
#define taskSTATICALLY_ALLOCATED_STACK ( ( uint8_t ) 0x01 )
#define taskSTATICALLY_ALLOCATED_TCB ( ( uint8_t ) 0x02 )
+/* Values that can be assigned to the ucNotifyState member of the TCB. */
+#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
+#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
+#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
+
/*
* Task control block. A task control block (TCB) is allocated for each task,
* and stores task state information, including a pointer to the task's context
@@ -174,7 +179,7 @@
void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#endif
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ #if( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
#endif
@@ -189,16 +194,16 @@
struct _reent xNewLib_reent;
#endif
- #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+ #if( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue;
- volatile eNotifyValue eNotifyState;
+ volatile uint8_t ucNotifyState;
#endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
uint8_t ucStaticAllocationFlags; /* Set to pdTRUE if the stack is a statically allocated array, and pdFALSE if the stack is dynamically allocated. */
#endif
- } tskTCB;
+} tskTCB;
/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
below to enable the use of older kernel aware debuggers. */
@@ -489,7 +494,7 @@
* The currently executing task is entering the Blocked state. Add the task to
* either the current or the overflow delayed task list.
*/
-static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake ) PRIVILEGED_FUNCTION;
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
/*
* Allocates memory from the heap for a TCB and associated stack. Checks the
@@ -615,7 +620,7 @@
/* If we want to use stack checking on architectures that use
a positive stack growth direction then we also need to store the
other extreme of the stack space. */
- pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - ( uint16_t ) 1 );
}
#endif /* portSTACK_GROWTH */
@@ -889,23 +894,11 @@
if( xShouldDelay != pdFALSE )
{
- traceTASK_DELAY_UNTIL();
+ traceTASK_DELAY_UNTIL( xTimeToWake );
- /* Remove the task from the ready list before adding it to the
- blocked list as the same list item is used for both lists. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is
- no need to check, and the port reset macro can be called
- directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- prvAddCurrentTaskToDelayedList( xTimeToWake );
+ /* prvAddCurrentTaskToDelayedList() needs the block time, not
+ the time to wake, so subtract the current tick count. */
+ prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
}
else
{
@@ -933,10 +926,8 @@
void vTaskDelay( const TickType_t xTicksToDelay )
{
- TickType_t xTimeToWake;
BaseType_t xAlreadyYielded = pdFALSE;
-
/* A delay time of zero just forces a reschedule. */
if( xTicksToDelay > ( TickType_t ) 0U )
{
@@ -952,26 +943,7 @@
This task cannot be in an event list as it is the currently
executing task. */
-
- /* Calculate the time to wake - this may overflow but this is
- not a problem. */
- xTimeToWake = xTickCount + xTicksToDelay;
-
- /* We must remove ourselves from the ready list before adding
- ourselves to the blocked list as the same list item is used for
- both lists. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is
- no need to check, and the port reset macro can be called
- directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- prvAddCurrentTaskToDelayedList( xTimeToWake );
+ prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
}
xAlreadyYielded = xTaskResumeAll();
}
@@ -2447,8 +2419,6 @@
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
{
-TickType_t xTimeToWake;
-
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
@@ -2460,54 +2430,12 @@
list is locked, preventing simultaneous access from interrupts. */
vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
- /* The task must be removed from from the ready list before it is added to
- the blocked list as the same list item is used for both lists. Exclusive
- access to the ready lists guaranteed because the scheduler is locked. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is no need to
- check, and the port reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( xTicksToWait == portMAX_DELAY )
- {
- /* Add the task to the suspended task list instead of a delayed task
- list to ensure the task is not woken by a timing event. It will
- block indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be woken if the event
- does not occur. This may overflow but this doesn't matter, the
- scheduler will handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- }
- #else /* INCLUDE_vTaskSuspend */
- {
- /* Calculate the time at which the task should be woken if the event does
- not occur. This may overflow but this doesn't matter, the scheduler
- will handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- #endif /* INCLUDE_vTaskSuspend */
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
{
-TickType_t xTimeToWake;
-
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
@@ -2526,56 +2454,14 @@
the task level). */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
- /* The task must be removed from the ready list before it is added to the
- blocked list. Exclusive access can be assured to the ready list as the
- scheduler is locked. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is no need to
- check, and the port reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( xTicksToWait == portMAX_DELAY )
- {
- /* Add the task to the suspended task list instead of a delayed task
- list to ensure it is not woken by a timing event. It will block
- indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be woken if the event
- does not occur. This may overflow but this doesn't matter, the
- kernel will manage it correctly. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- }
- #else /* INCLUDE_vTaskSuspend */
- {
- /* Calculate the time at which the task should be woken if the event does
- not occur. This may overflow but this doesn't matter, the kernel
- will manage it correctly. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- #endif /* INCLUDE_vTaskSuspend */
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/
-#if configUSE_TIMERS == 1
+#if( configUSE_TIMERS == 1 )
- void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, const TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
+ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
{
- TickType_t xTimeToWake;
-
configASSERT( pxEventList );
/* This function should not be called by application code hence the
@@ -2590,59 +2476,16 @@
can be used in place of vListInsert. */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
- /* We must remove this task from the ready list before adding it to the
- blocked list as the same list item is used for both lists. This
- function is called with the scheduler locked so interrupts will not
- access the lists at the same time. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
+ /* If the task should block indefinitely then set the block time to a
+ value that will be recognised as an indefinite delay inside the
+ prvAddCurrentTaskToDelayedList() function. */
+ if( xWaitIndefinitely == pdTRUE )
{
- /* The current task must be in a ready list, so there is no need to
- check, and the port reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
+ xTicksToWait = portMAX_DELAY;
}
- /* If vTaskSuspend() is available then the suspended task list is also
- available and a task that is blocking indefinitely can enter the
- suspended state (it is not really suspended as it will re-enter the
- Ready state when the event it is waiting indefinitely for occurs).
- Blocking indefinitely is useful when using tickless idle mode as when
- all tasks are blocked indefinitely all timers can be turned off. */
- #if( INCLUDE_vTaskSuspend == 1 )
- {
- if( xWaitIndefinitely == pdTRUE )
- {
- /* Add the task to the suspended task list instead of a delayed
- task list to ensure the task is not woken by a timing event. It
- will block indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be woken if the
- event does not occur. This may overflow but this doesn't
- matter. */
- xTimeToWake = xTickCount + xTicksToWait;
- traceTASK_DELAY_UNTIL();
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- }
- #else
- {
- /* Calculate the time at which the task should be woken if the event
- does not occur. This may overflow but this doesn't matter. */
- xTimeToWake = xTickCount + xTicksToWait;
- traceTASK_DELAY_UNTIL();
- prvAddCurrentTaskToDelayedList( xTimeToWake );
-
- /* Remove compiler warnings when INCLUDE_vTaskSuspend() is not
- defined. */
- ( void ) xWaitIndefinitely;
- }
- #endif
+ traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
+ prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
}
#endif /* configUSE_TIMERS */
@@ -2782,9 +2625,9 @@
const TickType_t 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
- therefore never time out. */
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified
+ is the maximum block time then the task should block indefinitely,
+ and therefore never time out. */
if( *pxTicksToWait == portMAX_DELAY )
{
xReturn = pdFALSE;
@@ -2794,16 +2637,17 @@
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
{
- /* 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. */
+ /* 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 again. This passed since vTaskSetTimeout()
+ was called. */
xReturn = pdTRUE;
}
- else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
+ else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait )
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
- *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
+ *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
vTaskSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
@@ -3117,7 +2961,7 @@
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
pxTCB->ulNotifiedValue = 0;
- pxTCB->eNotifyState = eNotWaitingNotification;
+ pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
#endif
@@ -3126,7 +2970,7 @@
/* Initialise this task's Newlib reent structure. */
_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
}
- #endif /* configUSE_NEWLIB_REENTRANT */
+ #endif
}
/*-----------------------------------------------------------*/
@@ -3261,36 +3105,6 @@
}
/*-----------------------------------------------------------*/
-static void prvAddCurrentTaskToDelayedList( const TickType_t xTimeToWake )
-{
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xTickCount )
- {
- /* Wake time has overflowed. Place this item in the overflow list. */
- vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so the current block list is used. */
- vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
-
- /* If the task entering the blocked state was placed at the head of the
- list of blocked tasks then xNextTaskUnblockTime needs to be updated
- too. */
- if( xTimeToWake < xNextTaskUnblockTime )
- {
- xNextTaskUnblockTime = xTimeToWake;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-}
-/*-----------------------------------------------------------*/
-
static TCB_t *prvAllocateTCBAndStack( const uint16_t usStackDepth, StackType_t * const puxStackBuffer, TCB_t * const pxTaskBuffer )
{
TCB_t *pxNewTCB;
@@ -4190,7 +4004,6 @@
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
{
- TickType_t xTimeToWake;
uint32_t ulReturn;
taskENTER_CRITICAL();
@@ -4199,55 +4012,11 @@
if( pxCurrentTCB->ulNotifiedValue == 0UL )
{
/* Mark this task as waiting for a notification. */
- pxCurrentTCB->eNotifyState = eWaitingNotification;
+ pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
- /* The task is going to block. First it must be removed
- from the ready list. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is
- no need to check, and the port reset macro can be called
- directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( xTicksToWait == portMAX_DELAY )
- {
- /* Add the task to the suspended task list instead
- of a delayed task list to ensure the task is not
- woken by a timing event. It will block
- indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be
- woken if no notification events occur. This may
- overflow but this doesn't matter, the scheduler will
- handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- }
- #else /* INCLUDE_vTaskSuspend */
- {
- /* Calculate the time at which the task should be
- woken if the event does not occur. This may
- overflow but this doesn't matter, the scheduler will
- handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- #endif /* INCLUDE_vTaskSuspend */
-
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
traceTASK_NOTIFY_TAKE_BLOCK();
/* All ports are written to allow a yield in a critical
@@ -4289,7 +4058,7 @@
mtCOVERAGE_TEST_MARKER();
}
- pxCurrentTCB->eNotifyState = eNotWaitingNotification;
+ pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
@@ -4303,13 +4072,12 @@
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
{
- TickType_t xTimeToWake;
BaseType_t xReturn;
taskENTER_CRITICAL();
{
/* Only block if a notification is not already pending. */
- if( pxCurrentTCB->eNotifyState != eNotified )
+ if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
{
/* Clear bits in the task's notification value as bits may get
set by the notifying task or interrupt. This can be used to
@@ -4317,55 +4085,11 @@
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */
- pxCurrentTCB->eNotifyState = eWaitingNotification;
+ pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
- /* The task is going to block. First it must be removed
- from the ready list. */
- if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is
- no need to check, and the port reset macro can be called
- directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( xTicksToWait == portMAX_DELAY )
- {
- /* Add the task to the suspended task list instead
- of a delayed task list to ensure the task is not
- woken by a timing event. It will block
- indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be
- woken if no notification events occur. This may
- overflow but this doesn't matter, the scheduler will
- handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- }
- #else /* INCLUDE_vTaskSuspend */
- {
- /* Calculate the time at which the task should be
- woken if the event does not occur. This may
- overflow but this doesn't matter, the scheduler will
- handle it. */
- xTimeToWake = xTickCount + xTicksToWait;
- prvAddCurrentTaskToDelayedList( xTimeToWake );
- }
- #endif /* INCLUDE_vTaskSuspend */
-
+ prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
traceTASK_NOTIFY_WAIT_BLOCK();
/* All ports are written to allow a yield in a critical
@@ -4397,11 +4121,11 @@
*pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
}
- /* If eNotifyValue is set then either the task never entered the
+ /* If ucNotifyValue is set then either the task never entered the
blocked state (because a notification was already pending) or the
task unblocked because of a notification. Otherwise the task
unblocked because of a timeout. */
- if( pxCurrentTCB->eNotifyState == eWaitingNotification )
+ if( pxCurrentTCB->ucNotifyState == taskWAITING_NOTIFICATION )
{
/* A notification was not received. */
xReturn = pdFALSE;
@@ -4414,7 +4138,7 @@
xReturn = pdTRUE;
}
- pxCurrentTCB->eNotifyState = eNotWaitingNotification;
+ pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
@@ -4429,8 +4153,8 @@
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
{
TCB_t * pxTCB;
- eNotifyValue eOriginalNotifyState;
BaseType_t xReturn = pdPASS;
+ uint8_t ucOriginalNotifyState;
configASSERT( xTaskToNotify );
pxTCB = ( TCB_t * ) xTaskToNotify;
@@ -4442,9 +4166,9 @@
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
}
- eOriginalNotifyState = pxTCB->eNotifyState;
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
- pxTCB->eNotifyState = eNotified;
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
@@ -4461,7 +4185,7 @@
break;
case eSetValueWithoutOverwrite :
- if( eOriginalNotifyState != eNotified )
+ if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
}
@@ -4482,7 +4206,7 @@
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
- if( eOriginalNotifyState == eWaitingNotification )
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
prvAddTaskToReadyList( pxTCB );
@@ -4535,7 +4259,7 @@
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
- eNotifyValue eOriginalNotifyState;
+ uint8_t ucOriginalNotifyState;
BaseType_t xReturn = pdPASS;
UBaseType_t uxSavedInterruptStatus;
@@ -4568,8 +4292,8 @@
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
}
- eOriginalNotifyState = pxTCB->eNotifyState;
- pxTCB->eNotifyState = eNotified;
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
@@ -4586,7 +4310,7 @@
break;
case eSetValueWithoutOverwrite :
- if( eOriginalNotifyState != eNotified )
+ if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
}
@@ -4607,7 +4331,7 @@
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
- if( eOriginalNotifyState == eWaitingNotification )
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
@@ -4659,7 +4383,7 @@
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
- eNotifyValue eOriginalNotifyState;
+ uint8_t ucOriginalNotifyState;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
@@ -4686,8 +4410,8 @@
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
- eOriginalNotifyState = pxTCB->eNotifyState;
- pxTCB->eNotifyState = eNotified;
+ ucOriginalNotifyState = pxTCB->ucNotifyState;
+ pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
/* 'Giving' is equivalent to incrementing a count in a counting
semaphore. */
@@ -4697,7 +4421,7 @@
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
- if( eOriginalNotifyState == eWaitingNotification )
+ if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
@@ -4756,9 +4480,9 @@
taskENTER_CRITICAL();
{
- if( pxTCB->eNotifyState == eNotified )
+ if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
{
- pxTCB->eNotifyState = eNotWaitingNotification;
+ pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
xReturn = pdPASS;
}
else
@@ -4775,6 +4499,109 @@
/*-----------------------------------------------------------*/
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, BaseType_t xCanBlockIndefinitely )
+{
+TickType_t xTimeToWake;
+
+ /* Remove the task from the ready list before adding it to the blocked list
+ as the same list item is used for both lists. */
+ if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( UBaseType_t ) 0 )
+ {
+ /* The current task must be in a ready list, so there is no need to
+ check, and the port reset macro can be called directly. */
+ portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
+ {
+ /* Add the task to the suspended task list instead of a delayed task
+ list to ensure it is not woken by a timing event. It will block
+ indefinitely. */
+ vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* Calculate the time at which the task should be woken if the event
+ does not occur. This may overflow but this doesn't matter, the
+ kernel will manage it correctly. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow
+ list. */
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so the current block list
+ is used. */
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+
+ /* If the task entering the blocked state was placed at the
+ head of the list of blocked tasks then xNextTaskUnblockTime
+ needs to be updated too. */
+ if( xTimeToWake < xNextTaskUnblockTime )
+ {
+ xNextTaskUnblockTime = xTimeToWake;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+ }
+ }
+ #else /* INCLUDE_vTaskSuspend */
+ {
+ /* Calculate the time at which the task should be woken if the event
+ does not occur. This may overflow but this doesn't matter, the kernel
+ will manage it correctly. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so the current block list is used. */
+ vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+
+ /* If the task entering the blocked state was placed at the head of the
+ list of blocked tasks then xNextTaskUnblockTime needs to be updated
+ too. */
+ if( xTimeToWake < xNextTaskUnblockTime )
+ {
+ xNextTaskUnblockTime = xTimeToWake;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
+
+ /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
+ ( void ) xCanBlockIndefinitely;
+ }
+ #endif /* INCLUDE_vTaskSuspend */
+}
+
+
#ifdef FREERTOS_MODULE_TEST
#include "tasks_test_access_functions.h"
#endif
