Recently vTaskDelayUntil() was updated to xTaskDelayUntil() because the function now returns a value. The PR didn't make the same change in the MPU port, or update the constants required to include the xTaskDelayUntil() function in the build. (#199)
This PR:
Changes the INCLUDE_vTaskDelayUntil compile time constant to INCLUDE_xTaskDelayUntil.
Updates FreeRTOS.h to ensure backward compatibility for projects that already have INCLUDE_vTaskDelayUntil defined.
Updates the MPU prototypes, wrapper and implementation to use the updated xTaskDelayUntil() function.
Tests to be checked into the FreeRTOS/FreeRTOS repository after this PR.
diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index 96cf880..e49d116 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -126,8 +126,28 @@
#define INCLUDE_vTaskSuspend 0
#endif
-#ifndef INCLUDE_vTaskDelayUntil
- #define INCLUDE_vTaskDelayUntil 0
+#ifdef INCLUDE_xTaskDelayUntil
+ #ifdef INCLUDE_vTaskDelayUntil
+ /* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward
+ * compatibility is maintained if only one or the other is defined, but
+ * there is a conflict if both are defined. */
+ #error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed
+ #endif
+#endif
+
+#ifndef INCLUDE_xTaskDelayUntil
+ #ifdef INCLUDE_vTaskDelayUntil
+ /* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then
+ * the project's FreeRTOSConfig.h probably pre-dates the introduction of
+ * xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever
+ * INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility.
+ */
+ #define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil
+ #endif
+#endif
+
+#ifndef INCLUDE_xTaskDelayUntil
+ #define INCLUDE_xTaskDelayUntil 0
#endif
#ifndef INCLUDE_vTaskDelay
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index d95dcd8..b7412b9 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -58,7 +58,7 @@
const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 6d2f562..a217be9 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -51,7 +51,7 @@
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay
- #define vTaskDelayUntil MPU_vTaskDelayUntil
+ #define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState
diff --git a/include/task.h b/include/task.h
index 46b30ca..bce2a6b 100644
--- a/include/task.h
+++ b/include/task.h
@@ -750,7 +750,7 @@
* of controlling the frequency of a periodic task as the path taken through the
* code, as well as other task and interrupt activity, will effect the frequency
* at which vTaskDelay() gets called and therefore the time at which the task
- * next executes. See vTaskDelayUntil() for an alternative API function designed
+ * next executes. See xTaskDelayUntil() for an alternative API function designed
* to facilitate fixed frequency execution. It does this by specifying an
* absolute time (rather than a relative time) at which the calling task should
* unblock.
@@ -784,7 +784,7 @@
* BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
* </pre>
*
- * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
+ * INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
* See the configuration section for more information.
*
* Delay a task until a specified time. This function can be used by periodic
@@ -802,8 +802,8 @@
* is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* unblock.
*
- * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
+ * The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a
+ * time specified in milliseconds with a resolution of one tick period.
*
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
* task was last unblocked. The variable must be initialised with the current time
@@ -846,6 +846,10 @@
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+/*
+ * vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
+ * return a value.
+ */
#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \
{ \
( void ) xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); \
@@ -1311,7 +1315,7 @@
* made.
*
* API functions that have the potential to cause a context switch (for example,
- * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
+ * xTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
* is suspended.
*
* Example usage:
diff --git a/portable/Common/mpu_wrappers.c b/portable/Common/mpu_wrappers.c
index f8d10d7..dea5809 100644
--- a/portable/Common/mpu_wrappers.c
+++ b/portable/Common/mpu_wrappers.c
@@ -171,14 +171,16 @@
#endif
/*-----------------------------------------------------------*/
-#if ( INCLUDE_vTaskDelayUntil == 1 )
- void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
+#if ( INCLUDE_xTaskDelayUntil == 1 )
+ BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
+ BaseType_t xReturn;
- vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
+ xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
vPortResetPrivilege( xRunningPrivileged );
+ return xReturn;
}
#endif
/*-----------------------------------------------------------*/
diff --git a/tasks.c b/tasks.c
index 16322e1..94b3e1f 100644
--- a/tasks.c
+++ b/tasks.c
@@ -1244,10 +1244,10 @@
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
-#if ( INCLUDE_vTaskDelayUntil == 1 )
+#if ( INCLUDE_xTaskDelayUntil == 1 )
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- const TickType_t xTimeIncrement )
+ const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
@@ -1324,11 +1324,11 @@
{
mtCOVERAGE_TEST_MARKER();
}
-
+
return xShouldDelay;
}
-#endif /* INCLUDE_vTaskDelayUntil */
+#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
@@ -2100,8 +2100,8 @@
/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
* meaning xIdleTaskHandle is not used anywhere else. */
( void ) xIdleTaskHandle;
-
- /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
+
+ /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
* from getting optimized out as it is no longer used by the kernel. */
( void ) uxTopUsedPriority;
}
