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tasks.c
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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/* Standard includes. */
#include <stdlib.h>
#include <string.h>
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
* all the API functions to use the MPU wrappers. That should only be done when
* task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "stack_macros.h"
/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
* because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
* for the header files above, but not in this file, in order to generate the
* correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
* functions but without including stdio.h here. */
#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
/* At the bottom of this file are two optional functions that can be used
* to generate human readable text from the raw data generated by the
* uxTaskGetSystemState() function. Note the formatting functions are provided
* for convenience only, and are NOT considered part of the kernel. */
#include <stdio.h>
#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
#if ( configNUMBER_OF_CORES == 1 ) /*_RB_ Not clear why this only applies to single core - please add an explanation. */
#if ( configUSE_PREEMPTION == 0 )
/* If the cooperative scheduler is being used then a yield should not be
* performed just because a higher priority task has been woken. */
#define taskYIELD_IF_USING_PREEMPTION()
#else
#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
#endif
#endif /* if ( configNUMBER_OF_CORES == 1 ) */
/* Values that can be assigned to the ucNotifyState member of the TCB. */
#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
/*
* The value used to fill the stack of a task when the task is created. This
* is used purely for checking the high water mark for tasks.
*/
#define tskSTACK_FILL_BYTE ( 0xa5U )
/* Bits used to record how a task's stack and TCB were allocated. */
#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
/* If any of the following are set then task stacks are filled with a known
* value so the high water mark can be determined. If none of the following are
* set then don't fill the stack so there is no unnecessary dependency on memset. */
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
#else
#define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
#endif
/*
* Macros used by vListTask to indicate which state a task is in.
*/
#define tskRUNNING_CHAR ( 'X' )
#define tskBLOCKED_CHAR ( 'B' )
#define tskREADY_CHAR ( 'R' )
#define tskDELETED_CHAR ( 'D' )
#define tskSUSPENDED_CHAR ( 'S' )
/*
* Some kernel aware debuggers require the data the debugger needs access to to
* be global, rather than file scope.
*/
#ifdef portREMOVE_STATIC_QUALIFIER
#define static
#endif
/* The name allocated to the Idle task. This can be overridden by defining
* configIDLE_TASK_NAME in FreeRTOSConfig.h. */
#ifndef configIDLE_TASK_NAME
#define configIDLE_TASK_NAME "IDLE"
#endif
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
* performed in a generic way that is not optimised to any particular
* microcontroller architecture. */
/* uxTopReadyPriority holds the priority of the highest priority ready
* state task. */
#define taskRECORD_READY_PRIORITY( uxPriority ) \
do { \
if( ( uxPriority ) > uxTopReadyPriority ) \
{ \
uxTopReadyPriority = ( uxPriority ); \
} \
} while( 0 ) /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
#if ( configNUMBER_OF_CORES == 1 ) /*_RB_ Again needs an explanation as to why this only applies to single core builds. */
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
do { \
UBaseType_t uxTopPriority = uxTopReadyPriority; \
\
/* Find the highest priority queue that contains ready tasks. */ \
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
{ \
configASSERT( uxTopPriority ); \
--uxTopPriority; \
} \
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
* the same priority get an equal share of the processor time. */ \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
uxTopReadyPriority = uxTopPriority; \
} while( 0 ) /* taskSELECT_HIGHEST_PRIORITY_TASK */
#endif /* if ( configNUMBER_OF_CORES == 1 ) */
/*-----------------------------------------------------------*/
/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
* they are only required when a port optimised method of task selection is
* being used. */
#define taskRESET_READY_PRIORITY( uxPriority )
#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
#if ( configNUMBER_OF_CORES > 1 ) /*_RB_ Please move to FreeRTOS.h with the other contains configuration file checks. */
#error configUSE_PORT_OPTIMISED_TASK_SELECTION not supported in FreeRTOS SMP.
#endif
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
* performed in a way that is tailored to the particular microcontroller
* architecture being used. */
/* A port optimised version is provided. Call the port defined macros. */
#define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( ( uxPriority ), uxTopReadyPriority )
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
do { \
UBaseType_t uxTopPriority; \
\
/* Find the highest priority list that contains ready tasks. */ \
portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
} while( 0 )
/*-----------------------------------------------------------*/
/* A port optimised version is provided, call it only if the TCB being reset
* is being referenced from a ready list. If it is referenced from a delayed
* or suspended list then it won't be in a ready list. */
#define taskRESET_READY_PRIORITY( uxPriority ) \
do { \
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
{ \
portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
} \
} while( 0 )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
* count overflows. */
#define taskSWITCH_DELAYED_LISTS() \
do { \
List_t * pxTemp; \
\
/* The delayed tasks list should be empty when the lists are switched. */ \
configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\
pxTemp = pxDelayedTaskList; \
pxDelayedTaskList = pxOverflowDelayedTaskList; \
pxOverflowDelayedTaskList = pxTemp; \
xNumOfOverflows++; \
prvResetNextTaskUnblockTime(); \
} while( 0 )
/*-----------------------------------------------------------*/
/*
* Place the task represented by pxTCB into the appropriate ready list for
* the task. It is inserted at the end of the list.
*/
#define prvAddTaskToReadyList( pxTCB ) \
do { \
traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ); \
} while( 0 )
/*-----------------------------------------------------------*/
/*
* Several functions take a TaskHandle_t parameter that can optionally be NULL,
* where NULL is used to indicate that the handle of the currently executing
* task should be used in place of the parameter. This macro simply checks to
* see if the parameter is NULL and returns a pointer to the appropriate TCB.
*/
#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
/* The item value of the event list item is normally used to hold the priority
* of the task to which it belongs (coded to allow it to be held in reverse
* priority order). However, it is occasionally borrowed for other purposes. It
* is important its value is not updated due to a task priority change while it is
* being used for another purpose. The following bit definition is used to inform
* the scheduler that the value should not be changed - in which case it is the
* responsibility of whichever module is using the value to ensure it gets set back
* to its original value when it is released. */
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000000000000000ULL
#endif
/* Task state. */
typedef BaseType_t TaskRunning_t; /*_RB_ I'm not sure this typedef is needed, but if it is, please move it down to where the other typdefs are declared. */
/* Indicates that the task is not actively running on any core. */
#define taskTASK_NOT_RUNNING ( TaskRunning_t ) ( -1 ) /*_RB_ Might be preferable to put parentheses around the whole thing so the cast is only on the "-1", i.e. (( TaskRunning_t ) ( -1 )). Is the typedef needed at all? */
/* Indicates that the task is actively running but scheduled to yield. *//*_RB_ Perhaps taskTASK_SCHEDULED_TO_YILED is a better name then. */
#define taskTASK_YIELDING ( TaskRunning_t ) ( -2 )
/* Returns pdTRUE if the task is actively running and not scheduled to yield. */
#if ( configNUMBER_OF_CORES == 1 )
#define taskTASK_IS_RUNNING( pxTCB ) ( ( ( pxTCB ) == pxCurrentTCB ) ? ( pdTRUE ) : ( pdFALSE ) ) /*_RB_ Is the ternary operator needed here? Just ( ( pxTCB) == pxCurrentTCB ) is going to return value if they are not equal anyway. Likewise for the line below. Single line macros are the only place a ternary operator might be allowed. */
#else
#define taskTASK_IS_RUNNING( pxTCB ) ( ( ( ( pxTCB )->xTaskRunState >= ( BaseType_t ) 0 ) && ( ( pxTCB )->xTaskRunState < ( BaseType_t ) configNUMBER_OF_CORES ) ) ? ( pdTRUE ) : ( pdFALSE ) )
#endif
/* Indicates that the task is an Idle task. */
#define taskATTRIBUTE_IS_IDLE ( UBaseType_t ) ( 1UL << 0UL ) /* Again best to put parentheses around the whole definition too. */
#if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) ) /*_RB_ Later usage of these macros only have a preprocessor test on the number of cores, not whether the critical nesting count is in the TCB. */
#define portGET_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting ) /*_RB_ Macros are prefixed with the file they are defined in, so these should be "task" if defined in tasks.c. */
#define portSET_CRITICAL_NESTING_COUNT( x ) ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting = ( x ) )
#define portINCREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting++ )
#define portDECREMENT_CRITICAL_NESTING_COUNT() ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxCriticalNesting-- )
#endif /* #if ( ( configNUMBER_OF_CORES > 1 ) && ( portCRITICAL_NESTING_IN_TCB == 1 ) ) */
/* Code below here allows infinite loop controlling, especially for the infinite loop
* in idle task function (for example when performing unit tests). */
#ifndef INFINITE_LOOP /*_RB_ Not sure of the purpose of this. for( ;; ) is the preferred method of creating an infinite loop as it avoids "condition is always true" compiler warnings. Suggest removing to make consistent with the rest of the code. */
#define INFINITE_LOOP() 1
#endif
/*
* 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
* (the task's run time environment, including register values)
*/
typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
volatile StackType_t * pxTopOfStack; /**< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
#if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings; /**< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
#endif
#if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 ) /*_RB_ Ref the comment below - there isn't a confNUM_CORES definition. Is the limitation described in the comment documented anywhere or otherwise tested progamatically? */
UBaseType_t uxCoreAffinityMask; /*< Used to link the task to certain cores. UBaseType_t must have greater than or equal to the number of bits as confNUM_CORES. */
#endif
ListItem_t xStateListItem; /**< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
ListItem_t xEventListItem; /**< Used to reference a task from an event list. */
UBaseType_t uxPriority; /**< The priority of the task. 0 is the lowest priority. */
StackType_t * pxStack; /**< Points to the start of the stack. */
#if ( configNUMBER_OF_CORES > 1 )
volatile TaskRunning_t xTaskRunState; /**< Used to identify the core the task is running on, if the task is running. Otherwise, identifies the task's state - not running or yielding. */
UBaseType_t uxTaskAttributes; /**< Task's attributes - currently used to identify the idle tasks. */
#endif
char pcTaskName[ configMAX_TASK_NAME_LEN ]; /**< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 ) /*_RB_ I'm still not philosophically aligned with having this option. */
BaseType_t xPreemptionDisable; /**< Used to prevent the task from being preempted. */
#endif
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
StackType_t * pxEndOfStack; /**< Points to the highest valid address for the stack. */
#endif
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
UBaseType_t uxCriticalNesting; /**< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTCBNumber; /**< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
UBaseType_t uxTaskNumber; /**< Stores a number specifically for use by third party trace code. */
#endif
#if ( configUSE_MUTEXES == 1 )
UBaseType_t uxBasePriority; /**< The priority last assigned to the task - used by the priority inheritance mechanism. */
UBaseType_t uxMutexesHeld;
#endif
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag;
#endif
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /**< Stores the amount of time the task has spent in the Running state. */
#endif
#if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
configTLS_BLOCK_TYPE xTLSBlock; /**< Memory block used as Thread Local Storage (TLS) Block for the task. */
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
#endif
/* See the comments in FreeRTOS.h with the definition of
* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
uint8_t ucStaticallyAllocated; /**< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
#endif
#if ( INCLUDE_xTaskAbortDelay == 1 )
uint8_t ucDelayAborted;
#endif
#if ( configUSE_POSIX_ERRNO == 1 )
int iTaskErrno;
#endif
} 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. */
typedef tskTCB TCB_t;
/*lint -save -e956 A manual analysis and inspection has been used to determine
* which static variables must be declared volatile. */
#if ( configNUMBER_OF_CORES == 1 )
portDONT_DISCARD PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL; /*_RB_ Do we really need this as it looks like the source of potential duplication? Why not just have an array in all cases, including when configNUMBER_OF_CORES is 1. */
#else
/* MISRA Ref 8.4.1 [Declaration shall be visible] */
/* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-84 */
/* coverity[misra_c_2012_rule_8_4_violation] */
portDONT_DISCARD PRIVILEGED_DATA TCB_t * volatile pxCurrentTCBs[ configNUMBER_OF_CORES ];
#define pxCurrentTCB xTaskGetCurrentTaskHandle()
#endif
/* Lists for ready and blocked tasks. --------------------
* xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
* doing so breaks some kernel aware debuggers and debuggers that rely on removing
* the static qualifier. */
PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /**< Prioritised ready tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList1; /**< Delayed tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList2; /**< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /**< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /**< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t xPendingReadyList; /**< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
#if ( INCLUDE_vTaskDelete == 1 )
PRIVILEGED_DATA static List_t xTasksWaitingTermination; /**< Tasks that have been deleted - but their memory not yet freed. */
PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
PRIVILEGED_DATA static List_t xSuspendedTaskList; /**< Tasks that are currently suspended. */
#endif
/* Global POSIX errno. Its value is changed upon context switching to match
* the errno of the currently running task. */
#if ( configUSE_POSIX_ERRNO == 1 )
int FreeRTOS_errno = 0;
#endif
/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUMBER_OF_CORES ] = { pdFALSE };
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandles[ configNUMBER_OF_CORES ]; /**< Holds the handles of the idle tasks. The idle tasks are created automatically when the scheduler is started. */
/* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
* For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
* to determine the number of priority lists to read back from the remote target. */
const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
/* Context switches are held pending while the scheduler is suspended. Also,
* interrupts must not manipulate the xStateListItem of a TCB, or any of the
* lists the xStateListItem can be referenced from, if the scheduler is suspended.
* If an interrupt needs to unblock a task while the scheduler is suspended then it
* moves the task's event list item into the xPendingReadyList, ready for the
* kernel to move the task from the pending ready list into the real ready list
* when the scheduler is unsuspended. The pending ready list itself can only be
* accessed from a critical section.
*
* Updates to uxSchedulerSuspended must be protected by both the task lock and the ISR lock
* and must not be done from an ISR. Reads must be protected by either lock and may be done
* from either an ISR or a task. */
PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) 0U;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Do not move these variables to function scope as doing so prevents the
* code working with debuggers that need to remove the static qualifier. */
PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the value of a timer/counter the last time a task was switched in. */
PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime[ configNUMBER_OF_CORES ] = { 0U }; /**< Holds the total amount of execution time as defined by the run time counter clock. */
#endif
#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configNUMBER_OF_CORES > 1 )
/* Do not move these variables to function scope as doing so prevents the
* code working with debuggers that need to remove the static qualifier. */
static StaticTask_t xIdleTCBBuffers[ configNUMBER_OF_CORES - 1 ]; /*_RB_ Currently static allocation for the idle task is different for core 0 - this needs to be consistent for all cores. */
static StackType_t xIdleTaskStackBuffers[ configNUMBER_OF_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
#endif /* #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configNUMBER_OF_CORES > 1 ) */
/*lint -restore */
/*-----------------------------------------------------------*/
/* File private functions. --------------------------------*/
/*
* Creates the idle tasks during scheduler start.
*/
static BaseType_t prvCreateIdleTasks( void );
#if ( configNUMBER_OF_CORES > 1 )
/*
* Checks to see if another task moved the current task out of the ready
* list while it was waiting to enter a critical section and yields, if so.
*/
static void prvCheckForRunStateChange( void );
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
#if ( configNUMBER_OF_CORES > 1 )
/*
* Yields the given core.
*/
static void prvYieldCore( BaseType_t xCoreID );
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
#if ( configNUMBER_OF_CORES > 1 )
/*
* Yields a core, or cores if multiple priorities are not allowed to run
* simultaneously, to allow the task pxTCB to run.
*/
static void prvYieldForTask( const TCB_t * pxTCB );
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
#if ( configNUMBER_OF_CORES > 1 )
/*
* Selects the highest priority available task for the given core.
*/
static void prvSelectHighestPriorityTask( BaseType_t xCoreID );
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
/**
* Utility task that simply returns pdTRUE if the task referenced by xTask is
* currently in the Suspended state, or pdFALSE if the task referenced by xTask
* is in any other state.
*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
#endif /* INCLUDE_vTaskSuspend */
/*
* Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first task.
*/
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
/*
* The idle task, which as all tasks is implemented as a never ending loop.
* The idle task is automatically created and added to the ready lists upon
* creation of the first user task.
*
* In the FreeRTOS SMP, configNUMBER_OF_CORES - 1 minimal idle tasks are also
* created to ensure that each core has an idle task to run when no other
* task is available to run.
*
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for these functions are:
*
* void prvIdleTask( void *pvParameters );
* void prvMinimalIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
#if ( configNUMBER_OF_CORES > 1 )
static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION; /*_RB_ We need a better name for this idle task, and better description on the website. */
#endif
/*
* Utility to free all memory allocated by the scheduler to hold a TCB,
* including the stack pointed to by the TCB.
*
* This does not free memory allocated by the task itself (i.e. memory
* allocated by calls to pvPortMalloc from within the tasks application code).
*/
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
#endif
/*
* Used only by the idle task. This checks to see if anything has been placed
* in the list of tasks waiting to be deleted. If so the task is cleaned up
* and its TCB deleted.
*/
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
/*
* 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( TickType_t xTicksToWait,
const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
/*
* Fills an TaskStatus_t structure with information on each task that is
* referenced from the pxList list (which may be a ready list, a delayed list,
* a suspended list, etc.).
*
* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
* NORMAL APPLICATION CODE.
*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
List_t * pxList,
eTaskState eState ) PRIVILEGED_FUNCTION;
#endif
/*
* Searches pxList for a task with name pcNameToQuery - returning a handle to
* the task if it is found, or NULL if the task is not found.
*/
#if ( INCLUDE_xTaskGetHandle == 1 )
static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
#endif
/*
* When a task is created, the stack of the task is filled with a known value.
* This function determines the 'high water mark' of the task stack by
* determining how much of the stack remains at the original preset value.
*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
#endif
/*
* Return the amount of time, in ticks, that will pass before the kernel will
* next move a task from the Blocked state to the Running state.
*
* This conditional compilation should use inequality to 0, not equality to 1.
* This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
* defined low power mode implementations require configUSE_TICKLESS_IDLE to be
* set to a value other than 1.
*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
#endif
/*
* Set xNextTaskUnblockTime to the time at which the next Blocked state task
* will exit the Blocked state.
*/
static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
#if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
/*
* Helper function used to pad task names with spaces when printing out
* human readable tables of task information.
*/
static char * prvWriteNameToBuffer( char * pcBuffer,
const char * pcTaskName ) PRIVILEGED_FUNCTION;
#endif
/*
* Called after a Task_t structure has been allocated either statically or
* dynamically to fill in the structure's members.
*/
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const uint32_t ulStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask,
TCB_t * pxNewTCB,
const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
/*
* Called after a new task has been created and initialised to place the task
* under the control of the scheduler.
*/
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
/*
* freertos_tasks_c_additions_init() should only be called if the user definable
* macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
* called by the function.
*/
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
#endif
#if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
extern void vApplicationMinimalIdleHook( void );
#endif /* #if ( configUSE_MINIMAL_IDLE_HOOK == 1 ) */
/*-----------------------------------------------------------*/
#if ( configNUMBER_OF_CORES > 1 )
static void prvCheckForRunStateChange( void )
{
UBaseType_t uxPrevCriticalNesting;
const TCB_t * pxThisTCB;
/* This should be skipped if called from an ISR. If the task on the current
* core is no longer running, then vTaskSwitchContext() probably should
* be run before returning, but we don't have a way to force that to happen
* from here. *//*_RB_ This comment is imprecise. Must vTaskSwtichContext() be called or not. When could this get called from an ISR? */
if( portCHECK_IF_IN_ISR() == pdFALSE ) /*_RB_ Many ports already define xPortIsInsideInterrupt(). */
{
/* This function is always called with interrupts disabled
* so this is safe. */
pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
while( pxThisTCB->xTaskRunState == taskTASK_YIELDING )
{
/* We are only here if we just entered a critical section
* or if we just suspended the scheduler, and another task
* has requested that we yield.
*
* This is slightly complicated since we need to save and restore
* the suspension and critical nesting counts, as well as release
* and reacquire the correct locks. And then, do it all over again
* if our state changed again during the reacquisition. */
uxPrevCriticalNesting = portGET_CRITICAL_NESTING_COUNT();
if( uxPrevCriticalNesting > 0U )
{
portSET_CRITICAL_NESTING_COUNT( 0U );
portRELEASE_ISR_LOCK(); /*_RB_ Curious if this is necessary given this function won't run in an ISR. */
}
else
{
/* The scheduler is suspended. uxSchedulerSuspended is updated
* only when the task is not requested to yield. */
mtCOVERAGE_TEST_MARKER();
}
portRELEASE_TASK_LOCK();
portMEMORY_BARRIER();
configASSERT( pxThisTCB->xTaskRunState == taskTASK_YIELDING );
portENABLE_INTERRUPTS();
/* Enabling interrupts should cause this core to immediately
* service the pending interrupt and yield. If the run state is still
* yielding here then that is a problem. */
configASSERT( pxThisTCB->xTaskRunState != taskTASK_YIELDING );
portDISABLE_INTERRUPTS();
portGET_TASK_LOCK();
portGET_ISR_LOCK();
portSET_CRITICAL_NESTING_COUNT( uxPrevCriticalNesting );
if( uxPrevCriticalNesting == 0U )
{
portRELEASE_ISR_LOCK();
}
}
}
}
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
/*-----------------------------------------------------------*/
#if ( configNUMBER_OF_CORES > 1 )
static void prvYieldCore( BaseType_t xCoreID ) /*_RB_ This could be a candidate to make a macro as it's in a highs speed path, or, as we are writing new ports for SMP, a portALWAYS_INLINE function. */
{
/* This must be called from a critical section and xCoreID must be valid. */
if( ( portCHECK_IF_IN_ISR() == pdTRUE ) && ( xCoreID == ( BaseType_t ) portGET_CORE_ID() ) )
{
xYieldPendings[ xCoreID ] = pdTRUE;
}
else
{
if( pxCurrentTCBs[ xCoreID ]->xTaskRunState != taskTASK_YIELDING )
{
if( xCoreID == ( BaseType_t ) portGET_CORE_ID() )
{
xYieldPendings[ xCoreID ] = pdTRUE;
}
else
{
portYIELD_CORE( xCoreID );
pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_YIELDING;
}
}
}
}
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
/*-----------------------------------------------------------*/
#if ( configNUMBER_OF_CORES > 1 ) /*_RB_ We need to simplify - too many configuration options. */
static void prvYieldForTask( const TCB_t * pxTCB )
{
BaseType_t xLowestPriorityToPreempt;
BaseType_t xCurrentCoreTaskPriority;
BaseType_t xLowestPriorityCore = ( BaseType_t ) -1;
BaseType_t xCoreID;
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
BaseType_t xYieldCount = 0;
#endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
/* This must be called from a critical section. */
configASSERT( portGET_CRITICAL_NESTING_COUNT() > 0U );
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
/* No task should yield for this one if it is a lower priority
* than priority level of currently ready tasks. */
if( pxTCB->uxPriority >= uxTopReadyPriority )
#else
/* Yield is not required for a task which is already running. */
if( taskTASK_IS_RUNNING( pxTCB ) == pdFALSE )
#endif
{
xLowestPriorityToPreempt = ( BaseType_t ) pxTCB->uxPriority;
/* xLowestPriorityToPreempt will be decremented to -1 if the priority of pxTCB
* is 0. This is ok as we will give system idle tasks a priority of -1 below. */
--xLowestPriorityToPreempt;
for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
{
xCurrentCoreTaskPriority = ( BaseType_t ) pxCurrentTCBs[ xCoreID ]->uxPriority;
/* System idle tasks are being assigned a priority of tskIDLE_PRIORITY - 1 here. */
if( ( pxCurrentTCBs[ xCoreID ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) != 0U )
{
xCurrentCoreTaskPriority = xCurrentCoreTaskPriority - 1;
}
if( ( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCoreID ] ) != pdFALSE ) && ( xYieldPendings[ xCoreID ] == pdFALSE ) )
{
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
if( taskTASK_IS_RUNNING( pxTCB ) == pdFALSE )
#endif
{
if( xCurrentCoreTaskPriority <= xLowestPriorityToPreempt )
{
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
#endif
{
#if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
if( pxCurrentTCBs[ xCoreID ]->xPreemptionDisable == pdFALSE )
#endif
{
xLowestPriorityToPreempt = xCurrentCoreTaskPriority;
xLowestPriorityCore = xCoreID;
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
{
/* Yield all currently running non-idle tasks with a priority lower than
* the task that needs to run. */
if( ( xCurrentCoreTaskPriority > ( ( BaseType_t ) tskIDLE_PRIORITY - 1 ) ) &&
( xCurrentCoreTaskPriority < ( BaseType_t ) pxTCB->uxPriority ) )
{
prvYieldCore( xCoreID );
xYieldCount++;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
if( ( xYieldCount == 0 ) && ( xLowestPriorityCore >= 0 ) )
#else /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
if( xLowestPriorityCore >= 0 )
#endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
{
prvYieldCore( xLowestPriorityCore );
}
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
/* Verify that the calling core always yields to higher priority tasks. */
if( ( ( pxCurrentTCBs[ portGET_CORE_ID() ]->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0 ) &&
( pxTCB->uxPriority > pxCurrentTCBs[ portGET_CORE_ID() ]->uxPriority ) )
{
configASSERT( ( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE ) ||
( taskTASK_IS_RUNNING( pxCurrentTCBs[ portGET_CORE_ID() ] ) == pdFALSE ) );
}
#endif
}
}
#endif /* #if ( configNUMBER_OF_CORES > 1 ) */
/*-----------------------------------------------------------*/
#if ( configNUMBER_OF_CORES > 1 )
static void prvSelectHighestPriorityTask( BaseType_t xCoreID )
{
UBaseType_t uxCurrentPriority = uxTopReadyPriority;
BaseType_t xTaskScheduled = pdFALSE;
BaseType_t xDecrementTopPriority = pdTRUE;
#if ( configUSE_CORE_AFFINITY == 1 )
const TCB_t * pxPreviousTCB = NULL;
#endif
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
BaseType_t xPriorityDropped = pdFALSE;
#endif
/* This function should be called when scheduler is running. */
configASSERT( xSchedulerRunning == pdTRUE );
/* A new task is created and a running task with the same priority yields
* itself to run the new task. When a running task yields itself, it is still
* in the ready list. This running task will be selected before the new task
* since the new task is always added to the end of the ready list.
* The other problem is that the running task still in the same position of
* the ready list when it yields itself. It is possible that it will be selected
* earlier then other tasks which waits longer than this task.
*
* To fix these problems, the running task should be put to the end of the
* ready list before searching for the ready task in the ready list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ),
&pxCurrentTCBs[ xCoreID ]->xStateListItem ) == pdTRUE )
{
( void ) uxListRemove( &pxCurrentTCBs[ xCoreID ]->xStateListItem );
vListInsertEnd( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ),
&pxCurrentTCBs[ xCoreID ]->xStateListItem );
}
while( xTaskScheduled == pdFALSE )
{
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
{
if( uxCurrentPriority < uxTopReadyPriority )
{
/* We can't schedule any tasks, other than idle, that have a
* priority lower than the priority of a task currently running
* on another core. */
uxCurrentPriority = tskIDLE_PRIORITY;
}
}
#endif
if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurrentPriority ] ) ) == pdFALSE )
{
const List_t * const pxReadyList = &( pxReadyTasksLists[ uxCurrentPriority ] );
const ListItem_t * pxEndMarker = listGET_END_MARKER( pxReadyList );
ListItem_t * pxIterator;
/* The ready task list for uxCurrentPriority is not empty, so uxTopReadyPriority
* must not be decremented any further. */
xDecrementTopPriority = pdFALSE;
for( pxIterator = listGET_HEAD_ENTRY( pxReadyList ); pxIterator != pxEndMarker; pxIterator = listGET_NEXT( pxIterator ) )
{
TCB_t * pxTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( pxIterator );
#if ( configRUN_MULTIPLE_PRIORITIES == 0 )
{
/* When falling back to the idle priority because only one priority
* level is allowed to run at a time, we should ONLY schedule the true
* idle tasks, not user tasks at the idle priority. */
if( uxCurrentPriority < uxTopReadyPriority )
{
if( ( pxTCB->uxTaskAttributes & taskATTRIBUTE_IS_IDLE ) == 0 )
{
continue;
}
}
}
#endif /* #if ( configRUN_MULTIPLE_PRIORITIES == 0 ) */
if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
{
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
#endif
{
/* If the task is not being executed by any core swap it in. */
pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
#if ( configUSE_CORE_AFFINITY == 1 )
pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
#endif
pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
pxCurrentTCBs[ xCoreID ] = pxTCB;
xTaskScheduled = pdTRUE;
}
}
else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
{
configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) );
#if ( configUSE_CORE_AFFINITY == 1 )
if( ( pxTCB->uxCoreAffinityMask & ( ( UBaseType_t ) 1U << ( UBaseType_t ) xCoreID ) ) != 0U )
#endif