Outline ![]()
Files ![]()
loading...
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
2031
2032
2033
2034
2035
2036
2037
2038
2039
2040
2041
2042
2043
2044
2045
2046
2047
2048
2049
2050
2051
2052
2053
2054
2055
2056
2057
2058
2059
2060
2061
2062
2063
2064
2065
2066
2067
2068
2069
2070
2071
2072
2073
2074
2075
2076
2077
2078
2079
2080
2081
2082
2083
2084
2085
2086
2087
2088
2089
2090
2091
2092
2093
2094
2095
2096
2097
2098
2099
2100
2101
2102
2103
2104
2105
2106
2107
2108
2109
2110
2111
2112
2113
2114
2115
2116
2117
2118
2119
2120
2121
2122
2123
2124
2125
2126
2127
2128
2129
2130
2131
2132
2133
2134
2135
2136
2137
2138
2139
2140
2141
2142
2143
2144
2145
2146
2147
2148
2149
2150
2151
2152
2153
2154
2155
2156
2157
2158
2159
2160
2161
2162
2163
2164
2165
2166
2167
2168
2169
2170
2171
2172
2173
2174
2175
2176
2177
2178
2179
2180
2181
2182
2183
2184
2185
2186
2187
2188
2189
2190
2191
2192
2193
2194
2195
2196
2197
2198
2199
2200
2201
2202
2203
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215
2216
2217
2218
2219
2220
2221
2222
2223
2224
2225
2226
2227
2228
2229
2230
2231
2232
2233
2234
2235
2236
2237
2238
2239
2240
2241
2242
2243
2244
2245
2246
2247
2248
2249
2250
2251
2252
2253
2254
2255
2256
2257
2258
2259
2260
2261
2262
2263
2264
2265
2266
2267
2268
2269
2270
2271
2272
2273
2274
2275
2276
2277
2278
2279
2280
2281
2282
2283
2284
2285
2286
2287
2288
2289
2290
2291
2292
2293
2294
2295
2296
2297
2298
2299
2300
2301
2302
2303
2304
2305
2306
2307
2308
2309
2310
2311
2312
2313
2314
2315
2316
2317
2318
2319
2320
2321
2322
2323
2324
2325
2326
2327
2328
2329
2330
2331
2332
2333
2334
2335
2336
2337
2338
2339
2340
2341
2342
2343
2344
2345
2346
2347
2348
2349
2350
2351
2352
2353
2354
2355
2356
2357
2358
2359
2360
2361
2362
2363
2364
2365
2366
2367
2368
2369
2370
2371
2372
2373
2374
2375
2376
2377
2378
2379
2380
2381
2382
2383
2384
2385
2386
2387
2388
2389
2390
2391
2392
2393
2394
2395
2396
2397
2398
2399
2400
2401
2402
2403
2404
2405
2406
2407
2408
2409
2410
2411
2412
2413
2414
2415
2416
2417
2418
2419
2420
2421
2422
2423
2424
2425
2426
2427
2428
2429
2430
2431
2432
2433
2434
2435
2436
2437
2438
2439
2440
2441
2442
2443
2444
2445
2446
2447
2448
2449
2450
2451
2452
2453
2454
2455
2456
2457
2458
2459
2460
2461
2462
2463
2464
2465
2466
2467
2468
2469
2470
2471
2472
2473
2474
2475
2476
2477
2478
2479
2480
2481
2482
2483
2484
2485
2486
2487
2488
2489
2490
2491
2492
2493
2494
2495
2496
2497
2498
2499
2500
2501
2502
2503
2504
2505
2506
2507
2508
2509
2510
2511
2512
2513
2514
2515
2516
2517
2518
2519
2520
2521
2522
2523
2524
2525
2526
2527
2528
2529
2530
2531
2532
2533
2534
2535
2536
2537
2538
2539
2540
2541
2542
2543
2544
2545
2546
2547
2548
2549
2550
2551
2552
2553
2554
2555
2556
2557
2558
2559
2560
2561
2562
2563
2564
2565
2566
2567
2568
2569
2570
2571
2572
2573
2574
2575
2576
2577
2578
2579
2580
2581
2582
2583
2584
2585
2586
2587
2588
2589
2590
2591
2592
2593
2594
2595
2596
2597
2598
2599
2600
2601
2602
2603
2604
2605
2606
2607
2608
2609
2610
2611
2612
2613
2614
2615
2616
2617
2618
2619
2620
2621
2622
2623
2624
2625
2626
2627
2628
2629
2630
2631
2632
2633
2634
2635
2636
2637
2638
2639
2640
2641
2642
2643
2644
2645
2646
2647
2648
2649
2650
2651
2652
2653
2654
2655
2656
2657
2658
2659
2660
2661
2662
2663
2664
2665
2666
2667
2668
2669
2670
2671
2672
2673
2674
2675
2676
2677
2678
2679
2680
2681
2682
2683
2684
2685
2686
2687
2688
2689
2690
2691
2692
2693
2694
2695
2696
2697
2698
2699
2700
2701
2702
2703
2704
2705
2706
2707
2708
2709
2710
2711
2712
2713
2714
2715
2716
2717
2718
2719
2720
2721
2722
2723
2724
2725
2726
2727
2728
2729
2730
2731
2732
2733
2734
2735
2736
2737
2738
2739
2740
2741
2742
2743
2744
2745
2746
2747
2748
2749
2750
2751
2752
2753
2754
2755
2756
2757
2758
2759
2760
2761
2762
2763
2764
2765
2766
2767
2768
2769
2770
2771
2772
2773
2774
2775
2776
2777
2778
2779
2780
2781
2782
2783
2784
2785
2786
2787
2788
2789
2790
2791
2792
2793
2794
2795
2796
2797
2798
2799
2800
2801
2802
2803
2804
2805
2806
2807
2808
2809
2810
2811
2812
2813
2814
2815
2816
2817
2818
2819
2820
2821
2822
2823
2824
2825
2826
2827
2828
2829
2830
2831
2832
2833
2834
2835
2836
2837
2838
2839
2840
2841
2842
2843
2844
2845
2846
2847
2848
2849
2850
2851
2852
2853
2854
2855
2856
2857
2858
2859
2860
2861
2862
2863
2864
2865
2866
2867
2868
2869
2870
2871
2872
2873
2874
2875
2876
2877
2878
2879
2880
2881
2882
2883
2884
2885
2886
2887
2888
2889
2890
2891
2892
2893
2894
2895
2896
2897
2898
2899
2900
2901
2902
2903
2904
2905
2906
2907
2908
2909
2910
2911
2912
2913
2914
2915
2916
2917
2918
2919
2920
2921
2922
2923
2924
2925
2926
2927
2928
2929
2930
2931
2932
2933
2934
2935
2936
2937
2938
2939
2940
2941
2942
2943
2944
2945
2946
2947
2948
2949
2950
2951
2952
2953
2954
2955
2956
2957
2958
2959
2960
2961
2962
2963
2964
2965
2966
2967
2968
2969
2970
2971
2972
2973
2974
2975
2976
2977
2978
2979
2980
2981
2982
2983
2984
2985
2986
2987
2988
2989
2990
2991
2992
2993
2994
2995
2996
2997
2998
2999
3000
3001
3002
3003
3004
3005
3006
3007
3008
3009
3010
3011
3012
3013
3014
3015
3016
3017
3018
3019
3020
3021
3022
3023
3024
3025
3026
3027
3028
3029
3030
3031
3032
3033
3034
3035
3036
3037
3038
3039
3040
3041
3042
3043
3044
3045
3046
3047
3048
3049
3050
3051
3052
3053
3054
3055
3056
3057
3058
3059
3060
3061
3062
3063
3064
3065
3066
3067
3068
3069
3070
3071
3072
3073
3074
3075
3076
3077
3078
3079
3080
3081
3082
3083
3084
3085
3086
3087
3088
3089
3090
3091
3092
3093
3094
3095
3096
3097
3098
3099
3100
3101
3102
3103
3104
3105
3106
3107
3108
3109
3110
3111
3112
3113
3114
3115
3116
3117
3118
3119
3120
3121
3122
3123
3124
3125
3126
3127
3128
3129
3130
3131
3132
3133
3134
3135
3136
3137
3138
3139
3140
3141
3142
3143
3144
3145
3146
3147
3148
3149
3150
3151
3152
3153
3154
3155
3156
3157
3158
3159
3160
3161
3162
3163
3164
3165
3166
3167
3168
3169
3170
3171
3172
3173
3174
3175
3176
3177
3178
3179
3180
3181
3182
3183
3184
3185
3186
3187
3188
3189
3190
3191
3192
3193
3194
3195
3196
3197
3198
3199
3200
3201
3202
3203
3204
3205
3206
3207
3208
3209
3210
3211
3212
3213
3214
3215
3216
3217
3218
3219
3220
3221
3222
3223
3224
3225
3226
3227
3228
3229
3230
3231
3232
3233
3234
3235
3236
3237
3238
3239
3240
3241
3242
3243
3244
3245
3246
3247
3248
3249
3250
3251
3252
3253
3254
3255
3256
3257
3258
3259
3260
3261
3262
3263
3264
3265
3266
3267
3268
3269
3270
3271
3272
3273
3274
3275
3276
3277
3278
3279
3280
3281
3282
3283
3284
3285
3286
3287
3288
3289
3290
3291
3292
3293
3294
3295
3296
3297
3298
3299
3300
3301
3302
3303
3304
3305
3306
3307
3308
3309
3310
3311
3312
3313
3314
3315
3316
3317
3318
3319
3320
3321
3322
3323
3324
3325
3326
3327
3328
3329
3330
3331
3332
3333
3334
3335
3336
3337
3338
3339
3340
3341
3342
3343
3344
3345
3346
3347
3348
3349
3350
3351
3352
3353
3354
3355
3356
3357
3358
3359
3360
3361
3362
3363
3364
3365
3366
3367
3368
3369
3370
3371
3372
3373
3374
3375
3376
3377
3378
3379
3380
3381
3382
3383
3384
3385
3386
3387
3388
3389
3390
3391
3392
3393
3394
3395
3396
3397
3398
3399
3400
3401
3402
3403
3404
3405
3406
3407
3408
3409
3410
3411
3412
3413
3414
3415
3416
3417
3418
3419
3420
3421
3422
3423
3424
3425
3426
3427
3428
3429
3430
3431
3432
3433
3434
3435
3436
3437
3438
3439
3440
3441
3442
3443
3444
3445
3446
3447
3448
3449
3450
3451
3452
3453
3454
3455
3456
3457
3458
3459
3460
3461
3462
3463
3464
3465
3466
3467
3468
3469
3470
3471
3472
3473
3474
3475
3476
3477
3478
3479
3480
3481
3482
3483
3484
3485
3486
3487
3488
3489
3490
3491
3492
3493
3494
3495
3496
3497
3498
3499
3500
3501
3502
3503
3504
3505
3506
3507
3508
3509
3510
3511
3512
3513
3514
3515
3516
3517
3518
3519
3520
3521
3522
3523
3524
3525
3526
3527
3528
3529
3530
3531
3532
3533
3534
3535
3536
3537
3538
3539
3540
3541
3542
3543
3544
3545
3546
3547
3548
3549
3550
3551
3552
3553
3554
3555
3556
3557
3558
3559
3560
3561
3562
3563
3564
3565
3566
3567
3568
3569
3570
3571
3572
3573
3574
3575
3576
3577
3578
3579
3580
3581
3582
3583
3584
3585
3586
3587
3588
3589
3590
3591
3592
3593
3594
3595
3596
3597
3598
3599
3600
3601
3602
3603
3604
3605
3606
3607
3608
3609
3610
3611
3612
3613
3614
3615
3616
3617
3618
3619
3620
3621
3622
3623
3624
3625
3626
3627
3628
3629
3630
3631
3632
3633
3634
3635
3636
3637
3638
3639
3640
3641
3642
3643
3644
3645
3646
3647
3648
3649
3650
3651
3652
3653
3654
3655
3656
3657
3658
3659
3660
3661
3662
3663
3664
3665
3666
3667
3668
3669
3670
3671
3672
3673
3674
3675
3676
3677
3678
3679
3680
3681
3682
3683
3684
3685
3686
3687
3688
3689
3690
3691
3692
3693
3694
3695
3696
3697
3698
3699
3700
3701
3702
3703
3704
3705
3706
3707
3708
3709
3710
3711
3712
3713
3714
3715
3716
3717
3718
3719
3720
3721
3722
3723
3724
3725
3726
3727
3728
3729
3730
3731
3732
3733
3734
3735
3736
3737
3738
3739
3740
3741
3742
3743
3744
3745
3746
3747
3748
3749
3750
3751
3752
3753
3754
3755
3756
3757
3758
3759
3760
3761
3762
3763
3764
3765
3766
3767
3768
3769
3770
3771
3772
3773
3774
3775
3776
3777
3778
3779
3780
3781
3782
3783
3784
3785
3786
3787
3788
3789
3790
3791
3792
3793
3794
3795
3796
3797
3798
3799
3800
3801
3802
3803
3804
3805
3806
3807
3808
3809
3810
3811
3812
3813
3814
3815
3816
3817
3818
3819
3820
3821
3822
3823
3824
3825
3826
3827
3828
3829
3830
3831
3832
3833
3834
3835
3836
3837
3838
3839
3840
3841
3842
3843
3844
3845
3846
3847
3848
3849
3850
3851
3852
3853
3854
3855
3856
3857
3858
3859
3860
3861
3862
3863
3864
3865
3866
3867
3868
3869
3870
3871
3872
3873
3874
3875
3876
3877
3878
3879
3880
3881
3882
3883
3884
3885
3886
3887
3888
3889
3890
3891
3892
3893
3894
3895
3896
3897
3898
3899
3900
3901
3902
3903
3904
3905
3906
3907
3908
3909
3910
3911
3912
3913
3914
3915
3916
3917
3918
3919
3920
3921
3922
3923
3924
3925
3926
3927
3928
3929
3930
3931
3932
3933
3934
3935
3936
3937
3938
3939
3940
3941
3942
3943
3944
3945
3946
3947
3948
3949
3950
3951
3952
3953
3954
3955
3956
3957
3958
3959
3960
3961
3962
3963
3964
3965
3966
3967
3968
3969
3970
3971
3972
3973
3974
3975
3976
3977
3978
3979
3980
3981
3982
3983
3984
3985
3986
3987
3988
3989
3990
3991
3992
3993
3994
3995
3996
3997
3998
3999
4000
4001
4002
4003
4004
4005
4006
4007
4008
4009
4010
4011
4012
4013
4014
4015
4016
4017
4018
4019
4020
4021
4022
4023
4024
4025
4026
4027
4028
4029
4030
4031
4032
4033
4034
4035
4036
4037
4038
4039
4040
4041
4042
4043
4044
4045
4046
4047
4048
4049
4050
4051
4052
4053
4054
4055
4056
4057
4058
4059
4060
4061
4062
4063
4064
4065
4066
4067
4068
4069
4070
4071
4072
4073
4074
4075
4076
4077
4078
4079
4080
4081
4082
4083
4084
4085
4086
4087
4088
4089
4090
4091
4092
4093
4094
4095
4096
4097
4098
4099
4100
4101
4102
4103
4104
4105
4106
4107
4108
4109
4110
4111
4112
4113
4114
4115
4116
4117
4118
4119
4120
4121
4122
4123
4124
4125
4126
4127
4128
4129
4130
4131
4132
4133
4134
4135
4136
4137
4138
4139
4140
4141
4142
4143
4144
4145
4146
4147
4148
4149
4150
4151
4152
4153
4154
4155
4156
4157
4158
4159
4160
4161
4162
4163
4164
4165
4166
4167
4168
4169
4170
4171
4172
4173
4174
4175
4176
4177
4178
4179
4180
4181
4182
4183
4184
4185
4186
4187
4188
4189
4190
4191
4192
4193
4194
4195
4196
4197
4198
4199
4200
4201
4202
4203
4204
4205
4206
4207
4208
4209
4210
4211
4212
4213
4214
4215
4216
4217
4218
4219
4220
4221
4222
4223
4224
4225
4226
4227
4228
4229
4230
4231
4232
4233
4234
4235
4236
4237
4238
4239
4240
4241
4242
4243
4244
4245
4246
4247
4248
4249
4250
4251
4252
4253
4254
4255
4256
4257
4258
4259
4260
4261
4262
4263
4264
4265
4266
4267
4268
4269
4270
4271
4272
4273
4274
4275
4276
4277
4278
4279
4280
4281
4282
4283
4284
4285
4286
4287
4288
4289
4290
4291
4292
4293
4294
4295
4296
4297
4298
4299
4300
4301
4302
4303
4304
4305
4306
4307
4308
4309
4310
4311
4312
4313
4314
4315
4316
4317
4318
4319
4320
4321
4322
4323
4324
4325
4326
4327
4328
4329
4330
4331
4332
4333
4334
4335
4336
4337
4338
4339
4340
4341
4342
4343
4344
4345
4346
4347
4348
4349
4350
4351
4352
4353
4354
4355
4356
4357
4358
4359
4360
4361
4362
4363
4364
4365
4366
4367
4368
4369
4370
4371
4372
4373
4374
4375
4376
4377
4378
4379
4380
4381
4382
4383
4384
4385
4386
4387
4388
4389
4390
4391
4392
4393
4394
4395
4396
4397
4398
4399
4400
4401
4402
4403
4404
4405
4406
4407
4408
4409
4410
4411
4412
4413
4414
4415
4416
4417
4418
4419
4420
4421
4422
4423
4424
4425
4426
4427
4428
4429
4430
4431
4432
4433
4434
4435
4436
4437
4438
4439
4440
4441
4442
4443
4444
4445
4446
4447
4448
4449
4450
4451
4452
4453
4454
4455
4456
4457
4458
4459
4460
4461
4462
4463
4464
4465
4466
4467
4468
4469
4470
4471
4472
4473
4474
4475
4476
4477
4478
4479
4480
4481
4482
4483
4484
4485
4486
4487
4488
4489
4490
4491
4492
4493
4494
4495
4496
4497
4498
4499
4500
4501
4502
4503
4504
4505
4506
4507
4508
4509
4510
4511
4512
4513
4514
4515
4516
4517
4518
4519
4520
4521
4522
4523
4524
4525
4526
4527
4528
4529
4530
4531
4532
4533
4534
4535
4536
4537
4538
4539
4540
4541
4542
4543
4544
4545
4546
4547
4548
4549
4550
4551
4552
4553
4554
4555
4556
4557
4558
4559
4560
4561
4562
4563
4564
4565
4566
4567
4568
4569
4570
4571
4572
4573
4574
4575
4576
4577
4578
4579
4580
4581
4582
4583
4584
4585
4586
4587
4588
4589
4590
4591
4592
4593
4594
4595
4596
4597
4598
4599
4600
4601
4602
4603
4604
4605
4606
4607
4608
4609
4610
4611
4612
4613
4614
4615
4616
4617
4618
4619
4620
4621
4622
4623
4624
4625
4626
4627
4628
4629
4630
4631
4632
4633
4634
4635
4636
4637
4638
4639
4640
4641
4642
4643
4644
4645
4646
4647
4648
4649
4650
4651
4652
4653
4654
4655
4656
4657
4658
4659
4660
4661
4662
4663
4664
4665
4666
4667
4668
4669
4670
4671
4672
4673
4674
4675
4676
4677
4678
4679
4680
4681
4682
4683
4684
4685
4686
4687
4688
4689
4690
4691
4692
4693
4694
4695
4696
4697
4698
4699
4700
4701
4702
4703
4704
4705
4706
4707
4708
4709
4710
4711
4712
4713
4714
4715
4716
4717
4718
4719
4720
4721
4722
4723
4724
4725
4726
4727
4728
4729
4730
4731
4732
4733
4734
4735
4736
4737
4738
4739
4740
4741
4742
4743
4744
4745
4746
4747
4748
4749
4750
4751
4752
4753
4754
4755
4756
4757
4758
4759
4760
4761
4762
4763
4764
4765
4766
4767
4768
4769
4770
4771
4772
4773
4774
4775
4776
4777
4778
4779
4780
4781
4782
4783
4784
4785
4786
4787
4788
4789
4790
4791
4792
4793
4794
4795
4796
4797
4798
4799
4800
4801
4802
4803
4804
4805
4806
4807
4808
4809
4810
4811
4812
4813
4814
4815
4816
4817
4818
4819
4820
4821
4822
4823
4824
4825
4826
4827
4828
4829
4830
4831
4832
4833
4834
4835
4836
4837
4838
4839
4840
4841
4842
4843
4844
4845
4846
4847
4848
4849
4850
4851
4852
4853
4854
4855
4856
4857
4858
4859
4860
4861
4862
4863
4864
4865
4866
4867
4868
4869
4870
4871
4872
4873
4874
4875
4876
4877
4878
4879
4880
4881
4882
4883
4884
4885
4886
4887
4888
4889
4890
4891
4892
4893
4894
4895
4896
4897
4898
4899
4900
4901
4902
4903
4904
4905
4906
4907
4908
4909
4910
4911
4912
4913
4914
4915
4916
4917
4918
4919
4920
4921
4922
4923
4924
4925
4926
4927
4928
4929
4930
4931
4932
4933
4934
4935
4936
4937
4938
4939
4940
4941
4942
4943
4944
4945
4946
4947
4948
4949
4950
4951
4952
4953
4954
4955
4956
4957
4958
4959
4960
4961
4962
4963
4964
4965
4966
4967
4968
4969
4970
4971
4972
4973
4974
4975
4976
4977
4978
4979
4980
4981
4982
4983
4984
4985
4986
4987
4988
4989
4990
4991
4992
4993
4994
4995
4996
4997
4998
4999
5000
5001
5002
5003
5004
5005
5006
5007
5008
5009
5010
5011
5012
5013
5014
5015
5016
5017
5018
5019
5020
5021
5022
5023
5024
5025
5026
5027
5028
5029
5030
5031
5032
5033
5034
5035
5036
5037
5038
5039
5040
5041
5042
5043
5044
5045
5046
5047
5048
5049
5050
5051
5052
5053
5054
5055
5056
5057
5058
5059
5060
5061
5062
5063
5064
5065
5066
5067
5068
5069
5070
5071
5072
5073
5074
5075
5076
5077
5078
5079
5080
5081
5082
5083
5084
5085
5086
5087
5088
5089
5090
5091
5092
5093
5094
5095
5096
5097
5098
5099
5100
5101
5102
5103
5104
5105
5106
5107
5108
5109
5110
5111
5112
5113
5114
5115
5116
5117
5118
5119
5120
5121
5122
5123
5124
5125
5126
5127
5128
5129
5130
5131
5132
5133
5134
5135
5136
5137
5138
5139
5140
5141
5142
5143
5144
5145
5146
5147
5148
5149
5150
5151
5152
5153
5154
5155
5156
5157
5158
5159
5160
5161
5162
5163
5164
5165
5166
5167
5168
5169
5170
5171
5172
5173
5174
5175
5176
5177
5178
5179
5180
5181
5182
5183
5184
5185
5186
5187
5188
5189
5190
5191
5192
5193
5194
5195
5196
5197
5198
5199
5200
5201
5202
5203
5204
5205
5206
5207
5208
5209
5210
5211
5212
5213
5214
5215
5216
5217
5218
5219
5220
5221
5222
5223
5224
5225
5226
5227
5228
5229
5230
5231
5232
5233
5234
5235
5236
5237
5238
5239
5240
5241
5242
5243
5244
5245
5246
5247
5248
5249
5250
5251
5252
5253
5254
5255
5256
5257
5258
5259
5260
5261
5262
5263
5264
5265
5266
5267
5268
5269
5270
5271
5272
5273
5274
5275
5276
5277
5278
5279
5280
5281
5282
5283
5284
5285
5286
5287
5288
5289
5290
5291
5292
5293
5294
5295
5296
5297
5298
5299
5300
5301
5302
5303
5304
5305
5306
5307
5308
5309
5310
/*
* FreeRTOS Kernel V10.3.1
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* 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.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/* 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( 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
/* 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 )
/*
* 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 recored 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 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 ) \
{ \
if( ( uxPriority ) > uxTopReadyPriority ) \
{ \
uxTopReadyPriority = ( uxPriority ); \
} \
} /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
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; \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */
/*-----------------------------------------------------------*/
/* 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 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() \
{ \
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 ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
/*-----------------------------------------------------------*/
/* 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 ) \
{ \
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
{ \
portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
} \
}
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/*-----------------------------------------------------------*/
/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
count overflows. */
#define taskSWITCH_DELAYED_LISTS() \
{ \
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(); \
}
/*-----------------------------------------------------------*/
/*
* 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 ) \
traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
/*-----------------------------------------------------------*/
/*
* Several functions take an 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( configUSE_16_BIT_TICKS == 1 )
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
#else
#define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
#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
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. */
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 ( ( 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 )
uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
Note Newlib support has been included by popular demand, but is not
used by the FreeRTOS maintainers themselves. FreeRTOS is not
responsible for resulting newlib operation. User must be familiar with
newlib and must provide system-wide implementations of the necessary
stubs. Be warned that (at the time of writing) the current newlib design
implements a system-wide malloc() that must be provided with locks.
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
for additional information. */
struct _reent xNewLib_reent;
#endif
#if( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue;
volatile uint8_t ucNotifyState;
#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. */
PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
/* Lists for ready and blocked tasks. --------------------
xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople 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 xYieldPending = 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 xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
/* 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. */
PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
#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 uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
#endif
/*lint -restore */
/*-----------------------------------------------------------*/
/* Callback function prototypes. --------------------------*/
#if( configCHECK_FOR_STACK_OVERFLOW > 0 )
extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
#endif
#if( configUSE_TICK_HOOK > 0 )
extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
#endif
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
#endif
/* File private functions. --------------------------------*/
/**
* 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.
*
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
/*
* 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 );
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( 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( configSUPPORT_STATIC_ALLOCATION == 1 )
TaskHandle_t xTaskCreateStatic( 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,
StackType_t * const puxStackBuffer,
StaticTask_t * const pxTaskBuffer )
{
TCB_t *pxNewTCB;
TaskHandle_t xReturn;
configASSERT( puxStackBuffer != NULL );
configASSERT( pxTaskBuffer != NULL );
#if( configASSERT_DEFINED == 1 )
{
/* Sanity check that the size of the structure used to declare a
variable of type StaticTask_t equals the size of the real task
structure. */
volatile size_t xSize = sizeof( StaticTask_t );
configASSERT( xSize == sizeof( TCB_t ) );
( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
}
#endif /* configASSERT_DEFINED */
if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
{
/* The memory used for the task's TCB and stack are passed into this
function - use them. */
pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
prvAddNewTaskToReadyList( pxNewTCB );
}
else
{
xReturn = NULL;
}
return xReturn;
}
#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
{
TCB_t *pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
{
/* Allocate space for the TCB. Where the memory comes from depends
on the implementation of the port malloc function and whether or
not static allocation is being used. */
pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note this
task was created statically in case the task is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
pxTaskDefinition->pcName,
( uint32_t ) pxTaskDefinition->usStackDepth,
pxTaskDefinition->pvParameters,
pxTaskDefinition->uxPriority,
pxCreatedTask, pxNewTCB,
pxTaskDefinition->xRegions );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
return xReturn;
}
#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*-----------------------------------------------------------*/
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
{
TCB_t *pxNewTCB;
BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
configASSERT( pxTaskDefinition->puxStackBuffer );
if( pxTaskDefinition->puxStackBuffer != NULL )
{
/* Allocate space for the TCB. Where the memory comes from depends
on the implementation of the port malloc function and whether or
not static allocation is being used. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
{
/* Tasks can be created statically or dynamically, so note
this task had a statically allocated stack in case it is
later deleted. The TCB was allocated dynamically. */
pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
pxTaskDefinition->pcName,
( uint32_t ) pxTaskDefinition->usStackDepth,
pxTaskDefinition->pvParameters,
pxTaskDefinition->uxPriority,
pxCreatedTask, pxNewTCB,
pxTaskDefinition->xRegions );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
}
return xReturn;
}
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
const configSTACK_DEPTH_TYPE usStackDepth,
void * const pvParameters,
UBaseType_t uxPriority,
TaskHandle_t * const pxCreatedTask )
{
TCB_t *pxNewTCB;
BaseType_t xReturn;
/* If the stack grows down then allocate the stack then the TCB so the stack
does not grow into the TCB. Likewise if the stack grows up then allocate
the TCB then the stack. */
#if( portSTACK_GROWTH > 0 )
{
/* Allocate space for the TCB. Where the memory comes from depends on
the implementation of the port malloc function and whether or not static
allocation is being used. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
if( pxNewTCB != NULL )
{
/* Allocate space for the stack used by the task being created.
The base of the stack memory stored in the TCB so the task can
be deleted later if required. */
pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
if( pxNewTCB->pxStack == NULL )
{
/* Could not allocate the stack. Delete the allocated TCB. */
vPortFree( pxNewTCB );
pxNewTCB = NULL;
}
}
}
#else /* portSTACK_GROWTH */
{
StackType_t *pxStack;
/* Allocate space for the stack used by the task being created. */
pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
if( pxStack != NULL )
{
/* Allocate space for the TCB. */
pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
if( pxNewTCB != NULL )
{
/* Store the stack location in the TCB. */
pxNewTCB->pxStack = pxStack;
}
else
{
/* The stack cannot be used as the TCB was not created. Free
it again. */
vPortFree( pxStack );
}
}
else
{
pxNewTCB = NULL;
}
}
#endif /* portSTACK_GROWTH */
if( pxNewTCB != NULL )
{
#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
{
/* Tasks can be created statically or dynamically, so note this
task was created dynamically in case it is later deleted. */
pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
}
#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
prvAddNewTaskToReadyList( pxNewTCB );
xReturn = pdPASS;
}
else
{
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
}
return xReturn;
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/
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 )
{
StackType_t *pxTopOfStack;
UBaseType_t x;
#if( portUSING_MPU_WRAPPERS == 1 )
/* Should the task be created in privileged mode? */
BaseType_t xRunPrivileged;
if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
{
xRunPrivileged = pdTRUE;
}
else
{
xRunPrivileged = pdFALSE;
}
uxPriority &= ~portPRIVILEGE_BIT;
#endif /* portUSING_MPU_WRAPPERS == 1 */
/* Avoid dependency on memset() if it is not required. */
#if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
{
/* Fill the stack with a known value to assist debugging. */
( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
}
#endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
/* Calculate the top of stack address. This depends on whether the stack
grows from high memory to low (as per the 80x86) or vice versa.
portSTACK_GROWTH is used to make the result positive or negative as required
by the port. */
#if( portSTACK_GROWTH < 0 )
{
pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
/* Check the alignment of the calculated top of stack is correct. */
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
#if( configRECORD_STACK_HIGH_ADDRESS == 1 )
{
/* Also record the stack's high address, which may assist
debugging. */
pxNewTCB->pxEndOfStack = pxTopOfStack;
}
#endif /* configRECORD_STACK_HIGH_ADDRESS */
}
#else /* portSTACK_GROWTH */
{
pxTopOfStack = pxNewTCB->pxStack;
/* Check the alignment of the stack buffer is correct. */
configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
/* The other extreme of the stack space is required if stack checking is
performed. */
pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
}
#endif /* portSTACK_GROWTH */
/* Store the task name in the TCB. */
if( pcName != NULL )
{
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
{
pxNewTCB->pcTaskName[ x ] = pcName[ x ];
/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
configMAX_TASK_NAME_LEN characters just in case the memory after the
string is not accessible (extremely unlikely). */
if( pcName[ x ] == ( char ) 0x00 )
{
break;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* Ensure the name string is terminated in the case that the string length
was greater or equal to configMAX_TASK_NAME_LEN. */
pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
}
else
{
/* The task has not been given a name, so just ensure there is a NULL
terminator when it is read out. */
pxNewTCB->pcTaskName[ 0 ] = 0x00;
}
/* This is used as an array index so must ensure it's not too large. First
remove the privilege bit if one is present. */
if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxNewTCB->uxPriority = uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
pxNewTCB->uxBasePriority = uxPriority;
pxNewTCB->uxMutexesHeld = 0;
}
#endif /* configUSE_MUTEXES */
vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
/* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
back to the containing TCB from a generic item in a list. */
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
/* Event lists are always in priority order. */
listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
{
pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
}
#endif /* portCRITICAL_NESTING_IN_TCB */
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
{
pxNewTCB->pxTaskTag = NULL;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxNewTCB->ulRunTimeCounter = 0UL;
}
#endif /* configGENERATE_RUN_TIME_STATS */
#if ( portUSING_MPU_WRAPPERS == 1 )
{
vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
}
#else
{
/* Avoid compiler warning about unreferenced parameter. */
( void ) xRegions;
}
#endif
#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
{
for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
{
pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
}
}
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
pxNewTCB->ulNotifiedValue = 0;
pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Initialise this task's Newlib reent structure.
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
for additional information. */
_REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
}
#endif
#if( INCLUDE_xTaskAbortDelay == 1 )
{
pxNewTCB->ucDelayAborted = pdFALSE;
}
#endif
/* Initialize the TCB stack to look as if the task was already running,
but had been interrupted by the scheduler. The return address is set
to the start of the task function. Once the stack has been initialised
the top of stack variable is updated. */
#if( portUSING_MPU_WRAPPERS == 1 )
{
/* If the port has capability to detect stack overflow,
pass the stack end address to the stack initialization
function as well. */
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
{
#if( portSTACK_GROWTH < 0 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#else /* portSTACK_GROWTH */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#endif /* portSTACK_GROWTH */
}
#else /* portHAS_STACK_OVERFLOW_CHECKING */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
}
#endif /* portHAS_STACK_OVERFLOW_CHECKING */
}
#else /* portUSING_MPU_WRAPPERS */
{
/* If the port has capability to detect stack overflow,
pass the stack end address to the stack initialization
function as well. */
#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
{
#if( portSTACK_GROWTH < 0 )
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
}
#else /* portSTACK_GROWTH */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
}
#endif /* portSTACK_GROWTH */
}
#else /* portHAS_STACK_OVERFLOW_CHECKING */
{
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
}
#endif /* portHAS_STACK_OVERFLOW_CHECKING */
}
#endif /* portUSING_MPU_WRAPPERS */
if( pxCreatedTask != NULL )
{
/* Pass the handle out in an anonymous way. The handle can be used to
change the created task's priority, delete the created task, etc.*/
*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/*-----------------------------------------------------------*/
static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
{
/* Ensure interrupts don't access the task lists while the lists are being
updated. */
taskENTER_CRITICAL();
{
uxCurrentNumberOfTasks++;
if( pxCurrentTCB == NULL )
{
/* There are no other tasks, or all the other tasks are in
the suspended state - make this the current task. */
pxCurrentTCB = pxNewTCB;
if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
{
/* This is the first task to be created so do the preliminary
initialisation required. We will not recover if this call
fails, but we will report the failure. */
prvInitialiseTaskLists();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* If the scheduler is not already running, make this task the
current task if it is the highest priority task to be created
so far. */
if( xSchedulerRunning == pdFALSE )
{
if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
{
pxCurrentTCB = pxNewTCB;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
uxTaskNumber++;
#if ( configUSE_TRACE_FACILITY == 1 )
{
/* Add a counter into the TCB for tracing only. */
pxNewTCB->uxTCBNumber = uxTaskNumber;
}
#endif /* configUSE_TRACE_FACILITY */
traceTASK_CREATE( pxNewTCB );
prvAddTaskToReadyList( pxNewTCB );
portSETUP_TCB( pxNewTCB );
}
taskEXIT_CRITICAL();
if( xSchedulerRunning != pdFALSE )
{
/* If the created task is of a higher priority than the current task
then it should run now. */
if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
{
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
void vTaskDelete( TaskHandle_t xTaskToDelete )
{
TCB_t *pxTCB;
taskENTER_CRITICAL();
{
/* If null is passed in here then it is the calling task that is
being deleted. */
pxTCB = prvGetTCBFromHandle( xTaskToDelete );
/* Remove task from the ready/delayed list. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Is the task waiting on an event also? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Increment the uxTaskNumber also so kernel aware debuggers can
detect that the task lists need re-generating. This is done before
portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
not return. */
uxTaskNumber++;
if( pxTCB == pxCurrentTCB )
{
/* A task is deleting itself. This cannot complete within the
task itself, as a context switch to another task is required.
Place the task in the termination list. The idle task will
check the termination list and free up any memory allocated by
the scheduler for the TCB and stack of the deleted task. */
vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
/* Increment the ucTasksDeleted variable so the idle task knows
there is a task that has been deleted and that it should therefore
check the xTasksWaitingTermination list. */
++uxDeletedTasksWaitingCleanUp;
/* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
traceTASK_DELETE( pxTCB );
/* The pre-delete hook is primarily for the Windows simulator,
in which Windows specific clean up operations are performed,
after which it is not possible to yield away from this task -
hence xYieldPending is used to latch that a context switch is
required. */
portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
}
else
{
--uxCurrentNumberOfTasks;
traceTASK_DELETE( pxTCB );
prvDeleteTCB( pxTCB );
/* Reset the next expected unblock time in case it referred to
the task that has just been deleted. */
prvResetNextTaskUnblockTime();
}
}
taskEXIT_CRITICAL();
/* Force a reschedule if it is the currently running task that has just
been deleted. */
if( xSchedulerRunning != pdFALSE )
{
if( pxTCB == pxCurrentTCB )
{
configASSERT( uxSchedulerSuspended == 0 );
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
configASSERT( pxPreviousWakeTime );
configASSERT( ( xTimeIncrement > 0U ) );
configASSERT( uxSchedulerSuspended == 0 );
vTaskSuspendAll();
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount;
/* Generate the tick time at which the task wants to wake. */
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
if( xConstTickCount < *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 > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* 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 > xConstTickCount ) )
{
xShouldDelay = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
/* Update the wake time ready for the next call. */
*pxPreviousWakeTime = xTimeToWake;
if( xShouldDelay != pdFALSE )
{
traceTASK_DELAY_UNTIL( xTimeToWake );
/* prvAddCurrentTaskToDelayedList() needs the block time, not
the time to wake, so subtract the current tick count. */
prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
xAlreadyYielded = xTaskResumeAll();
/* Force a reschedule if xTaskResumeAll has not already done so, we may
have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
void vTaskDelay( const TickType_t xTicksToDelay )
{
BaseType_t xAlreadyYielded = pdFALSE;
/* A delay time of zero just forces a reschedule. */
if( xTicksToDelay > ( TickType_t ) 0U )
{
configASSERT( uxSchedulerSuspended == 0 );
vTaskSuspendAll();
{
traceTASK_DELAY();
/* A task that is removed from the event list while the
scheduler is suspended will not get placed in the ready
list or removed from the blocked list until the scheduler
is resumed.
This task cannot be in an event list as it is the currently
executing task. */
prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
}
xAlreadyYielded = xTaskResumeAll();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Force a reschedule if xTaskResumeAll has not already done so, we may
have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/
#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
eTaskState eTaskGetState( TaskHandle_t xTask )
{
eTaskState eReturn;
List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
const TCB_t * const pxTCB = xTask;
configASSERT( pxTCB );
if( pxTCB == pxCurrentTCB )
{
/* The task calling this function is querying its own state. */
eReturn = eRunning;
}
else
{
taskENTER_CRITICAL();
{
pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
pxDelayedList = pxDelayedTaskList;
pxOverflowedDelayedList = pxOverflowDelayedTaskList;
}
taskEXIT_CRITICAL();
if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
{
/* The task being queried is referenced from one of the Blocked
lists. */
eReturn = eBlocked;
}
#if ( INCLUDE_vTaskSuspend == 1 )
else if( pxStateList == &xSuspendedTaskList )
{
/* The task being queried is referenced from the suspended
list. Is it genuinely suspended or is it blocked
indefinitely? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
{
#if( configUSE_TASK_NOTIFICATIONS == 1 )
{
/* The task does not appear on the event list item of
and of the RTOS objects, but could still be in the
blocked state if it is waiting on its notification
rather than waiting on an object. */
if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
{
eReturn = eBlocked;
}
else
{
eReturn = eSuspended;
}
}
#else
{
eReturn = eSuspended;
}
#endif
}
else
{
eReturn = eBlocked;
}
}
#endif
#if ( INCLUDE_vTaskDelete == 1 )
else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
{
/* The task being queried is referenced from the deleted
tasks list, or it is not referenced from any lists at
all. */
eReturn = eDeleted;
}
#endif
else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
{
/* If the task is not in any other state, it must be in the
Ready (including pending ready) state. */
eReturn = eReady;
}
}
return eReturn;
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
{
TCB_t const *pxTCB;
UBaseType_t uxReturn;
taskENTER_CRITICAL();
{
/* If null is passed in here then it is the priority of the task
that called uxTaskPriorityGet() that is being queried. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
taskEXIT_CRITICAL();
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
{
TCB_t const *pxTCB;
UBaseType_t uxReturn, uxSavedInterruptState;
/* 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:
https://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* If null is passed in here then it is the priority of the calling
task that is being queried. */
pxTCB = prvGetTCBFromHandle( xTask );
uxReturn = pxTCB->uxPriority;
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
return uxReturn;
}
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
{
TCB_t *pxTCB;
UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
BaseType_t xYieldRequired = pdFALSE;
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
/* Ensure the new priority is valid. */
if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
{
uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
taskENTER_CRITICAL();
{
/* If null is passed in here then it is the priority of the calling
task that is being changed. */
pxTCB = prvGetTCBFromHandle( xTask );
traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
#if ( configUSE_MUTEXES == 1 )
{
uxCurrentBasePriority = pxTCB->uxBasePriority;
}
#else
{
uxCurrentBasePriority = pxTCB->uxPriority;
}
#endif
if( uxCurrentBasePriority != uxNewPriority )
{
/* The priority change may have readied a task of higher
priority than the calling task. */
if( uxNewPriority > uxCurrentBasePriority )
{
if( pxTCB != pxCurrentTCB )
{
/* The priority of a task other than the currently
running task is being raised. Is the priority being
raised above that of the running task? */
if( uxNewPriority >= pxCurrentTCB->uxPriority )
{
xYieldRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
/* The priority of the running task is being raised,
but the running task must already be the highest
priority task able to run so no yield is required. */
}
}
else if( pxTCB == pxCurrentTCB )
{
/* Setting the priority of the running task down means
there may now be another task of higher priority that
is ready to execute. */
xYieldRequired = pdTRUE;
}
else
{
/* Setting the priority of any other task down does not
require a yield as the running task must be above the
new priority of the task being modified. */
}
/* Remember the ready list the task might be referenced from
before its uxPriority member is changed so the
taskRESET_READY_PRIORITY() macro can function correctly. */
uxPriorityUsedOnEntry = pxTCB->uxPriority;
#if ( configUSE_MUTEXES == 1 )
{
/* Only change the priority being used if the task is not
currently using an inherited priority. */
if( pxTCB->uxBasePriority == pxTCB->uxPriority )
{
pxTCB->uxPriority = uxNewPriority;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* The base priority gets set whatever. */
pxTCB->uxBasePriority = uxNewPriority;
}
#else
{
pxTCB->uxPriority = uxNewPriority;
}
#endif
/* Only reset the event list item value if the value is not
being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the task is in the blocked or suspended list we need do
nothing more than change its priority variable. However, if
the task is in a ready list it needs to be removed and placed
in the list appropriate to its new priority. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
{
/* The task is currently in its ready list - remove before
adding it to it's new ready list. As we are in a critical
section we can do this even if the scheduler is suspended. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
/* It is known that the task is in its ready list so
there is no need to check again and the port level
reset macro can be called directly. */
portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddTaskToReadyList( pxTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xYieldRequired != pdFALSE )
{
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Remove compiler warning about unused variables when the port
optimised task selection is not being used. */
( void ) uxPriorityUsedOnEntry;
}
}
taskEXIT_CRITICAL();
}
#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskSuspend( TaskHandle_t xTaskToSuspend )
{
TCB_t *pxTCB;
taskENTER_CRITICAL();
{
/* If null is passed in here then it is the running task that is
being suspended. */
pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
traceTASK_SUSPEND( pxTCB );
/* Remove task from the ready/delayed list and place in the
suspended list. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Is the task waiting on an event also? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
#if( configUSE_TASK_NOTIFICATIONS == 1 )
{
if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
{
/* The task was blocked to wait for a notification, but is
now suspended, so no notification was received. */
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
}
#endif
}
taskEXIT_CRITICAL();
if( xSchedulerRunning != pdFALSE )
{
/* Reset the next expected unblock time in case it referred to the
task that is now in the Suspended state. */
taskENTER_CRITICAL();
{
prvResetNextTaskUnblockTime();
}
taskEXIT_CRITICAL();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( pxTCB == pxCurrentTCB )
{
if( xSchedulerRunning != pdFALSE )
{
/* The current task has just been suspended. */
configASSERT( uxSchedulerSuspended == 0 );
portYIELD_WITHIN_API();
}
else
{
/* The scheduler is not running, but the task that was pointed
to by pxCurrentTCB has just been suspended and pxCurrentTCB
must be adjusted to point to a different task. */
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
{
/* No other tasks are ready, so set pxCurrentTCB back to
NULL so when the next task is created pxCurrentTCB will
be set to point to it no matter what its relative priority
is. */
pxCurrentTCB = NULL;
}
else
{
vTaskSwitchContext();
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
{
BaseType_t xReturn = pdFALSE;
const TCB_t * const pxTCB = xTask;
/* Accesses xPendingReadyList so must be called from a critical
section. */
/* It does not make sense to check if the calling task is suspended. */
configASSERT( xTask );
/* Is the task being resumed actually in the suspended list? */
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
{
/* Has the task already been resumed from within an ISR? */
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
{
/* Is it in the suspended list because it is in the Suspended
state, or because is is blocked with no timeout? */
if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
{
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return xReturn;
} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void vTaskResume( TaskHandle_t xTaskToResume )
{
TCB_t * const pxTCB = xTaskToResume;
/* It does not make sense to resume the calling task. */
configASSERT( xTaskToResume );
/* The parameter cannot be NULL as it is impossible to resume the
currently executing task. */
if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
{
taskENTER_CRITICAL();
{
if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
{
traceTASK_RESUME( pxTCB );
/* The ready list can be accessed even if the scheduler is
suspended because this is inside a critical section. */
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
/* A higher priority task may have just been resumed. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
/* This yield may not cause the task just resumed to run,
but will leave the lists in the correct state for the
next yield. */
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
{
BaseType_t xYieldRequired = pdFALSE;
TCB_t * const pxTCB = xTaskToResume;
UBaseType_t 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
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:
https://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
{
traceTASK_RESUME_FROM_ISR( pxTCB );
/* Check the ready lists can be accessed. */
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
/* Ready lists can be accessed so move the task from the
suspended list to the ready list directly. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xYieldRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed or ready lists cannot be accessed so the task
is held in the pending ready list until the scheduler is
unsuspended. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xYieldRequired;
}
#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/
void vTaskStartScheduler( void )
{
BaseType_t xReturn;
/* Add the idle task at the lowest priority. */
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
{
StaticTask_t *pxIdleTaskTCBBuffer = NULL;
StackType_t *pxIdleTaskStackBuffer = NULL;
uint32_t ulIdleTaskStackSize;
/* The Idle task is created using user provided RAM - obtain the
address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
configIDLE_TASK_NAME,
ulIdleTaskStackSize,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
if( xIdleTaskHandle != NULL )
{
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
}
#else
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask,
configIDLE_TASK_NAME,
configMINIMAL_STACK_SIZE,
( void * ) NULL,
portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configUSE_TIMERS == 1 )
{
if( xReturn == pdPASS )
{
xReturn = xTimerCreateTimerTask();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TIMERS */
if( xReturn == pdPASS )
{
/* 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
{
freertos_tasks_c_additions_init();
}
#endif
/* Interrupts are turned off here, to ensure a tick does not occur
before or during the call to xPortStartScheduler(). The stacks of
the created tasks contain a status word with interrupts switched on
so interrupts will automatically get re-enabled when the first task
starts to run. */
portDISABLE_INTERRUPTS();
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Switch Newlib's _impure_ptr variable to point to the _reent
structure specific to the task that will run first.
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
for additional information. */
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
}
#endif /* configUSE_NEWLIB_REENTRANT */
xNextTaskUnblockTime = portMAX_DELAY;
xSchedulerRunning = pdTRUE;
xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
/* If configGENERATE_RUN_TIME_STATS is defined then the following
macro must be defined to configure the timer/counter used to generate
the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
is set to 0 and the following line fails to build then ensure you do not
have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
FreeRTOSConfig.h file. */
portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
traceTASK_SWITCHED_IN();
/* Setting up the timer tick is hardware specific and thus in the
portable interface. */
if( xPortStartScheduler() != pdFALSE )
{
/* Should not reach here as if the scheduler is running the
function will not return. */
}
else
{
/* Should only reach here if a task calls xTaskEndScheduler(). */
}
}
else
{
/* This line will only be reached if the kernel could not be started,
because there was not enough FreeRTOS heap to create the idle task
or the timer task. */
configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
}
/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
meaning xIdleTaskHandle is not used anywhere else. */
( void ) xIdleTaskHandle;
}
/*-----------------------------------------------------------*/
void vTaskEndScheduler( void )
{
/* Stop the scheduler interrupts and call the portable scheduler end
routine so the original ISRs can be restored if necessary. The port
layer must ensure interrupts enable bit is left in the correct state. */
portDISABLE_INTERRUPTS();
xSchedulerRunning = pdFALSE;
vPortEndScheduler();
}
/*----------------------------------------------------------*/
void vTaskSuspendAll( void )
{
/* A critical section is not required as the variable is of type
BaseType_t. Please read Richard Barry's reply in the following link to a
post in the FreeRTOS support forum before reporting this as a bug! -
http://goo.gl/wu4acr */
/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
do not otherwise exhibit real time behaviour. */
portSOFTWARE_BARRIER();
/* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
is used to allow calls to vTaskSuspendAll() to nest. */
++uxSchedulerSuspended;
/* Enforces ordering for ports and optimised compilers that may otherwise place
the above increment elsewhere. */
portMEMORY_BARRIER();
}
/*----------------------------------------------------------*/
#if ( configUSE_TICKLESS_IDLE != 0 )
static TickType_t prvGetExpectedIdleTime( void )
{
TickType_t xReturn;
UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
/* uxHigherPriorityReadyTasks takes care of the case where
configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
task that are in the Ready state, even though the idle task is
running. */
#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
{
if( uxTopReadyPriority > tskIDLE_PRIORITY )
{
uxHigherPriorityReadyTasks = pdTRUE;
}
}
#else
{
const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
/* When port optimised task selection is used the uxTopReadyPriority
variable is used as a bit map. If bits other than the least
significant bit are set then there are tasks that have a priority
above the idle priority that are in the Ready state. This takes
care of the case where the co-operative scheduler is in use. */
if( uxTopReadyPriority > uxLeastSignificantBit )
{
uxHigherPriorityReadyTasks = pdTRUE;
}
}
#endif
if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
{
xReturn = 0;
}
else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
{
/* There are other idle priority tasks in the ready state. If
time slicing is used then the very next tick interrupt must be
processed. */
xReturn = 0;
}
else if( uxHigherPriorityReadyTasks != pdFALSE )
{
/* There are tasks in the Ready state that have a priority above the
idle priority. This path can only be reached if
configUSE_PREEMPTION is 0. */
xReturn = 0;
}
else
{
xReturn = xNextTaskUnblockTime - xTickCount;
}
return xReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskResumeAll( void )
{
TCB_t *pxTCB = NULL;
BaseType_t xAlreadyYielded = pdFALSE;
/* If uxSchedulerSuspended is zero then this function does not match a
previous call to vTaskSuspendAll(). */
configASSERT( uxSchedulerSuspended );
/* It is possible that an ISR caused a task to be removed from an event
list while the scheduler was suspended. If this was the case then the
removed task will have been added to the xPendingReadyList. Once the
scheduler has been resumed it is safe to move all the pending ready
tasks from this list into their appropriate ready list. */
taskENTER_CRITICAL();
{
--uxSchedulerSuspended;
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
{
/* Move any readied tasks from the pending list into the
appropriate ready list. */
while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
{
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
/* If the moved task has a priority higher than the current
task then a yield must be performed. */
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
{
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
if( pxTCB != NULL )
{
/* A task was unblocked while the scheduler was suspended,
which may have prevented the next unblock time from being
re-calculated, in which case re-calculate it now. Mainly
important for low power tickless implementations, where
this can prevent an unnecessary exit from low power
state. */
prvResetNextTaskUnblockTime();
}
/* If any ticks occurred while the scheduler was suspended then
they should be processed now. This ensures the tick count does
not slip, and that any delayed tasks are resumed at the correct
time. */
{
TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
if( xPendedCounts > ( TickType_t ) 0U )
{
do
{
if( xTaskIncrementTick() != pdFALSE )
{
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
--xPendedCounts;
} while( xPendedCounts > ( TickType_t ) 0U );
xPendedTicks = 0;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
if( xYieldPending != pdFALSE )
{
#if( configUSE_PREEMPTION != 0 )
{
xAlreadyYielded = pdTRUE;
}
#endif
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
return xAlreadyYielded;
}
/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCount( void )
{
TickType_t xTicks;
/* Critical section required if running on a 16 bit processor. */
portTICK_TYPE_ENTER_CRITICAL();
{
xTicks = xTickCount;
}
portTICK_TYPE_EXIT_CRITICAL();
return xTicks;
}
/*-----------------------------------------------------------*/
TickType_t xTaskGetTickCountFromISR( void )
{
TickType_t xReturn;
UBaseType_t 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 kept 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: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
{
xReturn = xTickCount;
}
portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;
}
/*-----------------------------------------------------------*/
UBaseType_t uxTaskGetNumberOfTasks( void )
{
/* A critical section is not required because the variables are of type
BaseType_t. */
return uxCurrentNumberOfTasks;
}
/*-----------------------------------------------------------*/
char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
TCB_t *pxTCB;
/* If null is passed in here then the name of the calling task is being
queried. */
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
configASSERT( pxTCB );
return &( pxTCB->pcTaskName[ 0 ] );
}
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetHandle == 1 )
static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
{
TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
UBaseType_t x;
char cNextChar;
BaseType_t xBreakLoop;
/* This function is called with the scheduler suspended. */
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
{
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
do
{
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
/* Check each character in the name looking for a match or
mismatch. */
xBreakLoop = pdFALSE;
for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
{
cNextChar = pxNextTCB->pcTaskName[ x ];
if( cNextChar != pcNameToQuery[ x ] )
{
/* Characters didn't match. */
xBreakLoop = pdTRUE;
}
else if( cNextChar == ( char ) 0x00 )
{
/* Both strings terminated, a match must have been
found. */
pxReturn = pxNextTCB;
xBreakLoop = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
if( xBreakLoop != pdFALSE )
{
break;
}
}
if( pxReturn != NULL )
{
/* The handle has been found. */
break;
}
} while( pxNextTCB != pxFirstTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return pxReturn;
}
#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetHandle == 1 )
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
UBaseType_t uxQueue = configMAX_PRIORITIES;
TCB_t* pxTCB;
/* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
vTaskSuspendAll();
{
/* Search the ready lists. */
do
{
uxQueue--;
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
if( pxTCB != NULL )
{
/* Found the handle. */
break;
}
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Search the delayed lists. */
if( pxTCB == NULL )
{
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
}
if( pxTCB == NULL )
{
pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
}
#if ( INCLUDE_vTaskSuspend == 1 )
{
if( pxTCB == NULL )
{
/* Search the suspended list. */
pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
}
}
#endif
#if( INCLUDE_vTaskDelete == 1 )
{
if( pxTCB == NULL )
{
/* Search the deleted list. */
pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
}
}
#endif
}
( void ) xTaskResumeAll();
return pxTCB;
}
#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
{
UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
vTaskSuspendAll();
{
/* Is there a space in the array for each task in the system? */
if( uxArraySize >= uxCurrentNumberOfTasks )
{
/* Fill in an TaskStatus_t structure with information on each
task in the Ready state. */
do
{
uxQueue--;
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
/* Fill in an TaskStatus_t structure with information on each
task in the Blocked state. */
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
#if( INCLUDE_vTaskDelete == 1 )
{
/* Fill in an TaskStatus_t structure with information on
each task that has been deleted but not yet cleaned up. */
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
}
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
{
/* Fill in an TaskStatus_t structure with information on
each task in the Suspended state. */
uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1)
{
if( pulTotalRunTime != NULL )
{
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
#else
*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
}
}
#else
{
if( pulTotalRunTime != NULL )
{
*pulTotalRunTime = 0;
}
}
#endif
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
( void ) xTaskResumeAll();
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t xTaskGetIdleTaskHandle( void )
{
/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
started, then xIdleTaskHandle will be NULL. */
configASSERT( ( xIdleTaskHandle != NULL ) );
return xIdleTaskHandle;
}
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
/* This conditional compilation should use inequality to 0, not equality to 1.
This is to ensure vTaskStepTick() is available 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 )
void vTaskStepTick( const TickType_t xTicksToJump )
{
/* Correct the tick count value after a period during which the tick
was suppressed. Note this does *not* call the tick hook function for
each stepped tick. */
configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
xTickCount += xTicksToJump;
traceINCREASE_TICK_COUNT( xTicksToJump );
}
#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
{
BaseType_t xYieldRequired = pdFALSE;
/* Must not be called with the scheduler suspended as the implementation
relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
configASSERT( uxSchedulerSuspended == 0 );
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
vTaskSuspendAll();
xPendedTicks += xTicksToCatchUp;
xYieldRequired = xTaskResumeAll();
return xYieldRequired;
}
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskAbortDelay == 1 )
BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
{
TCB_t *pxTCB = xTask;
BaseType_t xReturn;
configASSERT( pxTCB );
vTaskSuspendAll();
{
/* A task can only be prematurely removed from the Blocked state if
it is actually in the Blocked state. */
if( eTaskGetState( xTask ) == eBlocked )
{
xReturn = pdPASS;
/* Remove the reference to the task from the blocked list. An
interrupt won't touch the xStateListItem because the
scheduler is suspended. */
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
/* Is the task waiting on an event also? If so remove it from
the event list too. Interrupts can touch the event list item,
even though the scheduler is suspended, so a critical section
is used. */
taskENTER_CRITICAL();
{
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
/* This lets the task know it was forcibly removed from the
blocked state so it should not re-evaluate its block time and
then block again. */
pxTCB->ucDelayAborted = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
/* 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 )
{
/* Pend the yield to be performed when the scheduler
is unsuspended. */
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
else
{
xReturn = pdFAIL;
}
}
( void ) xTaskResumeAll();
return xReturn;
}
#endif /* INCLUDE_xTaskAbortDelay */
/*----------------------------------------------------------*/
BaseType_t xTaskIncrementTick( void )
{
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;
/* Called by the portable layer each time a tick interrupt occurs.
Increments the tick then checks to see if the new tick value will cause any
tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
/* Minor optimisation. The tick count cannot change in this
block. */
const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
/* Increment the RTOS tick, switching the delayed and overflowed
delayed lists if it wraps to 0. */
xTickCount = xConstTickCount;
if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
{
taskSWITCH_DELAYED_LISTS();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* 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 task
has been found whose block time has not expired there is no need to
look any further down the list. */
if( xConstTickCount >= xNextTaskUnblockTime )
{
for( ;; )
{
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; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
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 = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
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; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* It is time to remove the item from the Blocked state. */
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
/* Is the task waiting on an event also? If so remove
it from the event list. */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* 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 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
}
}
/* Tasks of equal priority to the currently running task will share
processing time (time slice) if preemption is on, and the application
writer has not explicitly turned time slicing off. */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
{
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
#if ( configUSE_TICK_HOOK == 1 )
{
/* Guard against the tick hook being called when the pended tick
count is being unwound (when the scheduler is being unlocked). */
if( xPendedTicks == ( TickType_t ) 0 )
{
vApplicationTickHook();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TICK_HOOK */
#if ( configUSE_PREEMPTION == 1 )
{
if( xYieldPending != pdFALSE )
{
xSwitchRequired = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_PREEMPTION */
}
else
{
++xPendedTicks;
/* The tick hook gets called at regular intervals, even if the
scheduler is locked. */
#if ( configUSE_TICK_HOOK == 1 )
{
vApplicationTickHook();
}
#endif
}
return xSwitchRequired;
}
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
{
TCB_t *xTCB;
/* If xTask is NULL then it is the task hook of the calling task that is
getting set. */
if( xTask == NULL )
{
xTCB = ( TCB_t * ) pxCurrentTCB;
}
else
{
xTCB = xTask;
}
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
taskENTER_CRITICAL();
{
xTCB->pxTaskTag = pxHookFunction;
}
taskEXIT_CRITICAL();
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
{
TCB_t *pxTCB;
TaskHookFunction_t xReturn;
/* If xTask is NULL then set the calling task's hook. */
pxTCB = prvGetTCBFromHandle( xTask );
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
taskENTER_CRITICAL();
{
xReturn = pxTCB->pxTaskTag;
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
{
TCB_t *pxTCB;
TaskHookFunction_t xReturn;
UBaseType_t uxSavedInterruptStatus;
/* If xTask is NULL then set the calling task's hook. */
pxTCB = prvGetTCBFromHandle( xTask );
/* Save the hook function in the TCB. A critical section is required as
the value can be accessed from an interrupt. */
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
xReturn = pxTCB->pxTaskTag;
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
{
TCB_t *xTCB;
BaseType_t xReturn;
/* If xTask is NULL then we are calling our own task hook. */
if( xTask == NULL )
{
xTCB = pxCurrentTCB;
}
else
{
xTCB = xTask;
}
if( xTCB->pxTaskTag != NULL )
{
xReturn = xTCB->pxTaskTag( pvParameter );
}
else
{
xReturn = pdFAIL;
}
return xReturn;
}
#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/
void vTaskSwitchContext( void )
{
if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
{
/* The scheduler is currently suspended - do not allow a context
switch. */
xYieldPending = pdTRUE;
}
else
{
xYieldPending = pdFALSE;
traceTASK_SWITCHED_OUT();
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
#else
ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
/* Add the amount of time the task has been running to the
accumulated time so far. The time the task started running was
stored in ulTaskSwitchedInTime. Note that there is no overflow
protection here so count values are only valid until the timer
overflows. The guard against negative values is to protect
against suspect run time stat counter implementations - which
are provided by the application, not the kernel. */
if( ulTotalRunTime > ulTaskSwitchedInTime )
{
pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
ulTaskSwitchedInTime = ulTotalRunTime;
}
#endif /* configGENERATE_RUN_TIME_STATS */
/* Check for stack overflow, if configured. */
taskCHECK_FOR_STACK_OVERFLOW();
/* Before the currently running task is switched out, save its errno. */
#if( configUSE_POSIX_ERRNO == 1 )
{
pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
}
#endif
/* Select a new task to run using either the generic C or port
optimised asm code. */
taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
traceTASK_SWITCHED_IN();
/* After the new task is switched in, update the global errno. */
#if( configUSE_POSIX_ERRNO == 1 )
{
FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
}
#endif
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
/* Switch Newlib's _impure_ptr variable to point to the _reent
structure specific to this task.
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
for additional information. */
_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
}
#endif /* configUSE_NEWLIB_REENTRANT */
}
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
{
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
/* Place the event list item of the TCB in the appropriate event list.
This is placed in the list in priority order so the highest priority task
is the first to be woken by the event. The queue that contains the event
list is locked, preventing simultaneous access from interrupts. */
vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/
void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
{
configASSERT( pxEventList );
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
the event groups implementation. */
configASSERT( uxSchedulerSuspended != 0 );
/* Store the item value in the event list item. It is safe to access the
event list item here as interrupts won't access the event list item of a
task that is not in the Blocked state. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Place the event list item of the TCB at the end of the appropriate event
list. It is safe to access the event list here because it is part of an
event group implementation - and interrupts don't access event groups
directly (instead they access them indirectly by pending function calls to
the task level). */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/
#if( configUSE_TIMERS == 1 )
void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
{
configASSERT( pxEventList );
/* This function should not be called by application code hence the
'Restricted' in its name. It is not part of the public API. It is
designed for use by kernel code, and has special calling requirements -
it should be called with the scheduler suspended. */
/* Place the event list item of the TCB in the appropriate event list.
In this case it is assume that this is the only task that is going to
be waiting on this event list, so the faster vListInsertEnd() function
can be used in place of vListInsert. */
vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
/* 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 != pdFALSE )
{
xTicksToWait = portMAX_DELAY;
}
traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
}
#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/
BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
{
TCB_t *pxUnblockedTCB;
BaseType_t xReturn;
/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
called from a critical section within an ISR. */
/* The event list is sorted in priority order, so the first in the list can
be removed as it is known to be the highest priority. Remove the TCB from
the delayed list, and add it to the ready list.
If an event is for a queue that is locked then this function will never
get called - the lock count on the queue will get modified instead. This
means exclusive access to the event list is guaranteed here.
This function assumes that a check has already been made to ensure that
pxEventList is not empty. */
pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
#if( configUSE_TICKLESS_IDLE != 0 )
{
/* If a task is blocked on a kernel object then xNextTaskUnblockTime
might be set to the blocked task's time out time. If the task is
unblocked for a reason other than a timeout xNextTaskUnblockTime is
normally left unchanged, because it is automatically reset to a new
value when the tick count equals xNextTaskUnblockTime. However if
tickless idling is used it might be more important to enter sleep mode
at the earliest possible time - so reset xNextTaskUnblockTime here to
ensure it is updated at the earliest possible time. */
prvResetNextTaskUnblockTime();
}
#endif
}
else
{
/* The delayed and ready lists cannot be accessed, so hold this task
pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
}
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* Return true if the task removed from the event list has a higher
priority than the calling task. This allows the calling task to know if
it should force a context switch now. */
xReturn = pdTRUE;
/* Mark that a yield is pending in case the user is not using the
"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else
{
xReturn = pdFALSE;
}
return xReturn;
}
/*-----------------------------------------------------------*/
void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
{
TCB_t *pxUnblockedTCB;
/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
the event flags implementation. */
configASSERT( uxSchedulerSuspended != pdFALSE );
/* Store the new item value in the event list. */
listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
/* Remove the event list form the event flag. Interrupts do not access
event flags. */
pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
configASSERT( pxUnblockedTCB );
( void ) uxListRemove( pxEventListItem );
#if( configUSE_TICKLESS_IDLE != 0 )
{
/* If a task is blocked on a kernel object then xNextTaskUnblockTime
might be set to the blocked task's time out time. If the task is
unblocked for a reason other than a timeout xNextTaskUnblockTime is
normally left unchanged, because it is automatically reset to a new
value when the tick count equals xNextTaskUnblockTime. However if
tickless idling is used it might be more important to enter sleep mode
at the earliest possible time - so reset xNextTaskUnblockTime here to
ensure it is updated at the earliest possible time. */
prvResetNextTaskUnblockTime();
}
#endif
/* Remove the task from the delayed list and add it to the ready list. The
scheduler is suspended so interrupts will not be accessing the ready
lists. */
( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
prvAddTaskToReadyList( pxUnblockedTCB );
if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The unblocked task has a priority above that of the calling task, so
a context switch is required. This function is called with the
scheduler suspended so xYieldPending is set so the context switch
occurs immediately that the scheduler is resumed (unsuspended). */
xYieldPending = pdTRUE;
}
}
/*-----------------------------------------------------------*/
void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
{
configASSERT( pxTimeOut );
taskENTER_CRITICAL();
{
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
}
taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/
void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
{
/* For internal use only as it does not use a critical section. */
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
{
BaseType_t xReturn;
configASSERT( pxTimeOut );
configASSERT( pxTicksToWait );
taskENTER_CRITICAL();
{
/* Minor optimisation. The tick count cannot change in this block. */
const TickType_t xConstTickCount = xTickCount;
const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
#if( INCLUDE_xTaskAbortDelay == 1 )
if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
{
/* The delay was aborted, which is not the same as a time out,
but has the same result. */
pxCurrentTCB->ucDelayAborted = pdFALSE;
xReturn = pdTRUE;
}
else
#endif
#if ( INCLUDE_vTaskSuspend == 1 )
if( *pxTicksToWait == portMAX_DELAY )
{
/* 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. */
xReturn = pdFALSE;
}
else
#endif
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 again. This passed since vTaskSetTimeout()
was called. */
xReturn = pdTRUE;
}
else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
*pxTicksToWait -= xElapsedTime;
vTaskInternalSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
else
{
*pxTicksToWait = 0;
xReturn = pdTRUE;
}
}
taskEXIT_CRITICAL();
return xReturn;
}
/*-----------------------------------------------------------*/
void vTaskMissedYield( void )
{
xYieldPending = pdTRUE;
}
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
{
UBaseType_t uxReturn;
TCB_t const *pxTCB;
if( xTask != NULL )
{
pxTCB = xTask;
uxReturn = pxTCB->uxTaskNumber;
}
else
{
uxReturn = 0U;
}
return uxReturn;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
{
TCB_t * pxTCB;
if( xTask != NULL )
{
pxTCB = xTask;
pxTCB->uxTaskNumber = uxHandle;
}
}
#endif /* configUSE_TRACE_FACILITY */
/*
* -----------------------------------------------------------
* The Idle task.
* ----------------------------------------------------------
*
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
* language extensions. The equivalent prototype for this function is:
*
* void prvIdleTask( void *pvParameters );
*
*/
static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
/* Stop warnings. */
( void ) pvParameters;
/** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
SCHEDULER IS STARTED. **/
/* In case a task that has a secure context deletes itself, in which case
the idle task is responsible for deleting the task's secure context, if
any. */
portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
for( ;; )
{
/* See if any tasks have deleted themselves - if so then the idle task
is responsible for freeing the deleted task's TCB and stack. */
prvCheckTasksWaitingTermination();
#if ( configUSE_PREEMPTION == 0 )
{
/* If we are not using preemption we keep forcing a task switch to
see if any other task has become available. If we are using
preemption we don't need to do this as any task becoming available
will automatically get the processor anyway. */
taskYIELD();
}
#endif /* configUSE_PREEMPTION */
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
{
/* When using preemption tasks of equal priority will be
timesliced. If a task that is sharing the idle priority is ready
to run then the idle task should yield before the end of the
timeslice.
A critical region is not required here as we are just reading from
the list, and an occasional incorrect value will not matter. If
the ready list at the idle priority contains more than one task
then a task other than the idle task is ready to execute. */
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
{
taskYIELD();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
#if ( configUSE_IDLE_HOOK == 1 )
{
extern void vApplicationIdleHook( void );
/* Call the user defined function from within the idle task. This
allows the application designer to add background functionality
without the overhead of a separate task.
NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
CALL A FUNCTION THAT MIGHT BLOCK. */
vApplicationIdleHook();
}
#endif /* configUSE_IDLE_HOOK */
/* This conditional compilation should use inequality to 0, not equality
to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is 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 )
{
TickType_t xExpectedIdleTime;
/* It is not desirable to suspend then resume the scheduler on
each iteration of the idle task. Therefore, a preliminary
test of the expected idle time is performed without the
scheduler suspended. The result here is not necessarily
valid. */
xExpectedIdleTime = prvGetExpectedIdleTime();
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
vTaskSuspendAll();
{
/* Now the scheduler is suspended, the expected idle
time can be sampled again, and this time its value can
be used. */
configASSERT( xNextTaskUnblockTime >= xTickCount );
xExpectedIdleTime = prvGetExpectedIdleTime();
/* Define the following macro to set xExpectedIdleTime to 0
if the application does not want
portSUPPRESS_TICKS_AND_SLEEP() to be called. */
configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
{
traceLOW_POWER_IDLE_BEGIN();
portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
traceLOW_POWER_IDLE_END();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
( void ) xTaskResumeAll();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_TICKLESS_IDLE */
}
}
/*-----------------------------------------------------------*/
#if( configUSE_TICKLESS_IDLE != 0 )
eSleepModeStatus eTaskConfirmSleepModeStatus( void )
{
/* The idle task exists in addition to the application tasks. */
const UBaseType_t uxNonApplicationTasks = 1;
eSleepModeStatus eReturn = eStandardSleep;
/* This function must be called from a critical section. */
if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
{
/* A task was made ready while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else if( xYieldPending != pdFALSE )
{
/* A yield was pended while the scheduler was suspended. */
eReturn = eAbortSleep;
}
else
{
/* If all the tasks are in the suspended list (which might mean they
have an infinite block time rather than actually being suspended)
then it is safe to turn all clocks off and just wait for external
interrupts. */
if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
{
eReturn = eNoTasksWaitingTimeout;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
return eReturn;
}
#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
{
TCB_t *pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
pxTCB = prvGetTCBFromHandle( xTaskToSet );
configASSERT( pxTCB != NULL );
pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
}
}
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
{
void *pvReturn = NULL;
TCB_t *pxTCB;
if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
{
pxTCB = prvGetTCBFromHandle( xTaskToQuery );
pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
}
else
{
pvReturn = NULL;
}
return pvReturn;
}
#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/
#if ( portUSING_MPU_WRAPPERS == 1 )
void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
{
TCB_t *pxTCB;
/* If null is passed in here then we are modifying the MPU settings of
the calling task. */
pxTCB = prvGetTCBFromHandle( xTaskToModify );
vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
}
#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/
static void prvInitialiseTaskLists( void )
{
UBaseType_t uxPriority;
for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
{
vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
}
vListInitialise( &xDelayedTaskList1 );
vListInitialise( &xDelayedTaskList2 );
vListInitialise( &xPendingReadyList );
#if ( INCLUDE_vTaskDelete == 1 )
{
vListInitialise( &xTasksWaitingTermination );
}
#endif /* INCLUDE_vTaskDelete */
#if ( INCLUDE_vTaskSuspend == 1 )
{
vListInitialise( &xSuspendedTaskList );
}
#endif /* INCLUDE_vTaskSuspend */
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
using list2. */
pxDelayedTaskList = &xDelayedTaskList1;
pxOverflowDelayedTaskList = &xDelayedTaskList2;
}
/*-----------------------------------------------------------*/
static void prvCheckTasksWaitingTermination( void )
{
/** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
#if ( INCLUDE_vTaskDelete == 1 )
{
TCB_t *pxTCB;
/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
being called too often in the idle task. */
while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
{
taskENTER_CRITICAL();
{
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
--uxCurrentNumberOfTasks;
--uxDeletedTasksWaitingCleanUp;
}
taskEXIT_CRITICAL();
prvDeleteTCB( pxTCB );
}
}
#endif /* INCLUDE_vTaskDelete */
}
/*-----------------------------------------------------------*/
#if( configUSE_TRACE_FACILITY == 1 )
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
{
TCB_t *pxTCB;
/* xTask is NULL then get the state of the calling task. */
pxTCB = prvGetTCBFromHandle( xTask );
pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
pxTaskStatus->pxStackBase = pxTCB->pxStack;
pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
#if ( configUSE_MUTEXES == 1 )
{
pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
}
#else
{
pxTaskStatus->uxBasePriority = 0;
}
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
{
pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
}
#else
{
pxTaskStatus->ulRunTimeCounter = 0;
}
#endif
/* Obtaining the task state is a little fiddly, so is only done if the
value of eState passed into this function is eInvalid - otherwise the
state is just set to whatever is passed in. */
if( eState != eInvalid )
{
if( pxTCB == pxCurrentTCB )
{
pxTaskStatus->eCurrentState = eRunning;
}
else
{
pxTaskStatus->eCurrentState = eState;
#if ( INCLUDE_vTaskSuspend == 1 )
{
/* If the task is in the suspended list then there is a
chance it is actually just blocked indefinitely - so really
it should be reported as being in the Blocked state. */
if( eState == eSuspended )
{
vTaskSuspendAll();
{
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
pxTaskStatus->eCurrentState = eBlocked;
}
}
( void ) xTaskResumeAll();
}
}
#endif /* INCLUDE_vTaskSuspend */
}
}
else
{
pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
}
/* Obtaining the stack space takes some time, so the xGetFreeStackSpace
parameter is provided to allow it to be skipped. */
if( xGetFreeStackSpace != pdFALSE )
{
#if ( portSTACK_GROWTH > 0 )
{
pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
}
#else
{
pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
}
#endif
}
else
{
pxTaskStatus->usStackHighWaterMark = 0;
}
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
{
configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
UBaseType_t uxTask = 0;
if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
{
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
/* Populate an TaskStatus_t structure within the
pxTaskStatusArray array for each task that is referenced from
pxList. See the definition of TaskStatus_t in task.h for the
meaning of each TaskStatus_t structure member. */
do
{
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
uxTask++;
} while( pxNextTCB != pxFirstTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return uxTask;
}
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
{
uint32_t ulCount = 0U;
while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
{
pucStackByte -= portSTACK_GROWTH;
ulCount++;
}
ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
return ( configSTACK_DEPTH_TYPE ) ulCount;
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
same except for their return type. Using configSTACK_DEPTH_TYPE allows the
user to determine the return type. It gets around the problem of the value
overflowing on 8-bit types without breaking backward compatibility for
applications that expect an 8-bit return type. */
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
{
TCB_t *pxTCB;
uint8_t *pucEndOfStack;
configSTACK_DEPTH_TYPE uxReturn;
/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
the same except for their return type. Using configSTACK_DEPTH_TYPE
allows the user to determine the return type. It gets around the
problem of the value overflowing on 8-bit types without breaking
backward compatibility for applications that expect an 8-bit return
type. */
pxTCB = prvGetTCBFromHandle( xTask );
#if portSTACK_GROWTH < 0
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
}
#else
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
}
#endif
uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
return uxReturn;
}
#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
{
TCB_t *pxTCB;
uint8_t *pucEndOfStack;
UBaseType_t uxReturn;
pxTCB = prvGetTCBFromHandle( xTask );
#if portSTACK_GROWTH < 0
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
}
#else
{
pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
}
#endif
uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
return uxReturn;
}
#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelete == 1 )
static void prvDeleteTCB( TCB_t *pxTCB )
{
/* This call is required specifically for the TriCore port. It must be
above the vPortFree() calls. The call is also used by ports/demos that
want to allocate and clean RAM statically. */
portCLEAN_UP_TCB( pxTCB );
/* Free up the memory allocated by the scheduler for the task. It is up
to the task to free any memory allocated at the application level.
See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
for additional information. */
#if ( configUSE_NEWLIB_REENTRANT == 1 )
{
_reclaim_reent( &( pxTCB->xNewLib_reent ) );
}
#endif /* configUSE_NEWLIB_REENTRANT */
#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
{
/* The task can only have been allocated dynamically - free both
the stack and TCB. */
vPortFree( pxTCB->pxStack );
vPortFree( pxTCB );
}
#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
{
/* The task could have been allocated statically or dynamically, so
check what was statically allocated before trying to free the
memory. */
if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
{
/* Both the stack and TCB were allocated dynamically, so both
must be freed. */
vPortFree( pxTCB->pxStack );
vPortFree( pxTCB );
}
else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
{
/* Only the stack was statically allocated, so the TCB is the
only memory that must be freed. */
vPortFree( pxTCB );
}
else
{
/* Neither the stack nor the TCB were allocated dynamically, so
nothing needs to be freed. */
configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
}
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
static void prvResetNextTaskUnblockTime( void )
{
TCB_t *pxTCB;
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The new current delayed list is empty. Set xNextTaskUnblockTime to
the maximum possible value so it is extremely unlikely that the
if( xTickCount >= xNextTaskUnblockTime ) test will pass until
there is an item in the delayed list. */
xNextTaskUnblockTime = portMAX_DELAY;
}
else
{
/* The new current 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 should be removed
from the Blocked state. */
( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
}
}
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
TaskHandle_t xTaskGetCurrentTaskHandle( void )
{
TaskHandle_t xReturn;
/* A critical section is not required as this is not called from
an interrupt and the current TCB will always be the same for any
individual execution thread. */
xReturn = pxCurrentTCB;
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
BaseType_t xTaskGetSchedulerState( void )
{
BaseType_t xReturn;
if( xSchedulerRunning == pdFALSE )
{
xReturn = taskSCHEDULER_NOT_STARTED;
}
else
{
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
xReturn = taskSCHEDULER_RUNNING;
}
else
{
xReturn = taskSCHEDULER_SUSPENDED;
}
}
return xReturn;
}
#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxMutexHolderTCB = pxMutexHolder;
BaseType_t xReturn = pdFALSE;
/* If the mutex was given back by an interrupt while the queue was
locked then the mutex holder might now be NULL. _RB_ Is this still
needed as interrupts can no longer use mutexes? */
if( pxMutexHolder != NULL )
{
/* If the holder of the mutex has a priority below the priority of
the task attempting to obtain the mutex then it will temporarily
inherit the priority of the task attempting to obtain the mutex. */
if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
{
/* Adjust the mutex holder state to account for its new
priority. Only reset the event list item value if the value is
not being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the task being modified is in the ready state it will need
to be moved into a new list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
/* It is known that the task is in its ready list so
there is no need to check again and the port level
reset macro can be called directly. */
portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Inherit the priority before being moved into the new list. */
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxMutexHolderTCB );
}
else
{
/* Just inherit the priority. */
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
}
traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
/* Inheritance occurred. */
xReturn = pdTRUE;
}
else
{
if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
{
/* The base priority of the mutex holder is lower than the
priority of the task attempting to take the mutex, but the
current priority of the mutex holder is not lower than the
priority of the task attempting to take the mutex.
Therefore the mutex holder must have already inherited a
priority, but inheritance would have occurred if that had
not been the case. */
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return xReturn;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = pxMutexHolder;
BaseType_t xReturn = pdFALSE;
if( pxMutexHolder != NULL )
{
/* A task can only have an inherited priority if it holds the mutex.
If the mutex is held by a task then it cannot be given from an
interrupt, and if a mutex is given by the holding task then it must
be the running state task. */
configASSERT( pxTCB == pxCurrentTCB );
configASSERT( pxTCB->uxMutexesHeld );
( pxTCB->uxMutexesHeld )--;
/* Has the holder of the mutex inherited the priority of another
task? */
if( pxTCB->uxPriority != pxTCB->uxBasePriority )
{
/* Only disinherit if no other mutexes are held. */
if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
{
/* A task can only have an inherited priority if it holds
the mutex. If the mutex is held by a task then it cannot be
given from an interrupt, and if a mutex is given by the
holding task then it must be the running state task. Remove
the holding task from the ready/delayed list. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Disinherit the priority before adding the task into the
new ready list. */
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
pxTCB->uxPriority = pxTCB->uxBasePriority;
/* Reset the event list item value. It cannot be in use for
any other purpose if this task is running, and it must be
running to give back the mutex. */
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
prvAddTaskToReadyList( pxTCB );
/* Return true to indicate that a context switch is required.
This is only actually required in the corner case whereby
multiple mutexes were held and the mutexes were given back
in an order different to that in which they were taken.
If a context switch did not occur when the first mutex was
returned, even if a task was waiting on it, then a context
switch should occur when the last mutex is returned whether
a task is waiting on it or not. */
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
return xReturn;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
{
TCB_t * const pxTCB = pxMutexHolder;
UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
if( pxMutexHolder != NULL )
{
/* If pxMutexHolder is not NULL then the holder must hold at least
one mutex. */
configASSERT( pxTCB->uxMutexesHeld );
/* Determine the priority to which the priority of the task that
holds the mutex should be set. This will be the greater of the
holding task's base priority and the priority of the highest
priority task that is waiting to obtain the mutex. */
if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
{
uxPriorityToUse = uxHighestPriorityWaitingTask;
}
else
{
uxPriorityToUse = pxTCB->uxBasePriority;
}
/* Does the priority need to change? */
if( pxTCB->uxPriority != uxPriorityToUse )
{
/* Only disinherit if no other mutexes are held. This is a
simplification in the priority inheritance implementation. If
the task that holds the mutex is also holding other mutexes then
the other mutexes may have caused the priority inheritance. */
if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
{
/* If a task has timed out because it already holds the
mutex it was trying to obtain then it cannot of inherited
its own priority. */
configASSERT( pxTCB != pxCurrentTCB );
/* Disinherit the priority, remembering the previous
priority to facilitate determining the subject task's
state. */
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
uxPriorityUsedOnEntry = pxTCB->uxPriority;
pxTCB->uxPriority = uxPriorityToUse;
/* Only reset the event list item value if the value is not
being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the running task is not the task that holds the mutex
then the task that holds the mutex could be in either the
Ready, Blocked or Suspended states. Only remove the task
from its current state list if it is in the Ready state as
the task's priority is going to change and there is one
Ready list per priority. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
/* It is known that the task is in its ready list so
there is no need to check again and the port level
reset macro can be called directly. */
portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddTaskToReadyList( pxTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskEnterCritical( void )
{
portDISABLE_INTERRUPTS();
if( xSchedulerRunning != pdFALSE )
{
( pxCurrentTCB->uxCriticalNesting )++;
/* This is not the interrupt safe version of the enter critical
function so assert() if it is being called from an interrupt
context. Only API functions that end in "FromISR" can be used in an
interrupt. Only assert if the critical nesting count is 1 to
protect against recursive calls if the assert function also uses a
critical section. */
if( pxCurrentTCB->uxCriticalNesting == 1 )
{
portASSERT_IF_IN_ISR();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskExitCritical( void )
{
if( xSchedulerRunning != pdFALSE )
{
if( pxCurrentTCB->uxCriticalNesting > 0U )
{
( pxCurrentTCB->uxCriticalNesting )--;
if( pxCurrentTCB->uxCriticalNesting == 0U )
{
portENABLE_INTERRUPTS();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
{
size_t x;
/* Start by copying the entire string. */
strcpy( pcBuffer, pcTaskName );
/* Pad the end of the string with spaces to ensure columns line up when
printed out. */
for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
{
pcBuffer[ x ] = ' ';
}
/* Terminate. */
pcBuffer[ x ] = ( char ) 0x00;
/* Return the new end of string. */
return &( pcBuffer[ x ] );
}
#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
void vTaskList( char * pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
UBaseType_t uxArraySize, x;
char cStatus;
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskList() calls uxTaskGetSystemState(), then formats part of the
* uxTaskGetSystemState() output into a human readable table that
* displays task names, states and stack usage.
*
* vTaskList() has a dependency on the sprintf() C library function that
* might bloat the code size, use a lot of stack, and provide different
* results on different platforms. An alternative, tiny, third party,
* and limited functionality implementation of sprintf() is provided in
* many of the FreeRTOS/Demo sub-directories in a file called
* printf-stdarg.c (note printf-stdarg.c does not provide a full
* snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskList().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = ( char ) 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
function is executing. */
uxArraySize = uxCurrentNumberOfTasks;
/* Allocate an array index for each task. NOTE! if
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
equate to NULL. */
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
if( pxTaskStatusArray != NULL )
{
/* Generate the (binary) data. */
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
/* Create a human readable table from the binary data. */
for( x = 0; x < uxArraySize; x++ )
{
switch( pxTaskStatusArray[ x ].eCurrentState )
{
case eRunning: cStatus = tskRUNNING_CHAR;
break;
case eReady: cStatus = tskREADY_CHAR;
break;
case eBlocked: cStatus = tskBLOCKED_CHAR;
break;
case eSuspended: cStatus = tskSUSPENDED_CHAR;
break;
case eDeleted: cStatus = tskDELETED_CHAR;
break;
case eInvalid: /* Fall through. */
default: /* Should not get here, but it is included
to prevent static checking errors. */
cStatus = ( char ) 0x00;
break;
}
/* Write the task name to the string, padding with spaces so it
can be printed in tabular form more easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
/* Write the rest of the string. */
sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
}
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
is 0 then vPortFree() will be #defined to nothing. */
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
void vTaskGetRunTimeStats( char *pcWriteBuffer )
{
TaskStatus_t *pxTaskStatusArray;
UBaseType_t uxArraySize, x;
uint32_t ulTotalTime, ulStatsAsPercentage;
#if( configUSE_TRACE_FACILITY != 1 )
{
#error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
}
#endif
/*
* PLEASE NOTE:
*
* This function is provided for convenience only, and is used by many
* of the demo applications. Do not consider it to be part of the
* scheduler.
*
* vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
* of the uxTaskGetSystemState() output into a human readable table that
* displays the amount of time each task has spent in the Running state
* in both absolute and percentage terms.
*
* vTaskGetRunTimeStats() has a dependency on the sprintf() C library
* function that might bloat the code size, use a lot of stack, and
* provide different results on different platforms. An alternative,
* tiny, third party, and limited functionality implementation of
* sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
* a file called printf-stdarg.c (note printf-stdarg.c does not provide
* a full snprintf() implementation!).
*
* It is recommended that production systems call uxTaskGetSystemState()
* directly to get access to raw stats data, rather than indirectly
* through a call to vTaskGetRunTimeStats().
*/
/* Make sure the write buffer does not contain a string. */
*pcWriteBuffer = ( char ) 0x00;
/* Take a snapshot of the number of tasks in case it changes while this
function is executing. */
uxArraySize = uxCurrentNumberOfTasks;
/* Allocate an array index for each task. NOTE! If
configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
equate to NULL. */
pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
if( pxTaskStatusArray != NULL )
{
/* Generate the (binary) data. */
uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
/* For percentage calculations. */
ulTotalTime /= 100UL;
/* Avoid divide by zero errors. */
if( ulTotalTime > 0UL )
{
/* Create a human readable table from the binary data. */
for( x = 0; x < uxArraySize; x++ )
{
/* 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 / ulTotalTime;
/* Write the task name to the string, padding with
spaces so it can be printed in tabular form more
easily. */
pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
if( ulStatsAsPercentage > 0UL )
{
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
}
#endif
}
else
{
/* If the percentage is zero here then the task has
consumed less than 1% of the total run time. */
#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
{
sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
}
#else
{
/* sizeof( int ) == sizeof( long ) so a smaller
printf() library can be used. */
sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
}
#endif
}
pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
is 0 then vPortFree() will be #defined to nothing. */
vPortFree( pxTaskStatusArray );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/
TickType_t uxTaskResetEventItemValue( void )
{
TickType_t uxReturn;
uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
/* Reset the event list item to its normal value - so it can be used with
queues and semaphores. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
return uxReturn;
}
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
TaskHandle_t pvTaskIncrementMutexHeldCount( void )
{
/* If xSemaphoreCreateMutex() is called before any tasks have been created
then pxCurrentTCB will be NULL. */
if( pxCurrentTCB != NULL )
{
( pxCurrentTCB->uxMutexesHeld )++;
}
return pxCurrentTCB;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
{
uint32_t ulReturn;
taskENTER_CRITICAL();
{
/* Only block if the notification count is not already non-zero. */
if( pxCurrentTCB->ulNotifiedValue == 0UL )
{
/* Mark this task as waiting for a notification. */
pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
traceTASK_NOTIFY_TAKE_BLOCK();
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
taskENTER_CRITICAL();
{
traceTASK_NOTIFY_TAKE();
ulReturn = pxCurrentTCB->ulNotifiedValue;
if( ulReturn != 0UL )
{
if( xClearCountOnExit != pdFALSE )
{
pxCurrentTCB->ulNotifiedValue = 0UL;
}
else
{
pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
{
BaseType_t xReturn;
taskENTER_CRITICAL();
{
/* Only block if a notification is not already pending. */
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
clear the value to zero. */
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */
pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
traceTASK_NOTIFY_WAIT_BLOCK();
/* All ports are written to allow a yield in a critical
section (some will yield immediately, others wait until the
critical section exits) - but it is not something that
application code should ever do. */
portYIELD_WITHIN_API();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
taskENTER_CRITICAL();
{
traceTASK_NOTIFY_WAIT();
if( pulNotificationValue != NULL )
{
/* Output the current notification value, which may or may not
have changed. */
*pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
}
/* 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->ucNotifyState != taskNOTIFICATION_RECEIVED )
{
/* A notification was not received. */
xReturn = pdFALSE;
}
else
{
/* A notification was already pending or a notification was
received while the task was waiting. */
pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
xReturn = pdTRUE;
}
pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
{
TCB_t * pxTCB;
BaseType_t xReturn = pdPASS;
uint8_t ucOriginalNotifyState;
configASSERT( xTaskToNotify );
pxTCB = xTaskToNotify;
taskENTER_CRITICAL();
{
if( pulPreviousNotificationValue != NULL )
{
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
}
ucOriginalNotifyState = pxTCB->ucNotifyState;
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
case eNoAction:
/* The task is being notified without its notify value being
updated. */
break;
default:
/* Should not get here if all enums are handled.
Artificially force an assert by testing a value the
compiler can't assume is const. */
configASSERT( pxTCB->ulNotifiedValue == ~0UL );
break;
}
traceTASK_NOTIFY();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
#if( configUSE_TICKLESS_IDLE != 0 )
{
/* If a task is blocked waiting for a notification then
xNextTaskUnblockTime might be set to the blocked task's time
out time. If the task is unblocked for a reason other than
a timeout xNextTaskUnblockTime is normally left unchanged,
because it will automatically get reset to a new value when
the tick count equals xNextTaskUnblockTime. However if
tickless idling is used it might be more important to enter
sleep mode at the earliest possible time - so reset
xNextTaskUnblockTime here to ensure it is updated at the
earliest possible time. */
prvResetNextTaskUnblockTime();
}
#endif
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
taskYIELD_IF_USING_PREEMPTION();
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
BaseType_t xReturn = pdPASS;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
/* 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:
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
if( pulPreviousNotificationValue != NULL )
{
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
}
ucOriginalNotifyState = pxTCB->ucNotifyState;
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
break;
case eSetValueWithoutOverwrite :
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
case eNoAction :
/* The task is being notified without its notify value being
updated. */
break;
default:
/* Should not get here if all enums are handled.
Artificially force an assert by testing a value the
compiler can't assume is const. */
configASSERT( pxTCB->ulNotifiedValue == ~0UL );
break;
}
traceTASK_NOTIFY_FROM_ISR();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
/* Mark that a yield is pending in case the user is not
using the "xHigherPriorityTaskWoken" parameter to an ISR
safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
UBaseType_t uxSavedInterruptStatus;
configASSERT( xTaskToNotify );
/* 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:
http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
pxTCB = xTaskToNotify;
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
ucOriginalNotifyState = pxTCB->ucNotifyState;
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
/* 'Giving' is equivalent to incrementing a count in a counting
semaphore. */
( pxTCB->ulNotifiedValue )++;
traceTASK_NOTIFY_GIVE_FROM_ISR();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
prvAddTaskToReadyList( pxTCB );
}
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
}
/* Mark that a yield is pending in case the user is not
using the "xHigherPriorityTaskWoken" parameter in an ISR
safe FreeRTOS function. */
xYieldPending = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
{
TCB_t *pxTCB;
BaseType_t xReturn;
/* If null is passed in here then it is the calling task that is having
its notification state cleared. */
pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL();
{
if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
{
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
}
taskEXIT_CRITICAL();
return xReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
{
TCB_t *pxTCB;
uint32_t ulReturn;
/* If null is passed in here then it is the calling task that is having
its notification state cleared. */
pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL();
{
/* Return the notification as it was before the bits were cleared,
then clear the bit mask. */
ulReturn = pxCurrentTCB->ulNotifiedValue;
pxTCB->ulNotifiedValue &= ~ulBitsToClear;
}
taskEXIT_CRITICAL();
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
uint32_t ulTaskGetIdleRunTimeCounter( void )
{
return xIdleTaskHandle->ulRunTimeCounter;
}
#endif
/*-----------------------------------------------------------*/
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
{
TickType_t xTimeToWake;
const TickType_t xConstTickCount = xTickCount;
#if( INCLUDE_xTaskAbortDelay == 1 )
{
/* About to enter a delayed list, so ensure the ucDelayAborted flag is
reset to pdFALSE so it can be detected as having been set to pdTRUE
when the task leaves the Blocked state. */
pxCurrentTCB->ucDelayAborted = pdFALSE;
}
#endif
/* 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->xStateListItem ) ) == ( 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 ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
}
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->xStateListItem ) );
}
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 = xConstTickCount + xTicksToWait;
/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
if( xTimeToWake < xConstTickCount )
{
/* Wake time has overflowed. Place this item in the overflow
list. */
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
}
else
{
/* The wake time has not overflowed, so the current block list
is used. */
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
/* 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 = xConstTickCount + xTicksToWait;
/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
if( xTimeToWake < xConstTickCount )
{
/* Wake time has overflowed. Place this item in the overflow list. */
vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
}
else
{
/* The wake time has not overflowed, so the current block list is used. */
vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
/* 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 */
}
/* Code below here allows additional code to be inserted into this source file,
especially where access to file scope functions and data is needed (for example
when performing module tests). */
#ifdef FREERTOS_MODULE_TEST
#include "tasks_test_access_functions.h"
#endif
#if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
#include "freertos_tasks_c_additions.h"
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
static void freertos_tasks_c_additions_init( void )
{
FREERTOS_TASKS_C_ADDITIONS_INIT();
}
#endif
#endif
Details ![]()
Show: from Types: Columns: ![]( "Show Project Names")
![]( "Show Locations")
![]( "Show Referring Symbols")
![]( "Show Scope")
This file uses the notable symbols shown below. Click anywhere in the file to view more details.