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freertos: upgrade - indexed notifications

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This commit is contained in:
Zim Kalinowski 2021-09-06 12:46:14 +08:00
parent d5f58ab135
commit 61ac7c3368
5 changed files with 794 additions and 299 deletions
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12
components/freertos/include/freertos/FreeRTOS.h
View File

@ -890,6 +890,14 @@
#define configUSE_TASK_NOTIFICATIONS 1
#endif
#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
#endif
#if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1
#error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1
#endif
#ifndef configUSE_POSIX_ERRNO
#define configUSE_POSIX_ERRNO 0
#endif
@ -1217,8 +1225,8 @@ typedef struct xSTATIC_TCB
struct _reent xDummy17;
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulDummy18;
uint8_t ucDummy19;
uint32_t ulDummy18[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
uint8_t ucDummy19[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
#endif
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
uint8_t uxDummy20;

2
components/freertos/include/freertos/FreeRTOSConfig.h
View File

@ -300,4 +300,6 @@ extern void vPortCleanUpTCB ( void *pxTCB );
#define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
#endif /* FREERTOS_CONFIG_H */

672
components/freertos/include/freertos/task.h
View File

@ -60,7 +60,15 @@
#define tskMPU_REGION_NORMAL_MEMORY ( 1UL << 3UL )
#define tskMPU_REGION_DEVICE_MEMORY ( 1UL << 4UL )
/* The direct to task notification feature used to have only a single notification
* per task. Now there is an array of notifications per task that is dimensioned by
* configTASK_NOTIFICATION_ARRAY_ENTRIES. For backward compatibility, any use of the
* original direct to task notification defaults to using the first index in the
* array. */
#define tskDEFAULT_INDEX_TO_NOTIFY ( 0 )
#define tskNO_AFFINITY ( 0x7FFFFFFF )
/**
* task. h
*
@ -2111,11 +2119,23 @@ void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lin
uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
/**
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
* function to be available.
* task. h
* <PRE>BaseType_t xTaskNotifyIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction );</PRE>
* <PRE>BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );</PRE>
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
* functions to be available.
*
* Sends a direct to task notification to a task, with an optional value and
* action.
*
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2123,28 +2143,46 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
* to wait for a notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
* un-indexed equivalents). If the task was already in the Blocked state to
* wait for a notification when the notification arrives then the task will
* automatically be removed from the Blocked state (unblocked) and the
* notification cleared.
*
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotify() is the original API function, and remains backward
* compatible by always operating on the notification value at index 0 in the
* array. Calling xTaskNotify() is equivalent to calling xTaskNotifyIndexed()
* with the uxIndexToNotify parameter set to 0.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param uxIndexToNotify The index within the target task's array of
* notification values to which the notification is to be sent. uxIndexToNotify
* must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotify() does
* not have this parameter and always sends notifications to index 0.
*
* @param ulValue Data that can be sent with the notification. How the data is
* used depends on the value of the eAction parameter.
*
@ -2152,54 +2190,96 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
* value, if at all. Valid values for eAction are as follows:
*
* eSetBits -
* The task's notification value is bitwise ORed with ulValue. xTaskNofify()
* always returns pdPASS in this case.
* The target notification value is bitwise ORed with ulValue.
* xTaskNofifyIndexed() always returns pdPASS in this case.
*
* eIncrement -
* The task's notification value is incremented. ulValue is not used and
* xTaskNotify() always returns pdPASS in this case.
* The target notification value is incremented. ulValue is not used and
* xTaskNotifyIndexed() always returns pdPASS in this case.
*
* eSetValueWithOverwrite -
* The task's notification value is set to the value of ulValue, even if the
* task being notified had not yet processed the previous notification (the
* task already had a notification pending). xTaskNotify() always returns
* pdPASS in this case.
* The target notification value is set to the value of ulValue, even if the
* task being notified had not yet processed the previous notification at the
* same array index (the task already had a notification pending at that index).
* xTaskNotifyIndexed() always returns pdPASS in this case.
*
* eSetValueWithoutOverwrite -
* If the task being notified did not already have a notification pending then
* the task's notification value is set to ulValue and xTaskNotify() will
* return pdPASS. If the task being notified already had a notification
* pending then no action is performed and pdFAIL is returned.
* If the task being notified did not already have a notification pending at the
* same array index then the target notification value is set to ulValue and
* xTaskNotifyIndexed() will return pdPASS. If the task being notified already
* had a notification pending at the same array index then no action is
* performed and pdFAIL is returned.
*
* eNoAction -
* The task receives a notification without its notification value being
* updated. ulValue is not used and xTaskNotify() always returns pdPASS in
* this case.
* The task receives a notification at the specified array index without the
* notification value at that index being updated. ulValue is not used and
* xTaskNotifyIndexed() always returns pdPASS in this case.
*
* @param pulPreviousNotificationValue Can be used to pass out the subject
* task's notification value before any bits are modified by the notify
* function.
* pulPreviousNotificationValue -
* Can be used to pass out the subject task's notification value before any
* bits are modified by the notify function.
*
* @return Dependent on the value of eAction. See the description of the
* eAction parameter.
*
* \defgroup xTaskNotifyIndexed xTaskNotifyIndexed
* \ingroup TaskNotifications
*/
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) PRIVILEGED_FUNCTION;
#define xTaskNotify( xTaskToNotify, ulValue, eAction ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL )
#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue ) PRIVILEGED_FUNCTION;
#define xTaskNotify( xTaskToNotify, ulValue, eAction ) \
xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL )
#define xTaskNotifyIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction ) \
xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL )
/**
* Send task notification from an ISR.
* task. h
* <PRE>BaseType_t xTaskNotifyAndQueryIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );</PRE>
* <PRE>BaseType_t xTaskNotifyAndQuery( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );</PRE>
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
* function to be available.
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
* xTaskNotifyAndQueryIndexed() performs the same operation as
* xTaskNotifyIndexed() with the addition that it also returns the subject
* task's prior notification value (the notification value at the time the
* function is called rather than when the function returns) in the additional
* pulPreviousNotifyValue parameter.
*
* A version of xTaskNotify() that can be used from an interrupt service routine
* (ISR).
* xTaskNotifyAndQuery() performs the same operation as xTaskNotify() with the
* addition that it also returns the subject task's prior notification value
* (the notification value as it was at the time the function is called, rather
* than when the function returns) in the additional pulPreviousNotifyValue
* parameter.
*
* \defgroup xTaskNotifyAndQueryIndexed xTaskNotifyAndQueryIndexed
* \ingroup TaskNotifications
*/
#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) \
xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
#define xTaskNotifyAndQueryIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotifyValue ) \
xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
/**
* task. h
* <PRE>BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
* <PRE>BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
* functions to be available.
*
* A version of xTaskNotifyIndexed() that can be used from an interrupt service
* routine (ISR).
*
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2207,22 +2287,40 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
* to wait for a notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
* un-indexed equivalents). If the task was already in the Blocked state to
* wait for a notification when the notification arrives then the task will
* automatically be removed from the Blocked state (unblocked) and the
* notification cleared.
*
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotifyFromISR() is the original API function, and remains
* backward compatible by always operating on the notification value at index 0
* within the array. Calling xTaskNotifyFromISR() is equivalent to calling
* xTaskNotifyIndexedFromISR() with the uxIndexToNotify parameter set to 0.
*
* @param uxIndexToNotify The index within the target task's array of
* notification values to which the notification is to be sent. uxIndexToNotify
* must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyFromISR()
* does not have this parameter and always sends notifications to index 0.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
@ -2260,9 +2358,6 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
* updated. ulValue is not used and xTaskNotify() always returns pdPASS in
* this case.
*
* @param pulPreviousNotificationValue Can be used to pass out the subject task's
* notification value before any bits are modified by the notify function.
*
* @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
* task to which the notification was sent to leave the Blocked state, and the
@ -2275,20 +2370,68 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
* @return Dependent on the value of eAction. See the description of the
* eAction parameter.
*
* \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR
* \ingroup TaskNotifications
*/
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \
xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
#define xTaskNotifyIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \
xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
/**
* Wait for task notification
* task. h
* <PRE>BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
* <PRE>BaseType_t xTaskNotifyAndQueryFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* xTaskNotifyAndQueryIndexedFromISR() performs the same operation as
* xTaskNotifyIndexedFromISR() with the addition that it also returns the
* subject task's prior notification value (the notification value at the time
* the function is called rather than at the time the function returns) in the
* additional pulPreviousNotifyValue parameter.
*
* xTaskNotifyAndQueryFromISR() performs the same operation as
* xTaskNotifyFromISR() with the addition that it also returns the subject
* task's prior notification value (the notification value at the time the
* function is called rather than at the time the function returns) in the
* additional pulPreviousNotifyValue parameter.
*
* \defgroup xTaskNotifyAndQueryIndexedFromISR xTaskNotifyAndQueryIndexedFromISR
* \ingroup TaskNotifications
*/
#define xTaskNotifyAndQueryIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \
xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \
xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
/**
* task. h
* <pre>
* BaseType_t xTaskNotifyWaitIndexed( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
*
* BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
* </pre>
*
* Waits for a direct to task notification to be pending at a given index within
* an array of direct to task notifications.
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
* function to be available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2296,22 +2439,41 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* A notification sent to a task will remain pending until it is cleared by the
* task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
* already in the Blocked state to wait for a notification when the notification
* arrives then the task will automatically be removed from the Blocked state
* (unblocked) and the notification cleared.
* task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
* un-indexed equivalents). If the task was already in the Blocked state to
* wait for a notification when the notification arrives then the task will
* automatically be removed from the Blocked state (unblocked) and the
* notification cleared.
*
* A task can use xTaskNotifyWait() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTake() to [optionally] block
* to wait for its notification value to have a non-zero value. The task does
* A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a
* notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
* to wait for a notification value to have a non-zero value. The task does
* not consume any CPU time while it is in the Blocked state.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotifyWait() is the original API function, and remains backward
* compatible by always operating on the notification value at index 0 in the
* array. Calling xTaskNotifyWait() is equivalent to calling
* xTaskNotifyWaitIndexed() with the uxIndexToWaitOn parameter set to 0.
*
* @param uxIndexToWaitOn The index within the calling task's array of
* notification values on which the calling task will wait for a notification to
* be received. uxIndexToWaitOn must be less than
* configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyWait() does
* not have this parameter and always waits for notifications on index 0.
*
* @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value
* will be cleared in the calling task's notification value before the task
@ -2342,7 +2504,7 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
* the Blocked state for a notification to be received, should a notification
* not already be pending when xTaskNotifyWait() was called. The task
* will not consume any processing time while it is in the Blocked state. This
* is specified in kernel ticks, the macro pdMS_TO_TICKS( value_in_ms ) can be
* is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be
* used to convert a time specified in milliseconds to a time specified in
* ticks.
*
@ -2350,18 +2512,37 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
* already pending when xTaskNotifyWait was called) then pdPASS is
* returned. Otherwise pdFAIL is returned.
*
* \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed
* \ingroup TaskNotifications
*/
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
#define xTaskNotifyWait( ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \
xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) )
#define xTaskNotifyWaitIndexed( uxIndexToWaitOn, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \
xTaskGenericNotifyWait( ( uxIndexToWaitOn ), ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) )
/**
* Simplified macro for sending task notification.
* task. h
* <PRE>BaseType_t xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );</PRE>
* <PRE>BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );</PRE>
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
* to be available.
* Sends a direct to task notification to a particular index in the target
* task's notification array in a manner similar to giving a counting semaphore.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
* macros to be available.
*
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2369,46 +2550,74 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* xTaskNotifyGive() is a helper macro intended for use when task notifications
* are used as light weight and faster binary or counting semaphore equivalents.
* Actual FreeRTOS semaphores are given using the xSemaphoreGive() API function,
* the equivalent action that instead uses a task notification is
* xTaskNotifyGive().
* xTaskNotifyGiveIndexed() is a helper macro intended for use when task
* notifications are used as light weight and faster binary or counting
* semaphore equivalents. Actual FreeRTOS semaphores are given using the
* xSemaphoreGive() API function, the equivalent action that instead uses a task
* notification is xTaskNotifyGiveIndexed().
*
* When task notifications are being used as a binary or counting semaphore
* equivalent then the task being notified should wait for the notification
* using the ulTaskNotificationTake() API function rather than the
* xTaskNotifyWait() API function.
* using the ulTaskNotificationTakeIndexed() API function rather than the
* xTaskNotifyWaitIndexed() API function.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotifyGive() is the original API function, and remains backward
* compatible by always operating on the notification value at index 0 in the
* array. Calling xTaskNotifyGive() is equivalent to calling
* xTaskNotifyGiveIndexed() with the uxIndexToNotify parameter set to 0.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param uxIndexToNotify The index within the target task's array of
* notification values to which the notification is to be sent. uxIndexToNotify
* must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyGive()
* does not have this parameter and always sends notifications to index 0.
*
* @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the
* eAction parameter set to eIncrement - so pdPASS is always returned.
*
* \defgroup xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed
* \ingroup TaskNotifications
*/
#define xTaskNotifyGive( xTaskToNotify ) xTaskGenericNotify( ( xTaskToNotify ), ( 0 ), eIncrement, NULL )
#define xTaskNotifyGive( xTaskToNotify ) \
xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( 0 ), eIncrement, NULL )
#define xTaskNotifyGiveIndexed( xTaskToNotify, uxIndexToNotify ) \
xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( 0 ), eIncrement, NULL )
/**
* Simplified macro for sending task notification from ISR.
* task. h
* <PRE>void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
* <PRE>void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
*
* A version of xTaskNotifyGiveIndexed() that can be called from an interrupt
* service routine (ISR).
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
* to be available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
*
* A version of xTaskNotifyGive() that can be called from an interrupt service
* routine (ISR).
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2416,28 +2625,46 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* vTaskNotifyGiveFromISR() is intended for use when task notifications are
* used as light weight and faster binary or counting semaphore equivalents.
* vTaskNotifyGiveIndexedFromISR() is intended for use when task notifications
* are used as light weight and faster binary or counting semaphore equivalents.
* Actual FreeRTOS semaphores are given from an ISR using the
* xSemaphoreGiveFromISR() API function, the equivalent action that instead uses
* a task notification is vTaskNotifyGiveFromISR().
* a task notification is vTaskNotifyGiveIndexedFromISR().
*
* When task notifications are being used as a binary or counting semaphore
* equivalent then the task being notified should wait for the notification
* using the ulTaskNotificationTake() API function rather than the
* xTaskNotifyWait() API function.
* using the ulTaskNotificationTakeIndexed() API function rather than the
* xTaskNotifyWaitIndexed() API function.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotifyFromISR() is the original API function, and remains
* backward compatible by always operating on the notification value at index 0
* within the array. Calling xTaskNotifyGiveFromISR() is equivalent to calling
* xTaskNotifyGiveIndexedFromISR() with the uxIndexToNotify parameter set to 0.
*
* @param xTaskToNotify The handle of the task being notified. The handle to a
* task can be returned from the xTaskCreate() API function used to create the
* task, and the handle of the currently running task can be obtained by calling
* xTaskGetCurrentTaskHandle().
*
* @param uxIndexToNotify The index within the target task's array of
* notification values to which the notification is to be sent. uxIndexToNotify
* must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
* xTaskNotifyGiveFromISR() does not have this parameter and always sends
* notifications to index 0.
*
* @param pxHigherPriorityTaskWoken vTaskNotifyGiveFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
* task to which the notification was sent to leave the Blocked state, and the
@ -2447,18 +2674,38 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
* requested from an ISR is dependent on the port - see the documentation page
* for the port in use.
*
* \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR
* \ingroup TaskNotifications
*/
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#define vTaskNotifyGiveFromISR( xTaskToNotify, pxHigherPriorityTaskWoken ) \
vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( pxHigherPriorityTaskWoken ) );
#define vTaskNotifyGiveIndexedFromISR( xTaskToNotify, uxIndexToNotify, pxHigherPriorityTaskWoken ) \
vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( pxHigherPriorityTaskWoken ) );
/**
* Simplified macro for receiving task notification.
* task. h
* <pre>
* uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
*
* uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
* </pre>
*
* Waits for a direct to task notification on a particular index in the calling
* task's notification array in a manner similar to taking a counting semaphore.
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
* function to be available.
*
* When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
* "notification value", which is a 32-bit unsigned integer (uint32_t).
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* Events can be sent to a task using an intermediary object. Examples of such
* objects are queues, semaphores, mutexes and event groups. Task notifications
@ -2466,35 +2713,54 @@ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPri
* an intermediary object.
*
* A notification sent to a task can optionally perform an action, such as
* update, overwrite or increment the task's notification value. In that way
* task notifications can be used to send data to a task, or be used as light
* weight and fast binary or counting semaphores.
* update, overwrite or increment one of the task's notification values. In
* that way task notifications can be used to send data to a task, or be used as
* light weight and fast binary or counting semaphores.
*
* ulTaskNotifyTake() is intended for use when a task notification is used as a
* faster and lighter weight binary or counting semaphore alternative. Actual
* FreeRTOS semaphores are taken using the xSemaphoreTake() API function, the
* equivalent action that instead uses a task notification is
* ulTaskNotifyTake().
* ulTaskNotifyTakeIndexed() is intended for use when a task notification is
* used as a faster and lighter weight binary or counting semaphore alternative.
* Actual FreeRTOS semaphores are taken using the xSemaphoreTake() API function,
* the equivalent action that instead uses a task notification is
* ulTaskNotifyTakeIndexed().
*
* When a task is using its notification value as a binary or counting semaphore
* other tasks should send notifications to it using the xTaskNotifyGive()
* macro, or xTaskNotify() function with the eAction parameter set to
* other tasks should send notifications to it using the xTaskNotifyGiveIndexed()
* macro, or xTaskNotifyIndex() function with the eAction parameter set to
* eIncrement.
*
* ulTaskNotifyTake() can either clear the task's notification value to
* zero on exit, in which case the notification value acts like a binary
* semaphore, or decrement the task's notification value on exit, in which case
* the notification value acts like a counting semaphore.
* ulTaskNotifyTakeIndexed() can either clear the task's notification value at
* the array index specified by the uxIndexToWaitOn parameter to zero on exit,
* in which case the notification value acts like a binary semaphore, or
* decrement the notification value on exit, in which case the notification
* value acts like a counting semaphore.
*
* A task can use ulTaskNotifyTake() to [optionally] block to wait for a
* A task can use ulTaskNotifyTakeIndexed() to [optionally] block to wait for
* the task's notification value to be non-zero. The task does not consume any
* CPU time while it is in the Blocked state.
*
* Where as xTaskNotifyWait() will return when a notification is pending,
* ulTaskNotifyTake() will return when the task's notification value is
* Where as xTaskNotifyWaitIndexed() will return when a notification is pending,
* ulTaskNotifyTakeIndexed() will return when the task's notification value is
* not zero.
*
* See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
* **NOTE** Each notification within the array operates independently - a task
* can only block on one notification within the array at a time and will not be
* unblocked by a notification sent to any other array index.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. ulTaskNotifyTake() is the original API function, and remains backward
* compatible by always operating on the notification value at index 0 in the
* array. Calling ulTaskNotifyTake() is equivalent to calling
* ulTaskNotifyTakeIndexed() with the uxIndexToWaitOn parameter set to 0.
*
* @param uxIndexToWaitOn The index within the calling task's array of
* notification values on which the calling task will wait for a notification to
* be non-zero. uxIndexToWaitOn must be less than
* configTASK_NOTIFICATION_ARRAY_ENTRIES. xTaskNotifyTake() does
* not have this parameter and always waits for notifications on index 0.
*
* @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's
* notification value is decremented when the function exits. In this way the
@ -2508,29 +2774,153 @@ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPri
* should the count not already be greater than zero when
* ulTaskNotifyTake() was called. The task will not consume any processing
* time while it is in the Blocked state. This is specified in kernel ticks,
* the macro pdMS_TO_TICKS( value_in_ms ) can be used to convert a time
* the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time
* specified in milliseconds to a time specified in ticks.
*
* @return The task's notification count before it is either cleared to zero or
* decremented (see the xClearCountOnExit parameter).
*
* \defgroup ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed
* \ingroup TaskNotifications
*/
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
#define ulTaskNotifyTake( xClearCountOnExit, xTicksToWait ) \
ulTaskGenericNotifyTake( ( tskDEFAULT_INDEX_TO_NOTIFY ), ( xClearCountOnExit ), ( xTicksToWait ) )
#define ulTaskNotifyTakeIndexed( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait ) \
ulTaskGenericNotifyTake( ( uxIndexToWaitOn ), ( xClearCountOnExit ), ( xTicksToWait ) )
/**
* task. h
* <pre>
* BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );
*
* If the notification state of the task referenced by the handle xTask is
* eNotified, then set the task's notification state to eNotWaitingNotification.
* The task's notification value is not altered. Set xTask to NULL to clear the
* notification state of the calling task.
* BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
* </pre>
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
* functions to be available.
*
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* If a notification is sent to an index within the array of notifications then
* the notification at that index is said to be 'pending' until it is read or
* explicitly cleared by the receiving task. xTaskNotifyStateClearIndexed()
* is the function that clears a pending notification without reading the
* notification value. The notification value at the same array index is not
* altered. Set xTask to NULL to clear the notification state of the calling
* task.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. xTaskNotifyStateClear() is the original API function, and remains
* backward compatible by always operating on the notification value at index 0
* within the array. Calling xTaskNotifyStateClear() is equivalent to calling
* xTaskNotifyStateClearIndexed() with the uxIndexToNotify parameter set to 0.
*
* @param xTask The handle of the RTOS task that will have a notification state
* cleared. Set xTask to NULL to clear a notification state in the calling
* task. To obtain a task's handle create the task using xTaskCreate() and
* make use of the pxCreatedTask parameter, or create the task using
* xTaskCreateStatic() and store the returned value, or use the task's name in
* a call to xTaskGetHandle().
*
* @param uxIndexToClear The index within the target task's array of
* notification values to act upon. For example, setting uxIndexToClear to 1
* will clear the state of the notification at index 1 within the array.
* uxIndexToClear must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
* ulTaskNotifyStateClear() does not have this parameter and always acts on the
* notification at index 0.
*
* @return pdTRUE if the task's notification state was set to
* eNotWaitingNotification, otherwise pdFALSE.
*
* \defgroup xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed
* \ingroup TaskNotifications
*/
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear ) PRIVILEGED_FUNCTION;
#define xTaskNotifyStateClear( xTask ) \
xTaskGenericNotifyStateClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ) )
#define xTaskNotifyStateClearIndexed( xTask, uxIndexToClear ) \
xTaskGenericNotifyStateClear( ( xTask ), ( uxIndexToClear ) )
/**
* task. h
* <pre>
* uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );
*
* uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );
* </pre>
*
* See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
*
* configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
* functions to be available.
*
* Each task has a private array of "notification values" (or 'notifications'),
* each of which is a 32-bit unsigned integer (uint32_t). The constant
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array, and (for backward compatibility) defaults to 1 if left undefined.
* Prior to FreeRTOS V10.4.0 there was only one notification value per task.
*
* ulTaskNotifyValueClearIndexed() clears the bits specified by the
* ulBitsToClear bit mask in the notification value at array index uxIndexToClear
* of the task referenced by xTask.
*
* Backward compatibility information:
* Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
* all task notification API functions operated on that value. Replacing the
* single notification value with an array of notification values necessitated a
* new set of API functions that could address specific notifications within the
* array. ulTaskNotifyValueClear() is the original API function, and remains
* backward compatible by always operating on the notification value at index 0
* within the array. Calling ulTaskNotifyValueClear() is equivalent to calling
* ulTaskNotifyValueClearIndexed() with the uxIndexToClear parameter set to 0.
*
* @param xTask The handle of the RTOS task that will have bits in one of its
* notification values cleared. Set xTask to NULL to clear bits in a
* notification value of the calling task. To obtain a task's handle create the
* task using xTaskCreate() and make use of the pxCreatedTask parameter, or
* create the task using xTaskCreateStatic() and store the returned value, or
* use the task's name in a call to xTaskGetHandle().
*
* @param uxIndexToClear The index within the target task's array of
* notification values in which to clear the bits. uxIndexToClear
* must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
* ulTaskNotifyValueClear() does not have this parameter and always clears bits
* in the notification value at index 0.
*
* @param ulBitsToClear Bit mask of the bits to clear in the notification value of
* xTask. Set a bit to 1 to clear the corresponding bits in the task's notification
* value. Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
* the notification value to 0. Set ulBitsToClear to 0 to query the task's
* notification value without clearing any bits.
*
*
* @return The value of the target task's notification value before the bits
* specified by ulBitsToClear were cleared.
* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
* \ingroup TaskNotifications
*/
uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
#define ulTaskNotifyValueClear( xTask, ulBitsToClear ) \
ulTaskGenericNotifyValueClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulBitsToClear ) )
#define ulTaskNotifyValueClearIndexed( xTask, uxIndexToClear, ulBitsToClear ) \
ulTaskGenericNotifyValueClear( ( xTask ), ( uxIndexToClear ), ( ulBitsToClear ) )
/*-----------------------------------------------------------
* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES

2
components/freertos/linker.lf
View File

@ -40,7 +40,9 @@ entries:
tasks: xTaskResumeAll (default)
tasks: uxTaskResetEventItemValue (default)
tasks: ulTaskNotifyTake (default)
tasks: ulTaskGenericNotifyTake (default)
tasks: xTaskNotifyWait (default)
tasks: xTaskGenericNotifyWait (default)
tasks: xTaskGenericNotify (default)
tasks: eTaskGetState (default)
tasks: pxTaskGetStackStart (default)

405
components/freertos/tasks.c
View File

@ -333,8 +333,8 @@ typedef struct tskTaskControlBlock /* The old naming convention is used to
#endif
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue;
volatile uint8_t ucNotifyState;
volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
#endif
/* See the comments in FreeRTOS.h with the definition of
@ -1090,8 +1090,8 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
pxNewTCB->ulNotifiedValue = 0;
pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
}
#endif
@ -1630,19 +1630,24 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
* indefinitely? */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
{
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
BaseType_t x;
/* 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 )
* rather than waiting on an object. If not, is
* suspended. */
eReturn = eSuspended;
for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
{
eReturn = eBlocked;
}
else
{
eReturn = eSuspended;
if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
{
eReturn = eBlocked;
break;
}
}
}
#else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
@ -1972,16 +1977,21 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB,
vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
curTCB = pxCurrentTCB[ xPortGetCoreID() ];
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
{
if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
BaseType_t x;
for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
{
/* The task was blocked to wait for a notification, but is
* now suspended, so no notification was received. */
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
{
/* The task was blocked to wait for a notification, but is
* now suspended, so no notification was received. */
pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
}
}
}
#endif
#endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
}
taskEXIT_CRITICAL();
@ -5241,19 +5251,33 @@ TickType_t uxTaskResetEventItemValue( void )
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
#ifdef ESP_PLATFORM // IDF-3851
// included here for backward binary compatibility
#undef ulTaskNotifyTake
uint32_t ulTaskNotifyTake(BaseType_t xClearCountOnExit,
TickType_t xTicksToWait )
{
uint32_t ulReturn;
return ulTaskGenericNotifyTake(tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait);
}
#endif // ESP-PLATFORM
uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait )
{
uint32_t ulReturn;
configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
taskENTER_CRITICAL();
{
/* Only block if the notification count is not already non-zero. */
if( pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue == 0UL )
if( pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ] == 0UL )
{
/* Mark this task as waiting for a notification. */
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState = taskWAITING_NOTIFICATION;
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
@ -5261,9 +5285,9 @@ TickType_t uxTaskResetEventItemValue( void )
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. */
* 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
@ -5281,17 +5305,17 @@ TickType_t uxTaskResetEventItemValue( void )
taskENTER_CRITICAL();
{
traceTASK_NOTIFY_TAKE();
ulReturn = pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue;
ulReturn = pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ];
if( ulReturn != 0UL )
{
if( xClearCountOnExit != pdFALSE )
{
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue = 0UL;
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ] = 0UL;
}
else
{
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
}
}
else
@ -5299,7 +5323,7 @@ TickType_t uxTaskResetEventItemValue( void )
mtCOVERAGE_TEST_MARKER();
}
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
@ -5309,24 +5333,41 @@ TickType_t uxTaskResetEventItemValue( void )
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
#ifdef ESP_PLATFORM // IDF-3851
// included for backward compatibility
#undef xTaskNotifyWait
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait )
{
BaseType_t xReturn;
return xTaskGenericNotifyWait(tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait);
}
#endif // ESP-PLATFORM
BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait )
{
BaseType_t xReturn;
configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
taskENTER_CRITICAL();
{
/* Only block if a notification is not already pending. */
if( pxCurrentTCB[xPortGetCoreID()]->ucNotifyState != taskNOTIFICATION_RECEIVED )
if( pxCurrentTCB[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] != 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[xPortGetCoreID()]->ulNotifiedValue &= ~ulBitsToClearOnEntry;
* set by the notifying task or interrupt. This can be used to
* clear the value to zero. */
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
/* Mark this task as waiting for a notification. */
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState = taskWAITING_NOTIFICATION;
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
if( xTicksToWait > ( TickType_t ) 0 )
{
@ -5334,9 +5375,9 @@ TickType_t uxTaskResetEventItemValue( void )
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. */
* 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
@ -5358,15 +5399,15 @@ TickType_t uxTaskResetEventItemValue( void )
if( pulNotificationValue != NULL )
{
/* Output the current notification value, which may or may not
have changed. */
*pulNotificationValue = pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue;
* have changed. */
*pulNotificationValue = pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ];
}
/* 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[xPortGetCoreID()]->ucNotifyState != taskNOTIFICATION_RECEIVED )
* 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[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
{
/* A notification was not received. */
xReturn = pdFALSE;
@ -5374,12 +5415,12 @@ TickType_t uxTaskResetEventItemValue( void )
else
{
/* A notification was already pending or a notification was
received while the task was waiting. */
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue &= ~ulBitsToClearOnExit;
* received while the task was waiting. */
pxCurrentTCB[xPortGetCoreID()]->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
xReturn = pdTRUE;
}
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
pxCurrentTCB[xPortGetCoreID()]->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
}
taskEXIT_CRITICAL();
@ -5389,14 +5430,19 @@ TickType_t uxTaskResetEventItemValue( void )
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue )
{
TCB_t * pxTCB;
BaseType_t xReturn = pdPASS;
uint8_t ucOriginalNotifyState;
TCB_t * pxTCB;
BaseType_t xReturn = pdPASS;
uint8_t ucOriginalNotifyState;
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
configASSERT( xTaskToNotify );
pxTCB = xTaskToNotify;
@ -5404,49 +5450,53 @@ TickType_t uxTaskResetEventItemValue( void )
{
if( pulPreviousNotificationValue != NULL )
{
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
}
ucOriginalNotifyState = pxTCB->ucNotifyState;
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
case eSetBits:
pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
case eIncrement:
( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
case eSetValueWithOverwrite:
pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
break;
case eSetValueWithoutOverwrite :
case eSetValueWithoutOverwrite:
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
pxTCB->ulNotifiedValue[ uxIndexToNotify ] = 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. */
* 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 );
* Artificially force an assert by testing a value the
* compiler can't assume is const. */
configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );
break;
}
@ -5454,7 +5504,7 @@ TickType_t uxTaskResetEventItemValue( void )
traceTASK_NOTIFY();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
* notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
@ -5463,20 +5513,20 @@ TickType_t uxTaskResetEventItemValue( void )
/* 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();
}
#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( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
@ -5507,32 +5557,38 @@ TickType_t uxTaskResetEventItemValue( void )
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotificationValue,
BaseType_t * pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
BaseType_t xReturn = pdPASS;
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
BaseType_t xReturn = pdPASS;
configASSERT( xTaskToNotify );
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* 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 */
* 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();
pxTCB = xTaskToNotify;
@ -5541,55 +5597,59 @@ TickType_t uxTaskResetEventItemValue( void )
{
if( pulPreviousNotificationValue != NULL )
{
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
*pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
}
ucOriginalNotifyState = pxTCB->ucNotifyState;
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
switch( eAction )
{
case eSetBits :
pxTCB->ulNotifiedValue |= ulValue;
case eSetBits:
pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
break;
case eIncrement :
( pxTCB->ulNotifiedValue )++;
case eIncrement:
( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
break;
case eSetValueWithOverwrite :
pxTCB->ulNotifiedValue = ulValue;
case eSetValueWithOverwrite:
pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
break;
case eSetValueWithoutOverwrite :
case eSetValueWithoutOverwrite:
if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
{
pxTCB->ulNotifiedValue = ulValue;
pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
}
else
{
/* The value could not be written to the task. */
xReturn = pdFAIL;
}
break;
case eNoAction :
case eNoAction:
/* The task is being notified without its notify value being
updated. */
* 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 );
* Artificially force an assert by testing a value the
* compiler can't assume is const. */
configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );
break;
}
traceTASK_NOTIFY_FROM_ISR();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
* notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
@ -5603,14 +5663,14 @@ TickType_t uxTaskResetEventItemValue( void )
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
* this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList[xPortGetCoreID()] ), &( pxTCB->xEventListItem ) );
}
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
* executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
@ -5637,47 +5697,50 @@ TickType_t uxTaskResetEventItemValue( void )
#if( configUSE_TASK_NOTIFICATIONS == 1 )
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
UBaseType_t uxIndexToNotify,
BaseType_t * pxHigherPriorityTaskWoken )
{
TCB_t * pxTCB;
uint8_t ucOriginalNotifyState;
configASSERT( xTaskToNotify );
configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* 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 */
* 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();
pxTCB = xTaskToNotify;
taskENTER_CRITICAL_ISR();
{
ucOriginalNotifyState = pxTCB->ucNotifyState;
pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
/* 'Giving' is equivalent to incrementing a count in a counting
semaphore. */
( pxTCB->ulNotifiedValue )++;
* semaphore. */
( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
traceTASK_NOTIFY_GIVE_FROM_ISR();
/* If the task is in the blocked state specifically to wait for a
notification then unblock it now. */
* notification then unblock it now. */
if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
{
/* The task should not have been on an event list. */
@ -5691,7 +5754,7 @@ TickType_t uxTaskResetEventItemValue( void )
else
{
/* The delayed and ready lists cannot be accessed, so hold
this task pending until the scheduler is resumed. */
* this task pending until the scheduler is resumed. */
vListInsertEnd( &( xPendingReadyList[xPortGetCoreID()] ), &( pxTCB->xEventListItem ) );
}
@ -5699,7 +5762,7 @@ TickType_t uxTaskResetEventItemValue( void )
if( tskCAN_RUN_HERE(pxTCB->xCoreID) && pxTCB->uxPriority > pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
{
/* The notified task has a priority above the currently
executing task so a yield is required. */
* executing task so a yield is required. */
if( pxHigherPriorityTaskWoken != NULL )
{
*pxHigherPriorityTaskWoken = pdTRUE;
@ -5720,25 +5783,27 @@ TickType_t uxTaskResetEventItemValue( void )
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear )
{
TCB_t *pxTCB;
BaseType_t xReturn;
TCB_t * pxTCB;
BaseType_t xReturn;
configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
/* If null is passed in here then it is the calling task that is having
its notification state cleared. */
* its notification state cleared. */
pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL();
{
if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
{
pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
xReturn = pdPASS;
}
else
@ -5754,7 +5819,35 @@ TickType_t uxTaskResetEventItemValue( void )
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
UBaseType_t uxIndexToClear,
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 = pxTCB->ulNotifiedValue[ uxIndexToClear ];
pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
}
taskEXIT_CRITICAL();
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
uint32_t ulTaskGetIdleRunTimeCounter( void )
{