mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
66499f17a5
This commit refactors the "freertos" component's structure as follows:
- "FreeRTOSConfig.h" related files moved to "./config" directory
- Refactored CMakeLists.txt file in preparation for v10.5.1 upgrade
- Grouped list appends based on component organization
- Removed some unecessarily public "include_dirs"
- Removed FreeRTOS-openocd.c
- uxTopUsedPriority has been added back to tasks.c since v10.4.2
- Thus the workaround in FreeRTOS-openocd.c is no longer needed and can
be removed.
598 lines
24 KiB
C
598 lines
24 KiB
C
/*
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* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "sdkconfig.h"
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#include "freertos/idf_additions.h"
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#include "esp_private/freertos_idf_additions_priv.h"
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/**
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* This file will be included in `tasks.c` file, thus, it is treated as a source
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* file instead of a header file, and must NOT be included by any (other) file.
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* This file is used to add additional functions to `tasks.c`. See the
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* `esp_additions/include` directory of the headers that expose these `tasks.c`
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* additional API.
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*/
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/* ----------------------------------------------------- Newlib --------------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#if ( configUSE_NEWLIB_REENTRANT == 1 )
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/**
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* @brief Get reentrancy structure of the current task
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*
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* - This funciton is required by newlib (when __DYNAMIC_REENT__ is enabled)
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* - It will return a pointer to the current task's reent struct
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* - If FreeRTOS is not running, it will return the global reent struct
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*
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* @return Pointer to a the (current taks's)/(globa) reent struct
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*/
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struct _reent *__getreent(void)
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{
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// No lock needed because if this changes, we won't be running anymore.
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TCB_t *pxCurTask = xTaskGetCurrentTaskHandle();
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struct _reent *ret;
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if (pxCurTask == NULL) {
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// No task running. Return global struct.
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ret = _GLOBAL_REENT;
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} else {
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// We have a task; return its reentrant struct.
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ret = &pxCurTask->xNewLib_reent;
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}
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return ret;
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}
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#endif // configUSE_NEWLIB_REENTRANT == 1
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/* -------------------------------------------------- Task Snapshot ----------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
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#include "freertos/task_snapshot.h"
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/**
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* @brief List of all task lists in FreeRTOS
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*
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* @note There are currently differing number of task list between SMP FreeRTOS and ESP-IDF FreeRTOS
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*/
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static List_t *non_ready_task_lists[] = {
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#ifdef CONFIG_FREERTOS_SMP
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&xPendingReadyList,
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#else
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&xPendingReadyList[0],
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#ifndef CONFIG_FREERTOS_UNICORE
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&xPendingReadyList[1],
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#endif // CONFIG_FREERTOS_UNICORE
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#endif //CONFIG_FREERTOS_SMP
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&xDelayedTaskList1,
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&xDelayedTaskList2,
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#if( INCLUDE_vTaskDelete == 1 )
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&xTasksWaitingTermination,
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#endif
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#if( INCLUDE_vTaskSuspend == 1 )
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&xSuspendedTaskList,
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#endif
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};
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/**
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* @brief Get the next task list to traverse
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*
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* - Given a particular task list, this function returns the next task to traverse.
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* - The task lists are returned in the following precedence
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* - Ready lists (highest to lowers priority)
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* - Pending ready list(s)
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* - Delayed list 1
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* - Delayed list 2
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* - Waiting termination list
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* - Suspended list
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*
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* @param pxCurTaskList Previously traversed task list (or NULL if obtaining the first task list)
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* @return List_t* The next task list to traverse (or NULL of all task lists have been traversed)
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*/
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static List_t *pxGetNextTaskList(List_t *pxCurTaskList)
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{
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List_t *pxNextTaskList = NULL;
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// No Current List. Start from the highest priority ready task list
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if (pxCurTaskList == NULL)
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{
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pxNextTaskList = &pxReadyTasksLists[configMAX_PRIORITIES - 1];
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}
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// Current list is one of the ready task lists. Find the current priority, and return the next lower priority ready task list
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else if (pxCurTaskList >= &pxReadyTasksLists[0] && pxCurTaskList <= &pxReadyTasksLists[configMAX_PRIORITIES - 1] )
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{
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// Find the current priority
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int cur_priority;
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for (cur_priority = configMAX_PRIORITIES - 1; cur_priority >= 0; cur_priority--) {
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if (pxCurTaskList == &pxReadyTasksLists[cur_priority]) {
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break;
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}
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}
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// Return the ready task list at (cur_priority - 1), or the pending ready task list
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if (cur_priority > 0)
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{
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pxNextTaskList = &pxReadyTasksLists[cur_priority - 1];
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}
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// We've reached the end of the Ready Task Lists. We get the next list from the non-ready task lists
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else if (cur_priority == 0)
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{
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pxNextTaskList = non_ready_task_lists[0];
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}
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else
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{
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abort(); // This should never occur
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}
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}
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// Current list is one of the non-ready task lists. Fetch the next non-ready task list
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if (pxNextTaskList == NULL) {
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int cur_list_idx;
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const int num_non_ready_task_lists = (sizeof(non_ready_task_lists) / sizeof(List_t *));
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// Note: - 1 so that if the current list is the last on non_ready_task_lists[], the next list will return NULL
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for (cur_list_idx = 0; cur_list_idx < num_non_ready_task_lists - 1; cur_list_idx++) {
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if (pxCurTaskList == non_ready_task_lists[cur_list_idx]) {
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pxNextTaskList = non_ready_task_lists[cur_list_idx + 1];
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break;
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}
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}
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}
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return pxNextTaskList;
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}
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TaskHandle_t pxTaskGetNext( TaskHandle_t pxTask )
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{
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TCB_t *pxTCB = (TCB_t *)pxTask;
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// Check current task is valid
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if (pxTCB != NULL && !portVALID_TCB_MEM(pxTCB)) {
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return NULL;
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}
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List_t *pxCurTaskList;
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const ListItem_t *pxCurListItem;
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if (pxTCB == NULL) {
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// Starting traversal for the first time
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pxCurTaskList = pxGetNextTaskList(NULL);
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pxCurListItem = listGET_END_MARKER(pxCurTaskList);
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} else {
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// Continuing traversal
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pxCurTaskList = listLIST_ITEM_CONTAINER(&pxTCB->xStateListItem);
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pxCurListItem = &pxTCB->xStateListItem;
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}
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ListItem_t *pxNextListItem = NULL;
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if (pxCurListItem->pxNext == listGET_END_MARKER(pxCurTaskList)) {
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List_t *pxNextTaskList = pxGetNextTaskList(pxCurTaskList);
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while (pxNextTaskList != NULL) {
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if (!listLIST_IS_EMPTY(pxNextTaskList)) {
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// Get the first item in the next task list
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pxNextListItem = listGET_HEAD_ENTRY(pxNextTaskList);
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break;
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}
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// Task list is empty. Get the next task list
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pxNextTaskList = pxGetNextTaskList(pxNextTaskList);
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}
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} else {
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//There are still more items in the current task list. Get the next item
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pxNextListItem = listGET_NEXT(pxCurListItem);
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}
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TCB_t *pxNextTCB;
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if (pxNextListItem == NULL) {
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pxNextTCB = NULL;
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} else {
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pxNextTCB = (TCB_t *)listGET_LIST_ITEM_OWNER(pxNextListItem);
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}
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return pxNextTCB;
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}
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BaseType_t vTaskGetSnapshot( TaskHandle_t pxTask, TaskSnapshot_t *pxTaskSnapshot )
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{
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if (portVALID_TCB_MEM(pxTask) == false || pxTaskSnapshot == NULL) {
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return pdFALSE;
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}
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TCB_t *pxTCB = (TCB_t *)pxTask;
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pxTaskSnapshot->pxTCB = pxTCB;
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pxTaskSnapshot->pxTopOfStack = (StackType_t *)pxTCB->pxTopOfStack;
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pxTaskSnapshot->pxEndOfStack = (StackType_t *)pxTCB->pxEndOfStack;
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return pdTRUE;
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}
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UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray, const UBaseType_t uxArrayLength, UBaseType_t * const pxTCBSize )
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{
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UBaseType_t uxArrayNumFilled = 0;
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//Traverse all of the tasks lists
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List_t *pxCurTaskList = pxGetNextTaskList(NULL); //Get the first task list
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while (pxCurTaskList != NULL && uxArrayNumFilled < uxArrayLength) {
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if (!listLIST_IS_EMPTY(pxCurTaskList)) {
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const ListItem_t *pxCurListItem;
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//Walk each task on the current task list
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pxCurListItem = listGET_HEAD_ENTRY(pxCurTaskList);
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while (pxCurListItem != listGET_END_MARKER(pxCurTaskList)) {
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TCB_t *pxTCB = (TCB_t *)listGET_LIST_ITEM_OWNER(pxCurListItem);
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vTaskGetSnapshot((TaskHandle_t)pxTCB, &pxTaskSnapshotArray[uxArrayNumFilled]);
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uxArrayNumFilled++;
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if (!(uxArrayNumFilled < uxArrayLength)) {
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break;
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}
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pxCurListItem = listGET_NEXT(pxCurListItem);
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}
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}
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//Get the next task list
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pxCurTaskList = pxGetNextTaskList(pxCurTaskList);
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}
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*pxTCBSize = sizeof(TCB_t);
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return uxArrayNumFilled;
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}
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#endif // CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
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/* ----------------------------------------------------- OpenOCD -------------------------------------------------------
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#if CONFIG_FREERTOS_DEBUG_OCDAWARE
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/**
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* Debug param indexes. DO NOT change the order. OpenOCD uses the same indexes
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* Entries in FreeRTOS_openocd_params must match the order of these indexes
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*/
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enum {
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ESP_FREERTOS_DEBUG_TABLE_SIZE = 0,
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ESP_FREERTOS_DEBUG_TABLE_VERSION,
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ESP_FREERTOS_DEBUG_KERNEL_VER_MAJOR,
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ESP_FREERTOS_DEBUG_KERNEL_VER_MINOR,
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ESP_FREERTOS_DEBUG_KERNEL_VER_BUILD,
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ESP_FREERTOS_DEBUG_UX_TOP_USED_PIORITY,
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ESP_FREERTOS_DEBUG_PX_TOP_OF_STACK,
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ESP_FREERTOS_DEBUG_PC_TASK_NAME,
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/* New entries must be inserted here */
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ESP_FREERTOS_DEBUG_TABLE_END,
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};
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const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ESP_FREERTOS_DEBUG_TABLE_END] = {
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ESP_FREERTOS_DEBUG_TABLE_END, /* table size */
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1, /* table version */
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tskKERNEL_VERSION_MAJOR,
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tskKERNEL_VERSION_MINOR,
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tskKERNEL_VERSION_BUILD,
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configMAX_PRIORITIES - 1, /* uxTopUsedPriority */
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offsetof(TCB_t, pxTopOfStack), /* thread_stack_offset; */
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offsetof(TCB_t, pcTaskName), /* thread_name_offset; */
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};
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#endif // CONFIG_FREERTOS_DEBUG_OCDAWARE
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/* -------------------------------------------- FreeRTOS IDF API Additions ---------------------------------------------
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* FreeRTOS related API that were added by IDF
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* ------------------------------------------------------------------------------------------------------------------ */
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#if CONFIG_FREERTOS_SMP
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_Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY");
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BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pxCreatedTask,
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const BaseType_t xCoreID)
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{
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BaseType_t ret;
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#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
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{
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// Convert xCoreID into an affinity mask
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UBaseType_t uxCoreAffinityMask;
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if (xCoreID == tskNO_AFFINITY) {
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uxCoreAffinityMask = tskNO_AFFINITY;
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} else {
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uxCoreAffinityMask = (1 << xCoreID);
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}
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ret = xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask);
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}
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#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
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{
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ret = xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
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}
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#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
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return ret;
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}
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
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const char * const pcName,
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const uint32_t ulStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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StackType_t * const puxStackBuffer,
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StaticTask_t * const pxTaskBuffer,
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const BaseType_t xCoreID)
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{
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TaskHandle_t ret;
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#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
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{
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// Convert xCoreID into an affinity mask
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UBaseType_t uxCoreAffinityMask;
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if (xCoreID == tskNO_AFFINITY) {
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uxCoreAffinityMask = tskNO_AFFINITY;
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} else {
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uxCoreAffinityMask = (1 << xCoreID);
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}
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ret = xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask);
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}
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#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
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{
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ret = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
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}
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#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
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return ret;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
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{
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TaskHandle_t xTaskHandleTemp;
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assert(xCoreID >= 0 && xCoreID < configNUM_CORES);
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taskENTER_CRITICAL();
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xTaskHandleTemp = (TaskHandle_t) pxCurrentTCBs[xCoreID];
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taskEXIT_CRITICAL();
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return xTaskHandleTemp;
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}
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TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID )
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{
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assert(xCoreID >= 0 && xCoreID < configNUM_CORES);
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return (TaskHandle_t) xIdleTaskHandle[xCoreID];
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}
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BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
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{
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taskENTER_CRITICAL();
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UBaseType_t uxCoreAffinityMask;
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#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
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TCB_t *pxTCB = prvGetTCBFromHandle( xTask );
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uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
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#else
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uxCoreAffinityMask = tskNO_AFFINITY;
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#endif
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taskEXIT_CRITICAL();
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BaseType_t ret;
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// If the task is not pinned to a particular core, treat it as tskNO_AFFINITY
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if (uxCoreAffinityMask & (uxCoreAffinityMask - 1)) { // If more than one bit set
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ret = tskNO_AFFINITY;
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} else {
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int index_plus_one = __builtin_ffs(uxCoreAffinityMask);
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assert(index_plus_one >= 1);
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ret = index_plus_one - 1;
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}
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return ret;
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}
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#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
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void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback)
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{
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// Verify that the offsets of pvThreadLocalStoragePointers and pvDummy15 match.
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// pvDummy15 is part of the StaticTask_t struct and is used to access the TLSPs
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// while deletion.
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_Static_assert(offsetof( StaticTask_t, pvDummy15 ) == offsetof( TCB_t, pvThreadLocalStoragePointers ), "Offset of pvDummy15 must match the offset of pvThreadLocalStoragePointers");
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//Set the local storage pointer first
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vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue );
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//Set the deletion callback at an offset of configNUM_THREAD_LOCAL_STORAGE_POINTERS/2
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vTaskSetThreadLocalStoragePointer( xTaskToSet, ( xIndex + ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ), pvDelCallback );
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}
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#endif // CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
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#endif // CONFIG_FREERTOS_SMP
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#if ( INCLUDE_vTaskPrioritySet == 1 )
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void prvTaskPriorityRaise( prvTaskSavedPriority_t * pxSavedPriority, UBaseType_t uxNewPriority )
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{
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TCB_t * pxTCB;
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UBaseType_t uxPriorityUsedOnEntry;
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configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
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/* Ensure the new priority is valid. */
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if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
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{
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uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
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}
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#if CONFIG_FREERTOS_SMP
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taskENTER_CRITICAL();
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#else
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taskENTER_CRITICAL( &xKernelLock );
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#endif
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{
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pxTCB = prvGetTCBFromHandle( NULL );
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#if ( configUSE_MUTEXES == 1 )
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{
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pxSavedPriority->uxPriority = pxTCB->uxPriority;
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pxSavedPriority->uxBasePriority = pxTCB->uxBasePriority;
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/* If uxNewPriority < uxBasePriority, then there is nothing else to
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* do, as uxBasePriority is always <= uxPriority. */
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if( uxNewPriority > pxTCB->uxBasePriority )
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{
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pxTCB->uxBasePriority = uxNewPriority;
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/* Remember the task's current priority before attempting to
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* change it. If the task's current priority is changed, it must
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* be done so before moving the task between task lists) in order
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* for the taskRESET_READY_PRIORITY() macro to function correctly. */
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uxPriorityUsedOnEntry = pxTCB->uxPriority;
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if( uxNewPriority > pxTCB->uxPriority )
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{
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pxTCB->uxPriority = uxNewPriority;
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/* Only reset the event list item value if the value is not
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* being used for anything else. */
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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. */
|
|
}
|
|
|
|
/* 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 its 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 );
|
|
}
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#else /* if ( configUSE_MUTEXES == 1 ) */
|
|
{
|
|
pxSavedPriority->uxPriority = pxTCB->uxPriority;
|
|
if ( uxNewPriority > pxTCB->uxPriority)
|
|
{
|
|
vTaskPrioritySet( NULL, uxNewPriority );
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
#if CONFIG_FREERTOS_SMP
|
|
taskEXIT_CRITICAL();
|
|
#else
|
|
taskEXIT_CRITICAL( &xKernelLock );
|
|
#endif
|
|
}
|
|
|
|
void prvTaskPriorityRestore( prvTaskSavedPriority_t * pxSavedPriority )
|
|
{
|
|
TCB_t * pxTCB;
|
|
UBaseType_t uxNewPriority;
|
|
UBaseType_t uxPriorityUsedOnEntry;
|
|
UBaseType_t uxBasePriorityUsedOnEntry;
|
|
BaseType_t xYieldRequired = pdFALSE;
|
|
|
|
#if CONFIG_FREERTOS_SMP
|
|
taskENTER_CRITICAL();
|
|
#else
|
|
taskENTER_CRITICAL( &xKernelLock );
|
|
#endif
|
|
{
|
|
pxTCB = prvGetTCBFromHandle( NULL );
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
/* If the saved uxBasePriority == the task's uxBasePriority, it means
|
|
* that prvTaskPriorityRaise() never raised the task's uxBasePriority.
|
|
* In that case, there is nothing else to do. */
|
|
if( pxSavedPriority->uxBasePriority != pxTCB->uxBasePriority )
|
|
{
|
|
uxBasePriorityUsedOnEntry = pxTCB->uxBasePriority;
|
|
pxTCB->uxBasePriority = pxSavedPriority->uxBasePriority;
|
|
|
|
/* Remember the task's current priority before attempting to
|
|
* change it. If the task's current priority is changed, it must
|
|
* be done so before moving the task between task lists in order
|
|
* for the taskRESET_READY_PRIORITY() macro to function correctly. */
|
|
uxPriorityUsedOnEntry = pxTCB->uxPriority;
|
|
|
|
/* Check if the task inherited a priority after prvTaskPriorityRaise().
|
|
* If this is the case, there is nothing else to do. The priority
|
|
* will be restored when the task disinherits its priority. */
|
|
if( pxTCB->uxPriority == uxBasePriorityUsedOnEntry )
|
|
{
|
|
if( pxTCB->uxMutexesHeld == 0 )
|
|
{
|
|
/* The task may have inherited a priority before prvTaskPriorityRaise()
|
|
* then disinherited a priority after prvTaskPriorityRaise().
|
|
* Thus we need set the uxPriority to the saved base priority
|
|
* so that the task's priority gets restored to the priority
|
|
* before any inheritance or raising. */
|
|
pxTCB->uxPriority = pxSavedPriority->uxBasePriority;
|
|
}
|
|
else
|
|
{
|
|
/* The task may have inherited a priority before prvTaskPriorityRaise()
|
|
* was called. Thus, we need to restore uxPriority to the
|
|
* "saved uxPriority" so that the task still retains that
|
|
* inherited priority. */
|
|
pxTCB->uxPriority = pxSavedPriority->uxPriority;
|
|
}
|
|
uxNewPriority = pxTCB->uxPriority;
|
|
|
|
if( uxNewPriority < uxPriorityUsedOnEntry )
|
|
{
|
|
/* 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;
|
|
}
|
|
|
|
/* 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. */
|
|
}
|
|
|
|
/* 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 its 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 );
|
|
}
|
|
prvAddTaskToReadyList( pxTCB );
|
|
}
|
|
|
|
if( xYieldRequired != pdFALSE )
|
|
{
|
|
taskYIELD_IF_USING_PREEMPTION();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#else /* if ( configUSE_MUTEXES == 1 ) */
|
|
{
|
|
vTaskPrioritySet( NULL, pxSavedPriority->uxPriority );
|
|
}
|
|
#endif
|
|
}
|
|
#if CONFIG_FREERTOS_SMP
|
|
taskEXIT_CRITICAL();
|
|
#else
|
|
taskEXIT_CRITICAL( &xKernelLock );
|
|
#endif
|
|
}
|
|
|
|
#endif // ( INCLUDE_vTaskPrioritySet == 1 )
|