mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
4df3ff619e
- add hardware stack guard based on assist-debug module - enable hardware stack guard by default - disable hardware stack guard for freertos ci.release test - refactor rtos_int_enter/rtos_int_exit to change SP register inside them - fix panic_reason.h header for RISC-V - update docs to include information about the new feature
610 lines
25 KiB
C
610 lines
25 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "sdkconfig.h"
|
|
#include "freertos/idf_additions.h"
|
|
#include "esp_private/freertos_idf_additions_priv.h"
|
|
|
|
/**
|
|
* This file will be included in `tasks.c` file, thus, it is treated as a source
|
|
* file instead of a header file, and must NOT be included by any (other) file.
|
|
* This file is used to add additional functions to `tasks.c`. See the
|
|
* `esp_additions/include` directory of the headers that expose these `tasks.c`
|
|
* additional API.
|
|
*/
|
|
|
|
/* ------------------------------------------------- Static asserts ----------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
/**
|
|
* Both StaticTask_t and TCB_t structures are provided by FreeRTOS sources.
|
|
* This is just an additional check of the consistency of these structures.
|
|
*/
|
|
|
|
_Static_assert(offsetof( StaticTask_t, pxDummy6 ) == offsetof( TCB_t, pxStack ));
|
|
_Static_assert(offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfStack ));
|
|
|
|
/* ----------------------------------------------------- Newlib --------------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
/**
|
|
* @brief Get reentrancy structure of the current task
|
|
*
|
|
* - This funciton is required by newlib (when __DYNAMIC_REENT__ is enabled)
|
|
* - It will return a pointer to the current task's reent struct
|
|
* - If FreeRTOS is not running, it will return the global reent struct
|
|
*
|
|
* @return Pointer to a the (current taks's)/(globa) reent struct
|
|
*/
|
|
struct _reent *__getreent(void)
|
|
{
|
|
// No lock needed because if this changes, we won't be running anymore.
|
|
TCB_t *pxCurTask = xTaskGetCurrentTaskHandle();
|
|
struct _reent *ret;
|
|
if (pxCurTask == NULL) {
|
|
// No task running. Return global struct.
|
|
ret = _GLOBAL_REENT;
|
|
} else {
|
|
// We have a task; return its reentrant struct.
|
|
ret = &pxCurTask->xNewLib_reent;
|
|
}
|
|
return ret;
|
|
}
|
|
#endif // configUSE_NEWLIB_REENTRANT == 1
|
|
|
|
/* -------------------------------------------------- Task Snapshot ----------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
|
|
|
|
#include "freertos/task_snapshot.h"
|
|
|
|
/**
|
|
* @brief List of all task lists in FreeRTOS
|
|
*
|
|
* @note There are currently differing number of task list between SMP FreeRTOS and ESP-IDF FreeRTOS
|
|
*/
|
|
static List_t *non_ready_task_lists[] = {
|
|
#ifdef CONFIG_FREERTOS_SMP
|
|
&xPendingReadyList,
|
|
#else
|
|
&xPendingReadyList[0],
|
|
#ifndef CONFIG_FREERTOS_UNICORE
|
|
&xPendingReadyList[1],
|
|
#endif // CONFIG_FREERTOS_UNICORE
|
|
#endif //CONFIG_FREERTOS_SMP
|
|
&xDelayedTaskList1,
|
|
&xDelayedTaskList2,
|
|
#if( INCLUDE_vTaskDelete == 1 )
|
|
&xTasksWaitingTermination,
|
|
#endif
|
|
#if( INCLUDE_vTaskSuspend == 1 )
|
|
&xSuspendedTaskList,
|
|
#endif
|
|
};
|
|
|
|
/**
|
|
* @brief Get the next task list to traverse
|
|
*
|
|
* - Given a particular task list, this function returns the next task to traverse.
|
|
* - The task lists are returned in the following precedence
|
|
* - Ready lists (highest to lowers priority)
|
|
* - Pending ready list(s)
|
|
* - Delayed list 1
|
|
* - Delayed list 2
|
|
* - Waiting termination list
|
|
* - Suspended list
|
|
*
|
|
* @param pxCurTaskList Previously traversed task list (or NULL if obtaining the first task list)
|
|
* @return List_t* The next task list to traverse (or NULL of all task lists have been traversed)
|
|
*/
|
|
static List_t *pxGetNextTaskList(List_t *pxCurTaskList)
|
|
{
|
|
List_t *pxNextTaskList = NULL;
|
|
|
|
// No Current List. Start from the highest priority ready task list
|
|
if (pxCurTaskList == NULL)
|
|
{
|
|
pxNextTaskList = &pxReadyTasksLists[configMAX_PRIORITIES - 1];
|
|
}
|
|
// Current list is one of the ready task lists. Find the current priority, and return the next lower priority ready task list
|
|
else if (pxCurTaskList >= &pxReadyTasksLists[0] && pxCurTaskList <= &pxReadyTasksLists[configMAX_PRIORITIES - 1] )
|
|
{
|
|
// Find the current priority
|
|
int cur_priority;
|
|
for (cur_priority = configMAX_PRIORITIES - 1; cur_priority >= 0; cur_priority--) {
|
|
if (pxCurTaskList == &pxReadyTasksLists[cur_priority]) {
|
|
break;
|
|
}
|
|
}
|
|
// Return the ready task list at (cur_priority - 1), or the pending ready task list
|
|
if (cur_priority > 0)
|
|
{
|
|
pxNextTaskList = &pxReadyTasksLists[cur_priority - 1];
|
|
}
|
|
// We've reached the end of the Ready Task Lists. We get the next list from the non-ready task lists
|
|
else if (cur_priority == 0)
|
|
{
|
|
pxNextTaskList = non_ready_task_lists[0];
|
|
}
|
|
else
|
|
{
|
|
abort(); // This should never occur
|
|
}
|
|
}
|
|
|
|
// Current list is one of the non-ready task lists. Fetch the next non-ready task list
|
|
if (pxNextTaskList == NULL) {
|
|
int cur_list_idx;
|
|
const int num_non_ready_task_lists = (sizeof(non_ready_task_lists) / sizeof(List_t *));
|
|
// Note: - 1 so that if the current list is the last on non_ready_task_lists[], the next list will return NULL
|
|
for (cur_list_idx = 0; cur_list_idx < num_non_ready_task_lists - 1; cur_list_idx++) {
|
|
if (pxCurTaskList == non_ready_task_lists[cur_list_idx]) {
|
|
pxNextTaskList = non_ready_task_lists[cur_list_idx + 1];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
return pxNextTaskList;
|
|
}
|
|
|
|
TaskHandle_t pxTaskGetNext( TaskHandle_t pxTask )
|
|
{
|
|
TCB_t *pxTCB = (TCB_t *)pxTask;
|
|
// Check current task is valid
|
|
if (pxTCB != NULL && !portVALID_TCB_MEM(pxTCB)) {
|
|
return NULL;
|
|
}
|
|
|
|
List_t *pxCurTaskList;
|
|
const ListItem_t *pxCurListItem;
|
|
if (pxTCB == NULL) {
|
|
// Starting traversal for the first time
|
|
pxCurTaskList = pxGetNextTaskList(NULL);
|
|
pxCurListItem = listGET_END_MARKER(pxCurTaskList);
|
|
} else {
|
|
// Continuing traversal
|
|
pxCurTaskList = listLIST_ITEM_CONTAINER(&pxTCB->xStateListItem);
|
|
pxCurListItem = &pxTCB->xStateListItem;
|
|
}
|
|
|
|
ListItem_t *pxNextListItem = NULL;
|
|
if (pxCurListItem->pxNext == listGET_END_MARKER(pxCurTaskList)) {
|
|
List_t *pxNextTaskList = pxGetNextTaskList(pxCurTaskList);
|
|
while (pxNextTaskList != NULL) {
|
|
if (!listLIST_IS_EMPTY(pxNextTaskList)) {
|
|
// Get the first item in the next task list
|
|
pxNextListItem = listGET_HEAD_ENTRY(pxNextTaskList);
|
|
break;
|
|
}
|
|
// Task list is empty. Get the next task list
|
|
pxNextTaskList = pxGetNextTaskList(pxNextTaskList);
|
|
}
|
|
} else {
|
|
//There are still more items in the current task list. Get the next item
|
|
pxNextListItem = listGET_NEXT(pxCurListItem);
|
|
}
|
|
|
|
TCB_t *pxNextTCB;
|
|
if (pxNextListItem == NULL) {
|
|
pxNextTCB = NULL;
|
|
} else {
|
|
pxNextTCB = (TCB_t *)listGET_LIST_ITEM_OWNER(pxNextListItem);
|
|
}
|
|
|
|
return pxNextTCB;
|
|
}
|
|
|
|
BaseType_t vTaskGetSnapshot( TaskHandle_t pxTask, TaskSnapshot_t *pxTaskSnapshot )
|
|
{
|
|
if (portVALID_TCB_MEM(pxTask) == false || pxTaskSnapshot == NULL) {
|
|
return pdFALSE;
|
|
}
|
|
|
|
TCB_t *pxTCB = (TCB_t *)pxTask;
|
|
pxTaskSnapshot->pxTCB = pxTCB;
|
|
pxTaskSnapshot->pxTopOfStack = (StackType_t *)pxTCB->pxTopOfStack;
|
|
pxTaskSnapshot->pxEndOfStack = (StackType_t *)pxTCB->pxEndOfStack;
|
|
return pdTRUE;
|
|
}
|
|
|
|
UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray, const UBaseType_t uxArrayLength, UBaseType_t * const pxTCBSize )
|
|
{
|
|
UBaseType_t uxArrayNumFilled = 0;
|
|
|
|
//Traverse all of the tasks lists
|
|
List_t *pxCurTaskList = pxGetNextTaskList(NULL); //Get the first task list
|
|
while (pxCurTaskList != NULL && uxArrayNumFilled < uxArrayLength) {
|
|
if (!listLIST_IS_EMPTY(pxCurTaskList)) {
|
|
const ListItem_t *pxCurListItem;
|
|
//Walk each task on the current task list
|
|
pxCurListItem = listGET_HEAD_ENTRY(pxCurTaskList);
|
|
while (pxCurListItem != listGET_END_MARKER(pxCurTaskList)) {
|
|
TCB_t *pxTCB = (TCB_t *)listGET_LIST_ITEM_OWNER(pxCurListItem);
|
|
vTaskGetSnapshot((TaskHandle_t)pxTCB, &pxTaskSnapshotArray[uxArrayNumFilled]);
|
|
uxArrayNumFilled++;
|
|
if (!(uxArrayNumFilled < uxArrayLength)) {
|
|
break;
|
|
}
|
|
pxCurListItem = listGET_NEXT(pxCurListItem);
|
|
}
|
|
}
|
|
//Get the next task list
|
|
pxCurTaskList = pxGetNextTaskList(pxCurTaskList);
|
|
}
|
|
|
|
*pxTCBSize = sizeof(TCB_t);
|
|
return uxArrayNumFilled;
|
|
}
|
|
#endif // CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
|
|
|
|
/* ----------------------------------------------------- OpenOCD -------------------------------------------------------
|
|
*
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
#if CONFIG_FREERTOS_DEBUG_OCDAWARE
|
|
|
|
/**
|
|
* Debug param indexes. DO NOT change the order. OpenOCD uses the same indexes
|
|
* Entries in FreeRTOS_openocd_params must match the order of these indexes
|
|
*/
|
|
enum {
|
|
ESP_FREERTOS_DEBUG_TABLE_SIZE = 0,
|
|
ESP_FREERTOS_DEBUG_TABLE_VERSION,
|
|
ESP_FREERTOS_DEBUG_KERNEL_VER_MAJOR,
|
|
ESP_FREERTOS_DEBUG_KERNEL_VER_MINOR,
|
|
ESP_FREERTOS_DEBUG_KERNEL_VER_BUILD,
|
|
ESP_FREERTOS_DEBUG_UX_TOP_USED_PIORITY,
|
|
ESP_FREERTOS_DEBUG_PX_TOP_OF_STACK,
|
|
ESP_FREERTOS_DEBUG_PC_TASK_NAME,
|
|
/* New entries must be inserted here */
|
|
ESP_FREERTOS_DEBUG_TABLE_END,
|
|
};
|
|
|
|
const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ESP_FREERTOS_DEBUG_TABLE_END] = {
|
|
ESP_FREERTOS_DEBUG_TABLE_END, /* table size */
|
|
1, /* table version */
|
|
tskKERNEL_VERSION_MAJOR,
|
|
tskKERNEL_VERSION_MINOR,
|
|
tskKERNEL_VERSION_BUILD,
|
|
configMAX_PRIORITIES - 1, /* uxTopUsedPriority */
|
|
offsetof(TCB_t, pxTopOfStack), /* thread_stack_offset; */
|
|
offsetof(TCB_t, pcTaskName), /* thread_name_offset; */
|
|
};
|
|
|
|
#endif // CONFIG_FREERTOS_DEBUG_OCDAWARE
|
|
|
|
/* -------------------------------------------- FreeRTOS IDF API Additions ---------------------------------------------
|
|
* FreeRTOS related API that were added by IDF
|
|
* ------------------------------------------------------------------------------------------------------------------ */
|
|
|
|
#if CONFIG_FREERTOS_SMP
|
|
_Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "CONFIG_FREERTOS_NO_AFFINITY must be the same as tskNO_AFFINITY");
|
|
|
|
BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
|
|
const char * const pcName,
|
|
const uint32_t usStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
TaskHandle_t * const pxCreatedTask,
|
|
const BaseType_t xCoreID)
|
|
{
|
|
BaseType_t ret;
|
|
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
|
|
{
|
|
// Convert xCoreID into an affinity mask
|
|
UBaseType_t uxCoreAffinityMask;
|
|
if (xCoreID == tskNO_AFFINITY) {
|
|
uxCoreAffinityMask = tskNO_AFFINITY;
|
|
} else {
|
|
uxCoreAffinityMask = (1 << xCoreID);
|
|
}
|
|
ret = xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, uxCoreAffinityMask, pxCreatedTask);
|
|
}
|
|
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
|
|
{
|
|
ret = xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
|
|
}
|
|
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
|
|
return ret;
|
|
}
|
|
|
|
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
|
|
const char * const pcName,
|
|
const uint32_t ulStackDepth,
|
|
void * const pvParameters,
|
|
UBaseType_t uxPriority,
|
|
StackType_t * const puxStackBuffer,
|
|
StaticTask_t * const pxTaskBuffer,
|
|
const BaseType_t xCoreID)
|
|
{
|
|
TaskHandle_t ret;
|
|
#if ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) )
|
|
{
|
|
// Convert xCoreID into an affinity mask
|
|
UBaseType_t uxCoreAffinityMask;
|
|
if (xCoreID == tskNO_AFFINITY) {
|
|
uxCoreAffinityMask = tskNO_AFFINITY;
|
|
} else {
|
|
uxCoreAffinityMask = (1 << xCoreID);
|
|
}
|
|
ret = xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, uxCoreAffinityMask);
|
|
}
|
|
#else /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
|
|
{
|
|
ret = xTaskCreateStatic(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer);
|
|
}
|
|
#endif /* ( ( configUSE_CORE_AFFINITY == 1 ) && ( configNUM_CORES > 1 ) ) */
|
|
return ret;
|
|
}
|
|
#endif /* configSUPPORT_STATIC_ALLOCATION */
|
|
|
|
TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
|
|
{
|
|
TaskHandle_t xTaskHandleTemp;
|
|
assert(xCoreID >= 0 && xCoreID < configNUM_CORES);
|
|
taskENTER_CRITICAL();
|
|
xTaskHandleTemp = (TaskHandle_t) pxCurrentTCBs[xCoreID];
|
|
taskEXIT_CRITICAL();
|
|
return xTaskHandleTemp;
|
|
}
|
|
|
|
TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID )
|
|
{
|
|
assert(xCoreID >= 0 && xCoreID < configNUM_CORES);
|
|
return (TaskHandle_t) xIdleTaskHandle[xCoreID];
|
|
}
|
|
|
|
BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
|
|
{
|
|
taskENTER_CRITICAL();
|
|
UBaseType_t uxCoreAffinityMask;
|
|
#if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
|
|
TCB_t *pxTCB = prvGetTCBFromHandle( xTask );
|
|
uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
|
|
#else
|
|
uxCoreAffinityMask = tskNO_AFFINITY;
|
|
#endif
|
|
taskEXIT_CRITICAL();
|
|
BaseType_t ret;
|
|
// If the task is not pinned to a particular core, treat it as tskNO_AFFINITY
|
|
if (uxCoreAffinityMask & (uxCoreAffinityMask - 1)) { // If more than one bit set
|
|
ret = tskNO_AFFINITY;
|
|
} else {
|
|
int index_plus_one = __builtin_ffs(uxCoreAffinityMask);
|
|
assert(index_plus_one >= 1);
|
|
ret = index_plus_one - 1;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
#if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
|
|
void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback)
|
|
{
|
|
// Verify that the offsets of pvThreadLocalStoragePointers and pvDummy15 match.
|
|
// pvDummy15 is part of the StaticTask_t struct and is used to access the TLSPs
|
|
// while deletion.
|
|
_Static_assert(offsetof( StaticTask_t, pvDummy15 ) == offsetof( TCB_t, pvThreadLocalStoragePointers ), "Offset of pvDummy15 must match the offset of pvThreadLocalStoragePointers");
|
|
|
|
//Set the local storage pointer first
|
|
vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue );
|
|
|
|
//Set the deletion callback at an offset of configNUM_THREAD_LOCAL_STORAGE_POINTERS/2
|
|
vTaskSetThreadLocalStoragePointer( xTaskToSet, ( xIndex + ( configNUM_THREAD_LOCAL_STORAGE_POINTERS / 2 ) ), pvDelCallback );
|
|
}
|
|
#endif // CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS
|
|
|
|
#endif // CONFIG_FREERTOS_SMP
|
|
|
|
#if ( INCLUDE_vTaskPrioritySet == 1 )
|
|
|
|
void prvTaskPriorityRaise( prvTaskSavedPriority_t * pxSavedPriority, UBaseType_t uxNewPriority )
|
|
{
|
|
TCB_t * pxTCB;
|
|
UBaseType_t uxPriorityUsedOnEntry;
|
|
|
|
configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
|
|
|
|
/* Ensure the new priority is valid. */
|
|
if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
|
|
{
|
|
uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
|
|
}
|
|
|
|
#if CONFIG_FREERTOS_SMP
|
|
taskENTER_CRITICAL();
|
|
#else
|
|
taskENTER_CRITICAL( &xKernelLock );
|
|
#endif
|
|
{
|
|
pxTCB = prvGetTCBFromHandle( NULL );
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
{
|
|
pxSavedPriority->uxPriority = pxTCB->uxPriority;
|
|
pxSavedPriority->uxBasePriority = pxTCB->uxBasePriority;
|
|
|
|
/* If uxNewPriority < uxBasePriority, then there is nothing else to
|
|
* do, as uxBasePriority is always <= uxPriority. */
|
|
if( uxNewPriority > pxTCB->uxBasePriority )
|
|
{
|
|
pxTCB->uxBasePriority = uxNewPriority;
|
|
|
|
/* 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;
|
|
|
|
if( uxNewPriority > pxTCB->uxPriority )
|
|
{
|
|
pxTCB->uxPriority = uxNewPriority;
|
|
|
|
/* 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 );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#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 )
|