First version that includes the FreeRTOS-MPU implementation.
This commit is contained in:
Richard Barry
parent
6b7397ee92
commit
291ea26bfe
@ -3,14 +3,14 @@
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation and modified by the FreeRTOS exception.
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**NOTE** The exception to the GPL is included to allow you to distribute a
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combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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license details.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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@ -24,10 +24,10 @@
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***************************************************************************
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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@ -66,7 +66,7 @@ extern "C" {
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* MACROS AND DEFINITIONS
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*----------------------------------------------------------*/
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#define tskKERNEL_VERSION_NUMBER "V5.4.0"
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#define tskKERNEL_VERSION_NUMBER "V5.4.2"
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/**
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* task. h
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@ -85,10 +85,34 @@ typedef void * xTaskHandle;
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*/
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typedef struct xTIME_OUT
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{
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portBASE_TYPE xOverflowCount;
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portTickType xTimeOnEntering;
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portBASE_TYPE xOverflowCount;
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portTickType xTimeOnEntering;
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} xTimeOutType;
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/*
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* Defines the memory ranges allocated to the task when an MPU is used.
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*/
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typedef struct xMEMORY_REGION
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{
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void *pvBaseAddress;
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unsigned portLONG ulLengthInBytes;
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unsigned portLONG ulParameters;
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} xMemoryRegion;
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/*
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* Parameters required to create an MPU protected task.
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*/
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typedef struct xTASK_PARAMTERS
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{
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pdTASK_CODE pvTaskCode;
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const signed portCHAR * const pcName;
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unsigned portSHORT usStackDepth;
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void *pvParameters;
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unsigned portBASE_TYPE uxPriority;
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portSTACK_TYPE *puxStackBuffer;
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xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
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} xTaskParameters;
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/*
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* Defines the priority used by the idle task. This must not be modified.
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*
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@ -167,15 +191,20 @@ typedef struct xTIME_OUT
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* task. h
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*<pre>
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portBASE_TYPE xTaskCreate(
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pdTASK_CODE pvTaskCode,
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const portCHAR * const pcName,
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unsigned portSHORT usStackDepth,
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void *pvParameters,
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unsigned portBASE_TYPE uxPriority,
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xTaskHandle *pvCreatedTask
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);</pre>
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pdTASK_CODE pvTaskCode,
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const portCHAR * const pcName,
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unsigned portSHORT usStackDepth,
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void *pvParameters,
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unsigned portBASE_TYPE uxPriority,
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xTaskHandle *pvCreatedTask
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);</pre>
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*
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* Create a new task and add it to the list of tasks that are ready to run.
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*
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* xTaskCreate() can only be used to create a task that has unrestricted
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* access to the entire microcontroller memory map. Systems that include MPU
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* support can alternatively create an MPU constrained task using
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* xTaskCreateRestricted().
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*
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* @param pvTaskCode Pointer to the task entry function. Tasks
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* must be implemented to never return (i.e. continuous loop).
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@ -192,7 +221,11 @@ typedef struct xTIME_OUT
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* @param pvParameters Pointer that will be used as the parameter for the task
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* being created.
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*
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* @param uxPriority The priority at which the task should run.
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* @param uxPriority The priority at which the task should run. Systems that
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* include MPU support can optionally create tasks in a privileged (system)
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* mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
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* example, to create a privileged task at priority 2 the uxPriority parameter
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* should be set to ( 2 | portPRIVILEGE_BIT ).
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*
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* @param pvCreatedTask Used to pass back a handle by which the created task
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* can be referenced.
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@ -205,10 +238,10 @@ typedef struct xTIME_OUT
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// Task to be created.
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void vTaskCode( void * pvParameters )
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{
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for( ;; )
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{
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// Task code goes here.
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}
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for( ;; )
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{
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// Task code goes here.
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}
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}
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// Function that creates a task.
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@ -217,20 +250,141 @@ typedef struct xTIME_OUT
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static unsigned char ucParameterToPass;
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xTaskHandle xHandle;
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// Create the task, storing the handle. Note that the passed parameter ucParameterToPass
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// must exist for the lifetime of the task, so in this case is declared static. If it was just an
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// an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
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// the new time attempts to access it.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
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// Create the task, storing the handle. Note that the passed parameter ucParameterToPass
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// must exist for the lifetime of the task, so in this case is declared static. If it was just an
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// an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
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// the new time attempts to access it.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
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// Use the handle to delete the task.
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vTaskDelete( xHandle );
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// Use the handle to delete the task.
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vTaskDelete( xHandle );
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}
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</pre>
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* \defgroup xTaskCreate xTaskCreate
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* \ingroup Tasks
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*/
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signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask );
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#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )
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/**
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* task. h
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*<pre>
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portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle pxCreatedTask );</pre>
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*
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* xTaskCreateRestricted() should only be used in systems that include an MPU
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* implementation.
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*
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* Create a new task and add it to the list of tasks that are ready to run.
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* The function parameters define the memory regions and associated access
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* permissions allocated to the task.
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*
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* @param pxTaskDefinition Pointer to a structure that contains a member
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* for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
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* documentation) plus an optional stack buffer and the memory region
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* definitions.
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*
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* @param pcName A descriptive name for the task. This is mainly used to
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* facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
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* is 16.
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*
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* @param pxCreatedTask Used to pass back a handle by which the created task
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* can be referenced.
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*
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* @return pdPASS if the task was successfully created and added to a ready
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* list, otherwise an error code defined in the file errors. h
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*
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* Example usage:
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<pre>
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// Create an xTaskParameters structure that defines the task to be created.
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static const xTaskParameters xCheckTaskParameters =
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{
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vATask, // pvTaskCode - the function that implements the task.
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"ATask", // pcName - just a text name for the task to assist debugging.
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100, // usStackDepth - the stack size DEFINED IN WORDS.
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NULL, // pvParameters - passed into the task function as the function parameters.
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( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
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cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
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// xRegions - Allocate up to three separate memory regions for access by
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// the task, with appropriate access permissions. Different processors have
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// different memory alignment requirements - refer to the FreeRTOS documentation
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// for full information.
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{
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// Base address Length Parameters
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{ cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
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{ cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
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{ cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
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}
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};
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int main( void )
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{
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xTaskHandle xHandle;
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// Create a task from the const structure defined above. The task handle
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// is requested (the second parameter is not NULL) but in this case just for
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// demonstration purposes as its not actually used.
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xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
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// Start the scheduler.
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vTaskStartScheduler();
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// Will only get here if there was insufficient memory to create the idle
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// task.
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for( ;; );
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}
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</pre>
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* \defgroup xTaskCreateRestricted xTaskCreateRestricted
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* \ingroup Tasks
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*/
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#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) )
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/**
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* task. h
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*<pre>
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void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );</pre>
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*
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* Memory regions are assigned to a restricted task when the task is created by
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* a call to xTaskCreateRestricted(). These regions can be redefined using
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* vTaskAllocateMPURegions().
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*
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* @param xTask The handle of the task being updated.
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*
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* @param xRegions A pointer to an xMemoryRegion structure that contains the
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* new memory region definitions.
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*
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* Example usage:
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<pre>
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// Define an array of xMemoryRegion structures that configures an MPU region
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// allowing read/write access for 1024 bytes starting at the beginning of the
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// ucOneKByte array. The other two of the maximum 3 definable regions are
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// unused so set to zero.
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static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
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{
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// Base address Length Parameters
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{ ucOneKByte, 1024, portMPU_REGION_READ_WRITE },
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{ 0, 0, 0 },
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{ 0, 0, 0 }
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};
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void vATask( void *pvParameters )
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{
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// This task was created such that it has access to certain regions of
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// memory as defined by the MPU configuration. At some point it is
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// desired that these MPU regions are replaced with that defined in the
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// xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
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// for this purpose. NULL is used as the task handle to indicate that this
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// function should modify the MPU regions of the calling task.
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vTaskAllocateMPURegions( NULL, xAltRegions );
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// Now the task can continue its function, but from this point on can only
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// access its stack and the ucOneKByte array (unless any other statically
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// defined or shared regions have been declared elsewhere).
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}
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</pre>
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* \defgroup xTaskCreateRestricted xTaskCreateRestricted
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* \ingroup Tasks
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*/
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void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -261,17 +415,17 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR
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{
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xTaskHandle xHandle;
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// Create the task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// Create the task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// Use the handle to delete the task.
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vTaskDelete( xHandle );
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// Use the handle to delete the task.
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vTaskDelete( xHandle );
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}
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</pre>
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* \defgroup vTaskDelete vTaskDelete
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* \ingroup Tasks
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*/
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void vTaskDelete( xTaskHandle pxTask );
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void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
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/*-----------------------------------------------------------
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@ -315,18 +469,18 @@ void vTaskDelete( xTaskHandle pxTask );
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// Block for 500ms.
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const portTickType xDelay = 500 / portTICK_RATE_MS;
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for( ;; )
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{
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// Simply toggle the LED every 500ms, blocking between each toggle.
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vToggleLED();
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vTaskDelay( xDelay );
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}
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for( ;; )
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{
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// Simply toggle the LED every 500ms, blocking between each toggle.
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vToggleLED();
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vTaskDelay( xDelay );
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}
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}
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* \defgroup vTaskDelay vTaskDelay
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* \ingroup TaskCtrl
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*/
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void vTaskDelay( portTickType xTicksToDelay );
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void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -371,21 +525,21 @@ void vTaskDelay( portTickType xTicksToDelay );
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portTickType xLastWakeTime;
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const portTickType xFrequency = 10;
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// Initialise the xLastWakeTime variable with the current time.
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xLastWakeTime = xTaskGetTickCount ();
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for( ;; )
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{
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// Wait for the next cycle.
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vTaskDelayUntil( &xLastWakeTime, xFrequency );
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// Initialise the xLastWakeTime variable with the current time.
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xLastWakeTime = xTaskGetTickCount ();
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for( ;; )
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{
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// Wait for the next cycle.
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vTaskDelayUntil( &xLastWakeTime, xFrequency );
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// Perform action here.
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}
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// Perform action here.
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}
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}
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</pre>
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* \defgroup vTaskDelayUntil vTaskDelayUntil
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* \ingroup TaskCtrl
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*/
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void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );
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void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -407,32 +561,32 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
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{
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xTaskHandle xHandle;
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// Create a task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// Create a task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// ...
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// ...
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// Use the handle to obtain the priority of the created task.
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// It was created with tskIDLE_PRIORITY, but may have changed
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// it itself.
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if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
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{
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// The task has changed it's priority.
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}
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// Use the handle to obtain the priority of the created task.
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// It was created with tskIDLE_PRIORITY, but may have changed
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// it itself.
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if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
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{
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// The task has changed it's priority.
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}
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// ...
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// ...
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// Is our priority higher than the created task?
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if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
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{
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// Our priority (obtained using NULL handle) is higher.
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}
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// Is our priority higher than the created task?
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if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
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{
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// Our priority (obtained using NULL handle) is higher.
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}
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}
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</pre>
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* \defgroup uxTaskPriorityGet uxTaskPriorityGet
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* \ingroup TaskCtrl
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*/
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unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
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unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -457,24 +611,24 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
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{
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xTaskHandle xHandle;
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// Create a task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// Create a task, storing the handle.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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// ...
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// ...
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// Use the handle to raise the priority of the created task.
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vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
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// Use the handle to raise the priority of the created task.
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vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
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// ...
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// ...
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// Use a NULL handle to raise our priority to the same value.
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vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
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// Use a NULL handle to raise our priority to the same value.
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vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
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}
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</pre>
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* \defgroup vTaskPrioritySet vTaskPrioritySet
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* \ingroup TaskCtrl
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*/
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void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
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void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -499,33 +653,33 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
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{
|
||||
xTaskHandle xHandle;
|
||||
|
||||
// Create a task, storing the handle.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
||||
// Create a task, storing the handle.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// Use the handle to suspend the created task.
|
||||
vTaskSuspend( xHandle );
|
||||
// Use the handle to suspend the created task.
|
||||
vTaskSuspend( xHandle );
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// The created task will not run during this period, unless
|
||||
// another task calls vTaskResume( xHandle ).
|
||||
// The created task will not run during this period, unless
|
||||
// another task calls vTaskResume( xHandle ).
|
||||
|
||||
//...
|
||||
//...
|
||||
|
||||
|
||||
// Suspend ourselves.
|
||||
vTaskSuspend( NULL );
|
||||
// Suspend ourselves.
|
||||
vTaskSuspend( NULL );
|
||||
|
||||
// We cannot get here unless another task calls vTaskResume
|
||||
// with our handle as the parameter.
|
||||
// We cannot get here unless another task calls vTaskResume
|
||||
// with our handle as the parameter.
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vTaskSuspend vTaskSuspend
|
||||
* \ingroup TaskCtrl
|
||||
*/
|
||||
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
|
||||
void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -548,33 +702,33 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend );
|
||||
{
|
||||
xTaskHandle xHandle;
|
||||
|
||||
// Create a task, storing the handle.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
||||
// Create a task, storing the handle.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// Use the handle to suspend the created task.
|
||||
vTaskSuspend( xHandle );
|
||||
// Use the handle to suspend the created task.
|
||||
vTaskSuspend( xHandle );
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// The created task will not run during this period, unless
|
||||
// another task calls vTaskResume( xHandle ).
|
||||
// The created task will not run during this period, unless
|
||||
// another task calls vTaskResume( xHandle ).
|
||||
|
||||
//...
|
||||
//...
|
||||
|
||||
|
||||
// Resume the suspended task ourselves.
|
||||
vTaskResume( xHandle );
|
||||
// Resume the suspended task ourselves.
|
||||
vTaskResume( xHandle );
|
||||
|
||||
// The created task will once again get microcontroller processing
|
||||
// time in accordance with it priority within the system.
|
||||
// The created task will once again get microcontroller processing
|
||||
// time in accordance with it priority within the system.
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vTaskResume vTaskResume
|
||||
* \ingroup TaskCtrl
|
||||
*/
|
||||
void vTaskResume( xTaskHandle pxTaskToResume );
|
||||
void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -594,7 +748,7 @@ void vTaskResume( xTaskHandle pxTaskToResume );
|
||||
* \defgroup vTaskResumeFromISR vTaskResumeFromISR
|
||||
* \ingroup TaskCtrl
|
||||
*/
|
||||
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume );
|
||||
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* SCHEDULER CONTROL
|
||||
@ -619,20 +773,20 @@ portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume );
|
||||
<pre>
|
||||
void vAFunction( void )
|
||||
{
|
||||
// Create at least one task before starting the kernel.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
// Create at least one task before starting the kernel.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
|
||||
// Start the real time kernel with preemption.
|
||||
vTaskStartScheduler ();
|
||||
// Start the real time kernel with preemption.
|
||||
vTaskStartScheduler ();
|
||||
|
||||
// Will not get here unless a task calls vTaskEndScheduler ()
|
||||
// Will not get here unless a task calls vTaskEndScheduler ()
|
||||
}
|
||||
</pre>
|
||||
*
|
||||
* \defgroup vTaskStartScheduler vTaskStartScheduler
|
||||
* \ingroup SchedulerControl
|
||||
*/
|
||||
void vTaskStartScheduler( void );
|
||||
void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -658,34 +812,34 @@ void vTaskStartScheduler( void );
|
||||
<pre>
|
||||
void vTaskCode( void * pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
|
||||
// At some point we want to end the real time kernel processing
|
||||
// so call ...
|
||||
vTaskEndScheduler ();
|
||||
}
|
||||
// At some point we want to end the real time kernel processing
|
||||
// so call ...
|
||||
vTaskEndScheduler ();
|
||||
}
|
||||
}
|
||||
|
||||
void vAFunction( void )
|
||||
{
|
||||
// Create at least one task before starting the kernel.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
// Create at least one task before starting the kernel.
|
||||
xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
|
||||
// Start the real time kernel with preemption.
|
||||
vTaskStartScheduler ();
|
||||
// Start the real time kernel with preemption.
|
||||
vTaskStartScheduler ();
|
||||
|
||||
// Will only get here when the vTaskCode () task has called
|
||||
// vTaskEndScheduler (). When we get here we are back to single task
|
||||
// execution.
|
||||
// Will only get here when the vTaskCode () task has called
|
||||
// vTaskEndScheduler (). When we get here we are back to single task
|
||||
// execution.
|
||||
}
|
||||
</pre>
|
||||
*
|
||||
* \defgroup vTaskEndScheduler vTaskEndScheduler
|
||||
* \ingroup SchedulerControl
|
||||
*/
|
||||
void vTaskEndScheduler( void );
|
||||
void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -706,37 +860,37 @@ void vTaskEndScheduler( void );
|
||||
<pre>
|
||||
void vTask1( void * pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// At some point the task wants to perform a long operation during
|
||||
// which it does not want to get swapped out. It cannot use
|
||||
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
||||
// operation may cause interrupts to be missed - including the
|
||||
// ticks.
|
||||
// At some point the task wants to perform a long operation during
|
||||
// which it does not want to get swapped out. It cannot use
|
||||
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
||||
// operation may cause interrupts to be missed - including the
|
||||
// ticks.
|
||||
|
||||
// Prevent the real time kernel swapping out the task.
|
||||
vTaskSuspendAll ();
|
||||
// Prevent the real time kernel swapping out the task.
|
||||
vTaskSuspendAll ();
|
||||
|
||||
// Perform the operation here. There is no need to use critical
|
||||
// sections as we have all the microcontroller processing time.
|
||||
// During this time interrupts will still operate and the kernel
|
||||
// tick count will be maintained.
|
||||
// Perform the operation here. There is no need to use critical
|
||||
// sections as we have all the microcontroller processing time.
|
||||
// During this time interrupts will still operate and the kernel
|
||||
// tick count will be maintained.
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// The operation is complete. Restart the kernel.
|
||||
xTaskResumeAll ();
|
||||
}
|
||||
// The operation is complete. Restart the kernel.
|
||||
xTaskResumeAll ();
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup vTaskSuspendAll vTaskSuspendAll
|
||||
* \ingroup SchedulerControl
|
||||
*/
|
||||
void vTaskSuspendAll( void );
|
||||
void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -747,48 +901,48 @@ void vTaskSuspendAll( void );
|
||||
* task is executing at any time.
|
||||
*
|
||||
* @return If resuming the scheduler caused a context switch then pdTRUE is
|
||||
* returned, otherwise pdFALSE is returned.
|
||||
* returned, otherwise pdFALSE is returned.
|
||||
*
|
||||
* Example usage:
|
||||
<pre>
|
||||
void vTask1( void * pvParameters )
|
||||
{
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
for( ;; )
|
||||
{
|
||||
// Task code goes here.
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// At some point the task wants to perform a long operation during
|
||||
// which it does not want to get swapped out. It cannot use
|
||||
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
||||
// operation may cause interrupts to be missed - including the
|
||||
// ticks.
|
||||
// At some point the task wants to perform a long operation during
|
||||
// which it does not want to get swapped out. It cannot use
|
||||
// taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
|
||||
// operation may cause interrupts to be missed - including the
|
||||
// ticks.
|
||||
|
||||
// Prevent the real time kernel swapping out the task.
|
||||
vTaskSuspendAll ();
|
||||
// Prevent the real time kernel swapping out the task.
|
||||
vTaskSuspendAll ();
|
||||
|
||||
// Perform the operation here. There is no need to use critical
|
||||
// sections as we have all the microcontroller processing time.
|
||||
// During this time interrupts will still operate and the real
|
||||
// time kernel tick count will be maintained.
|
||||
// Perform the operation here. There is no need to use critical
|
||||
// sections as we have all the microcontroller processing time.
|
||||
// During this time interrupts will still operate and the real
|
||||
// time kernel tick count will be maintained.
|
||||
|
||||
// ...
|
||||
// ...
|
||||
|
||||
// The operation is complete. Restart the kernel. We want to force
|
||||
// a context switch - but there is no point if resuming the scheduler
|
||||
// caused a context switch already.
|
||||
if( !xTaskResumeAll () )
|
||||
{
|
||||
taskYIELD ();
|
||||
}
|
||||
}
|
||||
// The operation is complete. Restart the kernel. We want to force
|
||||
// a context switch - but there is no point if resuming the scheduler
|
||||
// caused a context switch already.
|
||||
if( !xTaskResumeAll () )
|
||||
{
|
||||
taskYIELD ();
|
||||
}
|
||||
}
|
||||
}
|
||||
</pre>
|
||||
* \defgroup xTaskResumeAll xTaskResumeAll
|
||||
* \ingroup SchedulerControl
|
||||
*/
|
||||
signed portBASE_TYPE xTaskResumeAll( void );
|
||||
signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -799,7 +953,7 @@ signed portBASE_TYPE xTaskResumeAll( void );
|
||||
* is in any other state.
|
||||
*
|
||||
*/
|
||||
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );
|
||||
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* TASK UTILITIES
|
||||
@ -814,7 +968,7 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );
|
||||
* \page xTaskGetTickCount xTaskGetTickCount
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
portTickType xTaskGetTickCount( void );
|
||||
portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -828,7 +982,7 @@ portTickType xTaskGetTickCount( void );
|
||||
* \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void );
|
||||
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -854,7 +1008,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void );
|
||||
* \page vTaskList vTaskList
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
void vTaskList( signed portCHAR *pcWriteBuffer );
|
||||
void vTaskList( signed portCHAR *pcWriteBuffer ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -886,7 +1040,7 @@ void vTaskList( signed portCHAR *pcWriteBuffer );
|
||||
* \page vTaskGetRunTimeStats vTaskGetRunTimeStats
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer );
|
||||
void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -907,7 +1061,7 @@ void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer );
|
||||
* \page vTaskStartTrace vTaskStartTrace
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize );
|
||||
void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task. h
|
||||
@ -920,7 +1074,7 @@ void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize
|
||||
* \page usTaskEndTrace usTaskEndTrace
|
||||
* \ingroup TaskUtils
|
||||
*/
|
||||
unsigned portLONG ulTaskEndTrace( void );
|
||||
unsigned portLONG ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task.h
|
||||
@ -940,7 +1094,7 @@ unsigned portLONG ulTaskEndTrace( void );
|
||||
* @return The smallest amount of free stack space there has been (in bytes)
|
||||
* since the task referenced by xTask was created.
|
||||
*/
|
||||
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
|
||||
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task.h
|
||||
@ -950,7 +1104,7 @@ unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
|
||||
* Passing xTask as NULL has the effect of setting the calling tasks hook
|
||||
* function.
|
||||
*/
|
||||
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
|
||||
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task.h
|
||||
@ -958,7 +1112,7 @@ void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunct
|
||||
*
|
||||
* Returns the pxHookFunction value assigned to the task xTask.
|
||||
*/
|
||||
pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask );
|
||||
pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/**
|
||||
* task.h
|
||||
@ -970,7 +1124,7 @@ pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask );
|
||||
* pvParameter is passed to the hook function for the task to interpret as it
|
||||
* wants.
|
||||
*/
|
||||
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter );
|
||||
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
|
||||
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
@ -987,7 +1141,7 @@ portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter
|
||||
* for a finite period required removing from a blocked list and placing on
|
||||
* a ready list.
|
||||
*/
|
||||
void vTaskIncrementTick( void );
|
||||
void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
||||
@ -1010,7 +1164,7 @@ void vTaskIncrementTick( void );
|
||||
* portTICK_RATE_MS can be used to convert kernel ticks into a real time
|
||||
* period.
|
||||
*/
|
||||
void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait );
|
||||
void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
||||
@ -1027,7 +1181,7 @@ void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicks
|
||||
* @return pdTRUE if the task being removed has a higher priority than the task
|
||||
* making the call, otherwise pdFALSE.
|
||||
*/
|
||||
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList );
|
||||
signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
|
||||
@ -1040,7 +1194,7 @@ signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
|
||||
* Empties the ready and delayed queues of task control blocks, freeing the
|
||||
* memory allocated for the task control block and task stacks as it goes.
|
||||
*/
|
||||
void vTaskCleanUpResources( void );
|
||||
void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
|
||||
@ -1050,47 +1204,53 @@ void vTaskCleanUpResources( void );
|
||||
* Sets the pointer to the current TCB to the TCB of the highest priority task
|
||||
* that is ready to run.
|
||||
*/
|
||||
void vTaskSwitchContext( void );
|
||||
void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Return the handle of the calling task.
|
||||
*/
|
||||
xTaskHandle xTaskGetCurrentTaskHandle( void );
|
||||
xTaskHandle xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Capture the current time status for future reference.
|
||||
*/
|
||||
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut );
|
||||
void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Compare the time status now with that previously captured to see if the
|
||||
* timeout has expired.
|
||||
*/
|
||||
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait );
|
||||
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Shortcut used by the queue implementation to prevent unnecessary call to
|
||||
* taskYIELD();
|
||||
*/
|
||||
void vTaskMissedYield( void );
|
||||
void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Returns the scheduler state as taskSCHEDULER_RUNNING,
|
||||
* taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
|
||||
*/
|
||||
portBASE_TYPE xTaskGetSchedulerState( void );
|
||||
portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Raises the priority of the mutex holder to that of the calling task should
|
||||
* the mutex holder have a priority less than the calling task.
|
||||
*/
|
||||
void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder );
|
||||
void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Set the priority of a task back to its proper priority in the case that it
|
||||
* inherited a higher priority while it was holding a semaphore.
|
||||
*/
|
||||
void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder );
|
||||
void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
|
||||
|
||||
/*
|
||||
* Generic version of the task creation function which is in turn called by the
|
||||
* xTaskCreate() and xTaskCreateProtected() macros.
|
||||
*/
|
||||
signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user