diff options
Diffstat (limited to 'Source/tasks.c')
| -rw-r--r-- | Source/tasks.c | 157 |
1 files changed, 128 insertions, 29 deletions
diff --git a/Source/tasks.c b/Source/tasks.c index e572f5c09..7ed5637a1 100644 --- a/Source/tasks.c +++ b/Source/tasks.c @@ -229,10 +229,6 @@ Changes since V4.3.1: #define configMAX_TASK_NAME_LEN 16
#endif
-#ifndef INCLUDE_xTaskGetCurrentTaskHandle
- #define INCLUDE_xTaskGetCurrentTaskHandle 0
-#endif
-
#ifndef configIDLE_SHOULD_YIELD
#define configIDLE_SHOULD_YIELD 1
#endif
@@ -261,9 +257,16 @@ typedef struct tskTaskControlBlock xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
- unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
- unsigned portSHORT usStackDepth; /*< Total depth of the stack (when empty). This is defined as the number of variables the stack can hold, not the number of bytes. */
+
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
+ #endif
+
+ #if ( configUSE_MUTEXES == 1 )
+ unsigned portBASE_TYPE uxBasePriority;
+ #endif
+
} tskTCB;
/*lint -e956 */
@@ -429,7 +432,7 @@ register tskTCB *pxTCB; \ * Utility to ready a TCB for a given task. Mainly just copies the parameters
* into the TCB structure.
*/
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
/*
* Utility to ready all the lists used by the scheduler. This is called
@@ -485,7 +488,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ); */
#if ( configUSE_TRACE_FACILITY == 1 )
- static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
+ static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
#endif
@@ -496,7 +499,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ); */
#if ( configUSE_TRACE_FACILITY == 1 )
- unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte );
+ unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
#endif
@@ -524,7 +527,9 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR {
signed portBASE_TYPE xReturn;
tskTCB * pxNewTCB;
-static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
+#if ( configUSE_TRACE_FACILITY == 1 )
+ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
+#endif
/* Allocate the memory required by the TCB and stack for the new task.
checking that the allocation was successful. */
@@ -535,7 +540,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat portSTACK_TYPE *pxTopOfStack;
/* Setup the newly allocated TCB with the initial state of the task. */
- prvInitialiseTCBVariables( pxNewTCB, usStackDepth, pcName, uxPriority );
+ prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
/* Calculate the top of stack address. This depends on whether the
stack grows from high memory to low (as per the 80x86) or visa versa.
@@ -543,7 +548,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat required by the port. */
#if portSTACK_GROWTH < 0
{
- pxTopOfStack = pxNewTCB->pxStack + ( pxNewTCB->usStackDepth - 1 );
+ pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
}
#else
{
@@ -593,9 +598,13 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat uxTopUsedPriority = pxNewTCB->uxPriority;
}
- /* Add a counter into the TCB for tracing only. */
- pxNewTCB->uxTCBNumber = uxTaskNumber;
- uxTaskNumber++;
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ {
+ /* Add a counter into the TCB for tracing only. */
+ pxNewTCB->uxTCBNumber = uxTaskNumber;
+ uxTaskNumber++;
+ }
+ #endif
prvAddTaskToReadyQueue( pxNewTCB );
@@ -695,7 +704,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat #if ( INCLUDE_vTaskDelayUntil == 1 )
- void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement )
+ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
{
portTickType xTimeToWake;
portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
@@ -867,13 +876,22 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat /* If null is passed in here then we are changing the
priority of the calling function. */
pxTCB = prvGetTCBFromHandle( pxTask );
- uxCurrentPriority = pxTCB->uxPriority;
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ uxCurrentPriority = pxTCB->uxBasePriority;
+ }
+ #else
+ {
+ uxCurrentPriority = pxTCB->uxPriority;
+ }
+ #endif
if( uxCurrentPriority != uxNewPriority )
{
/* The priority change may have readied a task of higher
priority than the calling task. */
- if( uxNewPriority > pxCurrentTCB->uxPriority )
+ if( uxNewPriority > uxCurrentPriority )
{
if( pxTask != NULL )
{
@@ -891,7 +909,26 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat xYieldRequired = pdTRUE;
}
- pxTCB->uxPriority = uxNewPriority;
+
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ /* Only change the priority being used if the task is not
+ currently using an inherited priority. */
+ if( pxTCB->uxBasePriority == pxTCB->uxPriority )
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+
+ /* The base priority gets set whatever. */
+ pxTCB->uxBasePriority = uxNewPriority;
+ }
+ #else
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+ #endif
+
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxNewPriority );
/* If the task is in the blocked or suspended list we need do
@@ -1051,7 +1088,7 @@ static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberat {
/* We cannot access the delayed or ready lists, so will hold this
task pending until the scheduler is resumed, at which point a
- yield will be preformed if necessary. */
+ yield will be performed if necessary. */
vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
}
}
@@ -1457,7 +1494,7 @@ void vTaskSwitchContext( void ) }
/*-----------------------------------------------------------*/
-void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait )
+void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
{
portTickType xTimeToWake;
@@ -1527,7 +1564,7 @@ portTickType xTimeToWake; }
/*-----------------------------------------------------------*/
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList *pxEventList )
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
{
tskTCB *pxUnblockedTCB;
portBASE_TYPE xReturn;
@@ -1574,14 +1611,14 @@ portBASE_TYPE xReturn; }
/*-----------------------------------------------------------*/
-void vTaskSetTimeOutState( xTimeOutType *pxTimeOut )
+void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
{
pxTimeOut->xOverflowCount = xNumOfOverflows;
pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/
-portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType * const pxTicksToWait )
+portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
{
portBASE_TYPE xReturn;
@@ -1701,10 +1738,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters ) -static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
{
- pxTCB->usStackDepth = usStackDepth;
-
/* Store the function name in the TCB. */
strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
@@ -1716,6 +1751,11 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStack }
pxTCB->uxPriority = uxPriority;
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ pxTCB->uxBasePriority = uxPriority;
+ }
+ #endif
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
vListInitialiseItem( &( pxTCB->xEventListItem ) );
@@ -1831,7 +1871,7 @@ tskTCB *pxNewTCB; #if ( configUSE_TRACE_FACILITY == 1 )
- static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
+ static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
{
volatile tskTCB *pxNextTCB, *pxFirstTCB;
static portCHAR pcStatusString[ 50 ];
@@ -1853,7 +1893,7 @@ tskTCB *pxNewTCB; /*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
- unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte )
+ unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
{
register unsigned portSHORT usCount = 0;
@@ -1933,4 +1973,63 @@ tskTCB *pxNewTCB; #endif
+#if ( configUSE_MUTEXES == 1 )
+
+ void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
+ {
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+ if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
+ {
+ /* Adjust the mutex holder state to account for its new priority. */
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
+
+ /* If the task being modified is in the read state it will need to
+ be moved in to a new list. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
+ {
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Inherit the priority before being moved into the new list. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+ else
+ {
+ /* Just inherit the priority. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ }
+ }
+ }
+
+#endif
+
+#if ( configUSE_MUTEXES == 1 )
+
+ void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
+ {
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+ if( pxMutexHolder != NULL )
+ {
+ if( pxTCB->uxPriority != pxTCB->uxBasePriority )
+ {
+ /* We must be the running task to be able to give the mutex back.
+ Remove ourselves from the ready list we currently appear in. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Disinherit the priority before adding ourselves into the new
+ ready list. */
+ pxTCB->uxPriority = pxTCB->uxBasePriority;
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+ }
+ }
+
+#endif
+
+
+
+
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