diff --git a/Source/include/task.h b/Source/include/task.h
index e0f156bc5c..9eff36f995 100644
--- a/Source/include/task.h
+++ b/Source/include/task.h
@@ -3,14 +3,14 @@
This file is part of the FreeRTOS distribution.
- FreeRTOS is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License (version 2) as published by the
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation and modified by the FreeRTOS exception.
**NOTE** The exception to the GPL is included to allow you to distribute a
- combined work that includes FreeRTOS without being obliged to provide the
- source code for proprietary components outside of the FreeRTOS kernel.
- Alternative commercial license and support terms are also available upon
- request. See the licensing section of http://www.FreeRTOS.org for full
+ combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ Alternative commercial license and support terms are also available upon
+ request. See the licensing section of http://www.FreeRTOS.org for full
license details.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
@@ -24,10 +24,10 @@
***************************************************************************
- * *
- * Looking for a quick start? Then check out the FreeRTOS eBook! *
- * See http://www.FreeRTOS.org/Documentation for details *
- * *
+ * *
+ * Looking for a quick start? Then check out the FreeRTOS eBook! *
+ * See http://www.FreeRTOS.org/Documentation for details *
+ * *
***************************************************************************
1 tab == 4 spaces!
@@ -66,7 +66,7 @@ extern "C" {
* MACROS AND DEFINITIONS
*----------------------------------------------------------*/
-#define tskKERNEL_VERSION_NUMBER "V5.4.0"
+#define tskKERNEL_VERSION_NUMBER "V5.4.2"
/**
* task. h
@@ -85,10 +85,34 @@ typedef void * xTaskHandle;
*/
typedef struct xTIME_OUT
{
- portBASE_TYPE xOverflowCount;
- portTickType xTimeOnEntering;
+ portBASE_TYPE xOverflowCount;
+ portTickType xTimeOnEntering;
} xTimeOutType;
+/*
+ * Defines the memory ranges allocated to the task when an MPU is used.
+ */
+typedef struct xMEMORY_REGION
+{
+ void *pvBaseAddress;
+ unsigned portLONG ulLengthInBytes;
+ unsigned portLONG ulParameters;
+} xMemoryRegion;
+
+/*
+ * Parameters required to create an MPU protected task.
+ */
+typedef struct xTASK_PARAMTERS
+{
+ pdTASK_CODE pvTaskCode;
+ const signed portCHAR * const pcName;
+ unsigned portSHORT usStackDepth;
+ void *pvParameters;
+ unsigned portBASE_TYPE uxPriority;
+ portSTACK_TYPE *puxStackBuffer;
+ xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
+} xTaskParameters;
+
/*
* Defines the priority used by the idle task. This must not be modified.
*
@@ -167,15 +191,20 @@ typedef struct xTIME_OUT
* task. h
*
portBASE_TYPE xTaskCreate(
- pdTASK_CODE pvTaskCode,
- const portCHAR * const pcName,
- unsigned portSHORT usStackDepth,
- void *pvParameters,
- unsigned portBASE_TYPE uxPriority,
- xTaskHandle *pvCreatedTask
- );
+ pdTASK_CODE pvTaskCode,
+ const portCHAR * const pcName,
+ unsigned portSHORT usStackDepth,
+ void *pvParameters,
+ unsigned portBASE_TYPE uxPriority,
+ xTaskHandle *pvCreatedTask
+ );
*
* Create a new task and add it to the list of tasks that are ready to run.
+ *
+ * xTaskCreate() can only be used to create a task that has unrestricted
+ * access to the entire microcontroller memory map. Systems that include MPU
+ * support can alternatively create an MPU constrained task using
+ * xTaskCreateRestricted().
*
* @param pvTaskCode Pointer to the task entry function. Tasks
* must be implemented to never return (i.e. continuous loop).
@@ -192,7 +221,11 @@ typedef struct xTIME_OUT
* @param pvParameters Pointer that will be used as the parameter for the task
* being created.
*
- * @param uxPriority The priority at which the task should run.
+ * @param uxPriority The priority at which the task should run. Systems that
+ * include MPU support can optionally create tasks in a privileged (system)
+ * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
+ * example, to create a privileged task at priority 2 the uxPriority parameter
+ * should be set to ( 2 | portPRIVILEGE_BIT ).
*
* @param pvCreatedTask Used to pass back a handle by which the created task
* can be referenced.
@@ -205,10 +238,10 @@ typedef struct xTIME_OUT
// Task to be created.
void vTaskCode( void * pvParameters )
{
- for( ;; )
- {
- // Task code goes here.
- }
+ for( ;; )
+ {
+ // Task code goes here.
+ }
}
// Function that creates a task.
@@ -217,20 +250,141 @@ typedef struct xTIME_OUT
static unsigned char ucParameterToPass;
xTaskHandle xHandle;
- // Create the task, storing the handle. Note that the passed parameter ucParameterToPass
- // must exist for the lifetime of the task, so in this case is declared static. If it was just an
- // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
- // the new time attempts to access it.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+ // Create the task, storing the handle. Note that the passed parameter ucParameterToPass
+ // must exist for the lifetime of the task, so in this case is declared static. If it was just an
+ // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+ // the new time attempts to access it.
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
- // Use the handle to delete the task.
- vTaskDelete( xHandle );
+ // Use the handle to delete the task.
+ vTaskDelete( xHandle );
}
* \defgroup xTaskCreate xTaskCreate
* \ingroup Tasks
*/
-signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask );
+#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )
+
+/**
+ * task. h
+ *
+ portBASE_TYPE xTaskCreateRestricted( xTaskParameters *pxTaskDefinition, xTaskHandle pxCreatedTask );
+ *
+ * xTaskCreateRestricted() should only be used in systems that include an MPU
+ * implementation.
+ *
+ * Create a new task and add it to the list of tasks that are ready to run.
+ * The function parameters define the memory regions and associated access
+ * permissions allocated to the task.
+ *
+ * @param pxTaskDefinition Pointer to a structure that contains a member
+ * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
+ * documentation) plus an optional stack buffer and the memory region
+ * definitions.
+ *
+ * @param pcName A descriptive name for the task. This is mainly used to
+ * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
+ * is 16.
+ *
+ * @param pxCreatedTask Used to pass back a handle by which the created task
+ * can be referenced.
+ *
+ * @return pdPASS if the task was successfully created and added to a ready
+ * list, otherwise an error code defined in the file errors. h
+ *
+ * Example usage:
+
+// Create an xTaskParameters structure that defines the task to be created.
+static const xTaskParameters xCheckTaskParameters =
+{
+ vATask, // pvTaskCode - the function that implements the task.
+ "ATask", // pcName - just a text name for the task to assist debugging.
+ 100, // usStackDepth - the stack size DEFINED IN WORDS.
+ NULL, // pvParameters - passed into the task function as the function parameters.
+ ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+
+ // xRegions - Allocate up to three separate memory regions for access by
+ // the task, with appropriate access permissions. Different processors have
+ // different memory alignment requirements - refer to the FreeRTOS documentation
+ // for full information.
+ {
+ // Base address Length Parameters
+ { cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
+ { cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
+ { cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
+ }
+};
+
+int main( void )
+{
+xTaskHandle xHandle;
+
+ // Create a task from the const structure defined above. The task handle
+ // is requested (the second parameter is not NULL) but in this case just for
+ // demonstration purposes as its not actually used.
+ xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+
+ // Start the scheduler.
+ vTaskStartScheduler();
+
+ // Will only get here if there was insufficient memory to create the idle
+ // task.
+ for( ;; );
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * \ingroup Tasks
+ */
+#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ((x)->xRegions) )
+
+/**
+ * task. h
+ *
+ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions );
+ *
+ * Memory regions are assigned to a restricted task when the task is created by
+ * a call to xTaskCreateRestricted(). These regions can be redefined using
+ * vTaskAllocateMPURegions().
+ *
+ * @param xTask The handle of the task being updated.
+ *
+ * @param xRegions A pointer to an xMemoryRegion structure that contains the
+ * new memory region definitions.
+ *
+ * Example usage:
+
+// Define an array of xMemoryRegion structures that configures an MPU region
+// allowing read/write access for 1024 bytes starting at the beginning of the
+// ucOneKByte array. The other two of the maximum 3 definable regions are
+// unused so set to zero.
+static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+{
+ // Base address Length Parameters
+ { ucOneKByte, 1024, portMPU_REGION_READ_WRITE },
+ { 0, 0, 0 },
+ { 0, 0, 0 }
+};
+
+void vATask( void *pvParameters )
+{
+ // This task was created such that it has access to certain regions of
+ // memory as defined by the MPU configuration. At some point it is
+ // desired that these MPU regions are replaced with that defined in the
+ // xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
+ // for this purpose. NULL is used as the task handle to indicate that this
+ // function should modify the MPU regions of the calling task.
+ vTaskAllocateMPURegions( NULL, xAltRegions );
+
+ // Now the task can continue its function, but from this point on can only
+ // access its stack and the ucOneKByte array (unless any other statically
+ // defined or shared regions have been declared elsewhere).
+}
+
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * \ingroup Tasks
+ */
+void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxRegions ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -261,17 +415,17 @@ signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR
{
xTaskHandle xHandle;
- // Create the task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ // Create the task, storing the handle.
+ xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
- // Use the handle to delete the task.
- vTaskDelete( xHandle );
+ // Use the handle to delete the task.
+ vTaskDelete( xHandle );
}
* \defgroup vTaskDelete vTaskDelete
* \ingroup Tasks
*/
-void vTaskDelete( xTaskHandle pxTask );
+void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
/*-----------------------------------------------------------
@@ -315,18 +469,18 @@ void vTaskDelete( xTaskHandle pxTask );
// Block for 500ms.
const portTickType xDelay = 500 / portTICK_RATE_MS;
- for( ;; )
- {
- // Simply toggle the LED every 500ms, blocking between each toggle.
- vToggleLED();
- vTaskDelay( xDelay );
- }
+ for( ;; )
+ {
+ // Simply toggle the LED every 500ms, blocking between each toggle.
+ vToggleLED();
+ vTaskDelay( xDelay );
+ }
}
* \defgroup vTaskDelay vTaskDelay
* \ingroup TaskCtrl
*/
-void vTaskDelay( portTickType xTicksToDelay );
+void vTaskDelay( portTickType xTicksToDelay ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -371,21 +525,21 @@ void vTaskDelay( portTickType xTicksToDelay );
portTickType xLastWakeTime;
const portTickType xFrequency = 10;
- // Initialise the xLastWakeTime variable with the current time.
- xLastWakeTime = xTaskGetTickCount ();
- for( ;; )
- {
- // Wait for the next cycle.
- vTaskDelayUntil( &xLastWakeTime, xFrequency );
+ // Initialise the xLastWakeTime variable with the current time.
+ xLastWakeTime = xTaskGetTickCount ();
+ for( ;; )
+ {
+ // Wait for the next cycle.
+ vTaskDelayUntil( &xLastWakeTime, xFrequency );
- // Perform action here.
- }
+ // Perform action here.
+ }
}
* \defgroup vTaskDelayUntil vTaskDelayUntil
* \ingroup TaskCtrl
*/
-void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );
+void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -407,32 +561,32 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
{
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 obtain the priority of the created task.
- // It was created with tskIDLE_PRIORITY, but may have changed
- // it itself.
- if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
- {
- // The task has changed it's priority.
- }
+ // Use the handle to obtain the priority of the created task.
+ // It was created with tskIDLE_PRIORITY, but may have changed
+ // it itself.
+ if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+ {
+ // The task has changed it's priority.
+ }
- // ...
+ // ...
- // Is our priority higher than the created task?
- if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
- {
- // Our priority (obtained using NULL handle) is higher.
- }
+ // Is our priority higher than the created task?
+ if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+ {
+ // Our priority (obtained using NULL handle) is higher.
+ }
}
* \defgroup uxTaskPriorityGet uxTaskPriorityGet
* \ingroup TaskCtrl
*/
-unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
+unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -457,24 +611,24 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
{
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 raise the priority of the created task.
- vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+ // Use the handle to raise the priority of the created task.
+ vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
- // ...
+ // ...
- // Use a NULL handle to raise our priority to the same value.
- vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ // Use a NULL handle to raise our priority to the same value.
+ vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
}
* \defgroup vTaskPrioritySet vTaskPrioritySet
* \ingroup TaskCtrl
*/
-void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
+void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -499,33 +653,33 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
{
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.
}
* \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.
}
* \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 );
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 ()
}
*
* \defgroup vTaskStartScheduler vTaskStartScheduler
* \ingroup SchedulerControl
*/
-void vTaskStartScheduler( void );
+void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -658,34 +812,34 @@ void vTaskStartScheduler( void );
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.
}
*
* \defgroup vTaskEndScheduler vTaskEndScheduler
* \ingroup SchedulerControl
*/
-void vTaskEndScheduler( void );
+void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
/**
* task. h
@@ -706,37 +860,37 @@ void vTaskEndScheduler( void );
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 ();
+ }
}
* \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:
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 ();
+ }
+ }
}
* \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
}